IAI SCON-CB-F Instruction Manual
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IAI SCON-CB-F Instruction Manual

Scon-cb series, plc feature equipped / safety category complied / safety categories complying plc feature equipped type
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SCON-CB Series Controller
Instruction Manual
CB-F
Standard Type
LC
PLC Feature Equipped Type
CGB-F
Safety Category Complied Type
Safety Categories Complying
LCG
PLC Feature Equipped Type
Fifth Edition

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Summary of Contents for IAI SCON-CB-F

  • Page 1 SCON-CB Series Controller Instruction Manual Fifth Edition CB-F Standard Type PLC Feature Equipped Type CGB-F Safety Category Complied Type Safety Categories Complying PLC Feature Equipped Type...
  • 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 Construction of Instruction Manual for Each Controller Model and This Manual SCON-CB/CGB ● Basic Specifications • Positioner Operation SCON-CB/CGB (This Manual) ME0340 • Force Control Pressing • Anti-Vibration Control • Serial Communication Serial Communication【Modbus】 ME0162 ★ Types to Select From •...
  • Page 6 Table of Overall Contents Name for Each Parts and Their Functions In this chapter, explains the name for each parts and their functions. About SCON-LC Type (Only for Types up to 750W) In this chapter, explains the outline of LC (equipped with PLC feature) type.

  • Page 7: Table Of Contents

    Contents Safety Guide ·································································································· 1 Precautions in Operation ·················································································· 8 International Standards Compliances ································································ 12 Name for Each Parts and Their Functions ·························································· 13 About SCON-LC Type (Only for Types up to 750W) ············································· 19 Actuator Axes······························································································· 21 Chapter 1 Specifications Check········································································ 23 1.1 Product Check······························································································...
  • Page 8 2.5 Wiring Method (Controller for Motors of up to 750W)············································ 111 2.5.1 Wiring of Power Circuit············································································ 111 2.5.2 Wiring for Emergency Stop Circuit (System I/O)············································ 116 2.5.3 Connection to Actuator············································································ 118 2.5.4 Connection of PIO·················································································· 120 2.5.5 Pulse Train Signal Input and Feedback Pulse Output (CB/CGB Type) ··············· 121 2.5.6 Multi-function Connector (LC/LCG Type) ·····················································...
  • Page 9 Chapter 5 Vibration Suppress Control Function ················································· 261 5.1 Setting Procedure ························································································ 263 5.2 Settings of Parameters for Vibration Suppress Control ········································· 264 5.3 Setting of Position Data ················································································· 265 Chapter 6 Power-saving Function (Auto Servo-motor OFF Function) ····················· 267 Chapter 7 Absolute Reset and Absolute Battery ················································...
  • Page 11 File (e.g. EDS File) 6) Instruction Manual of the Actuator Download it in IAI homepage (http://www.iai-robot.co.jp/) Step 2 Check How to Operate The operation modes and control methods will defer depending on the type you have purchased. ☆ What is Positioner Operation ☆...
  • Page 12 Check the operation modes and control methods available on the controller you have purchased. It can be defined on the controller model code shown on the label in the front face of the controller. Type Name 1) CB / CGB (select from positioner and pulse train) MODEL : SCON-CB-100I-NP-5-2 2) LC / LCG (Ladder control)
  • Page 13 Heat Radiation and Installation Keep the ambient temperature of the controller at 40°C or less. To fix the units in the control box, use the attachment holes on top and bottom of the unit for the screw fixed type. Install in the orientation shown in the figure below for heat radiation. 10mm or more Air Flow 100mm...
  • Page 14 Step 4 Wiring Refer to Chapter 2 “Wiring” [Positioner Operation] ~ 750W Type Refer to Sections 2.1 and 2.5 * Refer to 2.1.3 [5] and 2.2.3 [5] for wiring layout as the 3000W ~ Type Refer to Sections 2.2 and 2.6 signals/features differ for each [Pulse Train Control] Refer to Sections 2.3 and 2.5...
  • Page 15 Step 5 Operate Unit How you should look in the instruction manuals will differ depending on the operation modes and control methods you choose. Establish the settings for your operation needs. ● For Positioner Operation 3.1.2 (1) Basis of How to Operate ⇒ 3.2 Operation in Positioner Mode ●...

  • Page 17: 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 18 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 19 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 20 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 21 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 22 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 23 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 24: Precautions In Operation

    ■Precautions in Operation■ 1. Use the following teaching tools. Use the PC software and the teaching pendant stated in the next clause as the applicable for this controller. [Refer to 1.1.2 Teaching Tool.] 2. Backup the data to secure for breakdown. A non-volatile memory is used as the backup memory for this controller.
  • Page 25 Attempt not to exceed the actuator specifications in the pulse train control mode. 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 26 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 27 • 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 28: International Standards Compliances

    ■International Standards Compliances■ SCON-CB/CGB/LC/LCG comply with the following international standards: Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information. : Applicable ×: Not Applicable Controller RoHS Directive CE Marking SCON-CB/LC/LCG ~ 750W ~ 750W SCON-CGB 3000W ~ × 1.

  • Page 29: Name For Each Parts And Their Functions

    ■Name for Each Parts and Their Functions■ ● ~ 750W Type Note 1 It is not mounted in fieldbus type. [CB/CGB Type] Connector for Pulse 8) Status Indicator (Note 1) Train Control LEDs [CB/CGB Type] Multi-function connector 7) Axis Number Setting Switch (Note 1) 10) PIO Connector...
  • Page 30 Operation Mode Changeover Switch is not equipped with this switch. [Refer to 3.3 Operation in Pulse Train Control Mode (Only for Types up to 750W).] This switch is used to change from the positioner mode to the pulse train control mode or vice versa.
  • Page 31 Connector for Pulse Train Control (PULSE) [Refer to Chapter 3.3 Operation in Pulse Train Control Mode (Only for Types up to 750W).] The pulse train I/O connector is used in the pulse train control mode. Feedback pulse is also effective in positioner mode. Multi-Function Connector (MF I/F) [Refer to 2.4.3 [7] and 2.5.6 Multi-Function Connector] It is a connector to use the feedback pulse output, and SIO communication function (SIO2).
  • Page 32 ● 3000W ~ Type 10) Status Indicator LED 9) Charge Status Display 8) Internal Regenerative Resistor Valid Connector 7) Regenerative Unit Connector 11) Multi-Function Connector 6) Motor Connector 12) PIO Connector 5) Piano Switch 13) Operation Mode (Not to use) Setting Switch 4) Axis No.
  • Page 33 Axis No. Setting Switch (ADRS) This switch is used to set an axis number in multi-axis operation through serial communication. Using the SIO converter allows multiple axes to be controlled on a teaching tool such as a PC without connection/disconnection of the connection cable connector. The SIO converter can specify up to 16 axes with hexadecimal numbers 0 to F.
  • Page 34 11) Multi-Function Connector (MF I/F) [Refer to 2.2.3 [7] Multi-function Connector] It is a connector to use the feedback pulse output, analog output of loadcell load data and SIO communication function (SIO2). 12) PIO Connector (PIO) [Refer to 2.6.4 Connection of PIO] The PIO connector is used for control I/O signals.

  • Page 35: About Scon-Lc Type (Only For Types Up To 750W)

    ■About SCON-LC Type■ (Only for Types up to 750W) LC Type is equipped with a built-in PLC feature, and is capable to control SCON with ladder programs instead of the host PLC if the programs are in small scale. Control available with CB Types are ladder programs equipped with PLC...
  • Page 36 ●Operation Pattern (Assignment) 1) The operation pattern is to be set in Parameter No. 84 “Fieldbus Operation Mode”. Parameter Parameter No.84 Operation Pattern No.84 Operation Pattern Setting Setting Remote I/O mode* Posiiton/Simple Direct Mode 2 Posiiton/Simple Direct Mode Half Direct Mode 2 Half Direct Mode Remote I/O mode 3* Full Direct Mode...

  • Page 37: Actuator Axes

    ■Actuator Axes■ Refer to the pictures below for the actuator axes that can be controlled. 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 38 (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 39: Chapter 1 Specifications Check

    Chapter 1 Specifications Check 1.1 Product Check 1.1.1 Parts 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, contacts us or our distributer. Part Name Model Remarks...
  • Page 40 Part Name Model Remarks DP-5 Enclosed for Dummy Plug SCON-CGB/LCG CB-RE-CTL002 (0.2m) Connection Cable Enclosed for SCON-CB/CGB Between RCON and SCON or RCON Connection Type Between SCON and SCON Shown in the figure is an Safety Guide image. Shown in the figure is an First Step Guide image.

  • Page 41: Teaching Tool

    1.1.2 Teaching Tool 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. Part Name Model PC Software...

  • Page 42: How To Read The Model Plate

    How to Read the Model of the Controller S C O N – C B – 2 0 W A I H A - N P - 3 - 1 –* * <Series> <Identification for IAI use only> * There is no identification in some (Note 1) cases.

  • Page 43: Basic Specifications

    1.2 Basic Specifications 1.2.1 Specifications SCON-CB/CGB/LC/LCG Item Less than 400W 400 to 750W 3000W or more Corresponding Motor Capacity 12W to 399W 400W to 750W 3000W to 3300W Single-Phase 100 to 115V AC Single-Phase 200 to 230V AC Three Phase 200 to 230V AC Single-Phase 200 to 230V AC Power-supply Voltage (Fluctuation of power supply...
  • Page 44 SCON-CB/CGB/LC/LCG Item Less than 400W 400 to 750W 3000W or more MAX. 10m Cable Length RS485 Total cable length 100m or less. Field Network Refer to each Field Network specification Positioner Mode/Pulse Train Control Mode Operation Mode Positioner Mode (selected by Pulse Train Mode Changeover Switch ON Front Panel) Standard 64 points, MAX.

  • Page 45: 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 Motor Power Peek Max. Motor Actuator Motor Control Power Rated Power Peek Max.

  • Page 46: 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 47: Appearance

    1.3 Appearance 1.3.1 SCON-CB/CGB/LC/LCG Less than 400W min80 In Absolute Battery Attachment (Absolute Encoder Type) It is not necessary when using Pulse Train Control because it does not comply with it. 1.3.2 SCON-CB/CGB/LC/LCG 400W to 750W min80 In Absolute Battery Attachment (Absolute Encoder Type) It is not necessary when using Pulse Train Control because it does not comply with it.

  • Page 48: Scon-Cgb 3000W And Above

    1.3.3 SCON-CGB 3000W and above...

  • Page 49: I/O Specifications

    1.4 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 Input Current 4mA 1circuit 50mA/1 point Electric Current Specification ON Voltage MIN. 18V DC ON/OFF Voltage Leakage Current MAX.

  • Page 50: Pulse Train Input Output Interface (Excluding Type For 3000W And Above, Lc Type And Feeldbus Type)

    1.4.2 Pulse Train Input Output Interface (Excluding Type for 3000W and above, LC Type and Feeldbus Type) Line Driver Input Output Input pulse equivalent to Line Driver 26C31 Output pulse equivalent to Line Receiver 26C32 (differential voltage: approx. 4V) (differential voltage: approx. 4V) 26C31 or equiv Controller 26C32 or equiv...

  • Page 51: Pulse Conveter : Jm-08

    1.5.2 Pulse Conveter : JM-08 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. [Specification] Item Specification Input Power Supply 24V DC ±10% (MAX.

  • Page 52: Regenerative Unit (Option)

    1.5.3 Regenerative Unit (Option) ● Types up tp 750W This is a unit that converts the regenerative current to heat when the motor decelerates. Refer to 2.5.7 Connectable Regenerative Units for the number of connectable units. [Model Codes and Specifications of Enclosed Items] Item Enclosed Items Screw attachment standard...
  • Page 53 ● Types for 3000W and above It is a unit to convert the regenerative current generated at motor deceleration into heat. Refer to 2.6.6 Connection of Regenerative Unit for the number of connectable units. [Model, Accesories] Model Accessories RESU-35T None [Specifications] Item Specification...

  • Page 54: Brake Box : Rcb-110-Ra13-0

    1.5.4 Brake Box : RCB-110-RA13-0 1 unit of Brake Box possesses brakes for 2 shafts. This is necessary when connecting an actuator with indication to connect a brake box. [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...

  • Page 55: Loadcell (Excluding Rcs3-Ra15R And Rcs3-Ra20R)

    1.5.5 Loadcell (Excluding RCS3-RA15R and RCS3-RA20R) 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 (Note) corresponding to the pressing operation using force sensor. (Note) The connectable actuator differs depending on the rated capacity of the loadcell.

  • Page 56: Installation And Storage Environment

    1.6 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 57: Noise Elimination And Mounting Method

    1.7 Noise Elimination and Mounting Method (1) Noise Elimination Grounding (Frame Ground) Other Controller equipment Connect using FG connection Controller terminal on the main unit. Use a copper wire cable with its width 2.0mm (AWG14) or more with rated temperature 60deg or Other Other more for wiring.
  • Page 58 (4) Heat Radiation and Installation 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. ●...
  • Page 59 ● For Controller for Motors of 3000W and above 100mm or more 150mm or more 50mm or more 30mm or more 50mm or more 30mm or more Air Flow...

  • Page 61: Chapter 2 Wiring

    Chapter 2 Wiring 2.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) * Refer in Section 2.2 for the controller for motors of 3000W and above. 2.1.1 Wiring Diagram (Connection of Construction Devices) Basic Wiring Diagram LED Display (Note1) Regenerative Resistor Unit (RESU-2 : option)
  • Page 62 2.1.1 Wiring Layout for RCS2-RA13R or NS Type with Option (between actuator and controller) (1) RCS2-RA13R Equipped with Brake, with no Loadcell, or NS Actuators with Brake 24V DC Power Supply for Brake Connect to back side For LS (option) Brake Box Absolute Battery For LS (option)

  • Page 63: Pio Pattern Selection And Pio Signal

    2.1.2 PIO Pattern Selection and PIO Signal (1) PIO Pattern (Control Pattern) Selection Possesses 8 types of control logics, PIO Patterns 0 to 7. Set the most suitable PIO pattern with the actual use to Parameter No. 25 “PIO Pattern Select”. Refer to “3.2 Operation in Positioner Mode”...
  • Page 64 2.1.2 (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...
  • Page 65 2.1.2 Parameter No.25 (PIO Pattern) Selection 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 66 2.1.2 (3) List of PIO Signals The table below lists the functions of PIO signals. Refer to the section shown in Relevant Sections for the details of the control of each signal. Signal Relevant Category Signal Name Function Description Abbreviation Sections PTP Strobe The actuator will start to move to the position set by the...
  • Page 67 Signal Relevant Category Signal Name Function Description Abbreviation Sections Turns ON in the positioning band range after actuator 3.2.3 operation. The INP signal will turn OFF if the position PEND/INP Position complete 3.2.4 deviation exceeds the in-position range. PEND and INP 3.2.5 can be switched over by the parameter.

  • Page 68: Wiring

    2.1.3 Wiring Main Power Circuit L1 L2 Circuit Breaker SCON Power Supply Input Connector Earth Leakage Breaker Motor Power Unit Noise Filter Control Power Supply Surge Protector Grounding resistance at 100Ω or less (Grounding Class D) (Note) The power voltage of the controller (100V AC or 200V AC) cannot be changed. Brake Power Supply Circuit 24V DC SCON...
  • Page 69 2.1.3 Actuator emergency stop circuit (System I/O Connector) As an example of a circuit, cases of 4 conditions are shown. Select from 3) or 4) for CGB/LCG type. 1) Operate the actuator using only the emergency stop input on the teaching tool 2) Operate the actuator by making the emergency stop input (EMG-) on the equipment and teaching tool activated 3) Stop supplying external motor power at emergency stop input...
  • Page 70 2.1.3 3) Stop supplying external motor power at emergency stop input Emergency stop switch for the teaching pendant Emergency Emergency EMG A EMG B stop reset stop switch switch System I/O connector SIO connector (Note 3) Emergency stop circuit exclusive use (Note 1) (Note 4) AC power supply...
  • Page 71 2.1.3 4) Shut off the motor power externally by inputting the emergency stop with using two units of controllers or more. 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...
  • Page 72 2.1.3 Motor • Encoder Circuit Connection of Short-Axis Robot (excluding RCS2-RA13R equipped with brake/loadcell and NS Series equipped with brake) SCON (Note 1) Encoder cable Encoder Connector Motor Connector (Note 2) Motor Cable Note 1 Applicable Encoder Cable types □□□ : cable length Example) 030 = 3m Actuator Type Cable...
  • Page 73 2.1.3 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 Connector (Equipped with brake) PWR- ACTUATOR1 Encoder Output...
  • Page 74 2.1.3 Connection of actuator RCS2-RA13R equipped with loadcell and brake Brake Box 24V DC 24V DC CB-RCS2 (RCB-110-RA13) -PLA□□□ CONTROLLER1 SCON Encoder Input RCS2-RA13R Connector Brake Power (Equipped with brake and loadcell) Supply Connector Limit Switch Connector PWR- ACTUATOR1 Encoder Output Connector 24VIN Encoder...
  • Page 75 2.1.3 PIO Circuit Use the attached cable for the I/O connection. Model : CB-PAC-PIO□□□ (□□□ indicates the cable length L. Example. 020 = 2m) BK -4 (20B) No connector Bottom Line BR -3 (1B) BK -2 (20A) Top Line No connector Half Pitch MIL Socket BR -1 (1A) HIF6-40D-1.27R (Hirose Electric)
  • Page 76 2.1.3 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- 3 OR- 1 Completed Position No.4 YW- 1...
  • Page 77 2.1.3 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...
  • Page 78 2.1.3 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...
  • Page 79 2.1.3 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...
  • Page 80 2.1.3 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- 1 BR- 3 Backward End Detection 24V DC RD- 3 RD- 1 Forward End Detection Supply OR- 1 OR- 3...
  • Page 81 2.1.3 PIO Pattern 6 ············· Pressing Operation Using Force Sensor Mode 1 (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- 3 RD- 1 Completed Position No.2 Supply OR- 1...
  • Page 82 2.1.3 PIO Pattern 7 ············· Pressing Operation Using Force Sensor Mode 2 (Solenoid valve 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...
  • Page 83 2.1.3 [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 84 2.1.3 Feedback Pulse Readout Circuit ● When Host Unit in Differential System Host Unit SCON PULSE CB-SC-PIOS□□□ Pulse Train Control Connector Positioning unit Counter unit A-phase feedback pulse /AFB (Line receiver B-phase feedback pulse /BFB :26C32 or equiv.) Z-phase feedback pulse /ZFB (Note) (Note)

  • Page 85: Positioner Mode (Pio Control) (Controller For Motors Of 3000W And Above)

    2.2 Positioner Mode (PIO Control) (Controller for Motors of 3000W and above) * Refer in Section 2.1 for the controller for motors of up to 750W. 2.2.1 Wiring Diagram (Connection of Devices) [1] Basic Wiring Diagram Teaching Tool Power Cutoff Breaker As SCON-CGB for 3000 to 3300W does not have the drive cutoff circuit, make sure to establish cutoff externally.

  • Page 86: Pio Pattern Selection And Pio Signal

    2.2.2 PIO Pattern Selection and PIO Signal (1) PIO Pattern (Control Pattern) Selection Possesses 6 types of control logics, PIO Patterns 0 to 5. Set the most suitable PIO pattern with the actual use to Parameter No. 25 “PIO Pattern Select”. Refer to “3.2 Operation in Positioner Mode”...
  • Page 87 2.2.2 (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...
  • Page 88 Parameter No.25 (PIO Pattern) Selection PIO Functions Category Solenoid Valve Mode 1 Solenoid Valve Mode 2 Number of positioning 7 points 3 points points Home return signal ○ × Jog Signal × × Input Teaching Signal (Current Position × × Writing) Brake Release ○...
  • Page 89 2.2.2 (3) List of PIO Signals The table below lists the functions of PIO signals. Refer to the section shown in Relevant Sections for the details of the control of each signal. Signal Relevant Category Signal Name Function Description Abbreviation Sections PTP Strobe The actuator will start to move to the position set by the...
  • Page 90 Signal Relevant Category Signal Name Function Description Abbreviation Sections Turns ON in the positioning band range after actuator 3.2.3 operation. The INP signal will turn OFF if the position PEND/INP Position complete 3.2.4 deviation exceeds the in-position range. PEND and INP can 3.2.5 be switched over by the parameter.

  • Page 91: Wiring

    2.2.3 Wiring Main Power Circuit Circuit Breaker SCON Power Supply Connector Leakage Breaker Brake Power Supply Circuit When using an actuator equipped with a brake, supply 24V DC to the controller and the actuator. DC24V 0V SCON Brake Power Supply Connector 1.
  • Page 92 2.2.3 Actuator Emergency Stop Circuit (System I/O Connector) As an example of a circuit, cases of 2 conditions are shown. * The controller for motors of 3000W and above is not equipped with the built-in SIO connector connection detection circuit and drive cutoff circuit. ★...
  • Page 93 2.2.3 1) Stop supplying external motor power at emergency stop input PC Software Cable or Dummy plug Short-circuit in PC software cable Emergency Emergency stop reset stop switch switch System I/O connector SIO connector Emergency stop circuit exclusive use 24V (Note 1) Circuit for Stop Contact Output for...
  • Page 94 2.2.3 2) Example for Wiring for Equivalent to Safety Category 4 In order to construct a system applicable for the Safety Categories, use the TP adaptor (RCB-LB-TGS) and establish the circuit construction following the example below. TP Connector SCON-CGB (3000 to 3300W) Controller Connector RCB- LB- TGS 1.SG...
  • Page 95 2.2.3 Motor • Encoder Circuit Use the dedicated connection cables for the connection between an actuator and controller. * In the case of brake specification, please provide the DC24V to the actuator. [Refer to 2.6.1.2 for details] 1) Connecting the single axis robots SCON (Note 1) Encoder Cable...
  • Page 96 2.2.3 PIO Circuit Use the attached cable for the I/O connection. Model: CB-PAC-PIO□□□ (□□□ indicates the cable length L Example. 020 = 2m) BK -4 (20B) No connector Bottom Line BR -3 (1B) BK -2 (20A) Top Line No connector Half Pitch MIL Socket BR -1 (1A) HIF6-40D-1.27R (Hirose Electric)
  • Page 97 2.2.3 2) 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- 3 OR- 1 Completed Position No.4 YW- 1...
  • Page 98 2.2.3 3) 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 99 2.2.3 4) 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 100 2.2.3 5) 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...
  • Page 101 2.2.3 6) 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- 1 BR- 3 Backward End Detection 24V DC RD- 3 RD- 1 Forward End Detection Supply OR- 1 OR- 3...
  • Page 102 2.2.3 Circuit of Regenerative Units Refer to [3] Actuator Emergency Stop Circuit in this chapter for （駆動源遮断回路） connection of temperature sensor contact (TM1 and 2). Unit 1台目 RESU-35T CON Regenerative Unit SCON‐CB大型 Connector RB‐ RB‐ Unit 2台目 RESU-35T RB‐...
  • Page 103 2.2.3 Multi-function Connector 1) When Host Inputting Feedback Pulse with Line Receiver (Note) Connect cable also to 0V if there is 0V (COM) on the host unit. 2) When Host Inputting Feedback Pulse with Open Collector It is necessary to pulse converter (JM-08: Option). Caution: Use the same power source for the positioning unit of the host and JM-08.

  • Page 104: Pulse Train Control Mode (Only For Controller For Motors Of Up To 750W)

    2.3 Pulse Train Control Mode (Only for Controller for Motors of up to 750W) 2.3.1 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 open collector output...
  • Page 105 2.3.1 RCS2-RA13R Equipped with Brake, with no Loadcell, or NS Actuators with Brake 24V DC Power Supply for Brake Connect to back side For LS (option) Brake Box Absolute Battery For LS (option) (for Absolute Type) • NS Actuators (with Brake) CB-RCS2-PLA010 (enclosed to Brake Box) RCS2-RA13R...

  • Page 106: I/O Signals In Pulse Train Control Mode

    2.3.2 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. Have the PIO Pattern setting revised considering the actuator specifications (Incremental/Absolute). Follow the following table to connect the external equipment (such as PLC). : Available, : Unavailable Pattern...
  • Page 107 2.3.2 Signal Relevant Pattern Category I/O No. Signal Name Function Description Abbreviation Sections (Incremental) (Absolute) – – Not used – – Not used Power Supply Power Supply for I/O 0V Power Supply Power Supply for I/O 0V 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.

  • Page 108: Wiring

    2.3.3 Wiring [1] Main Power Circuit L1 L2 Circuit Breaker SCON Power Supply Input Connector Earth Leakage Breaker Motor Power Unit Noise Filter Control Power Supply Surge Protector Grounding resistance at 100Ω or less (Grounding Class D) (Note) The power voltage of the controller (100V AC or 200V AC) cannot be changed. [2] Brake Power Supply Circuit 24V DC SCON...
  • Page 109 2.3.3 Actuator emergency stop circuit (System I/O Connector) As an example of a circuit, cases of 4 conditions are shown. Select from 3) or 4) for CGB/LCG type. 1) Operate the actuator using only the emergency stop input on the teaching tool 2) Operate the actuator by making the emergency stop input (EMG-) on the equipment and teaching tool activated 3) Stop supplying external motor power at emergency stop input...
  • Page 110 2.3.3 3) Stop supplying external motor power at emergency stop input Emergency stop switch for the teaching pendant Emergency Emergency EMG A EMG B stop reset stop switch switch System I/O connector SIO connector (Note 3) Emergency stop circuit exclusive use (Note 1) (Note 4) AC power supply...
  • Page 111 2.3.3 4) Shut off the motor power externally by inputting the emergency stop with using two units of controllers or more. 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...
  • Page 112 2.3.3 [4] Motor • Encoder Circuit Connection of Short-Axis Robot (excluding RCS2-RA13R equipped with brake/loadcell and NS Series equipped with brake) SCON (Note 1) Encoder cable Encoder Connector Motor Connector (Note 2) Motor Cable Note 1 Applicable Encoder Cable types □□□ : cable length Example) 030 = 3m Actuator Type Cable...
  • Page 113 2.3.3 [5] PIO Circuit Use the attached cable for the I/O connection. Model : CB-PAC-PIO□□□ (□□□ indicates the cable length L. Example. 020 = 2m) BK -4 (20B) No connector Bottom Line BR -3 (1B) BK -2 (20A) Top Line No connector Half Pitch MIL Socket BR -1 (1A)
  • Page 114 2.3.3 [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...
  • Page 115 2.3.3 [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 116: Scon-Lc/Lcg Type

    2.4 SCON-LC/LCG Type 2.4.1 Wiring Diagram (Connection of Construction Devices) [1] Basic Wiring Diagram (Note 1) Load (Note 1) Load (e.g.) Lamp) Regenerative Resistor Unit (e.g.) Relay) (REU-2 : option) (Note 1) Required depending Load LED Display on usage condition (e.g.) Switch) [Refer to 1.5.3 Regenerative Unit] (Note 1)
  • Page 117 2.4.1 Wiring Layout for RCS2-RA13R or NS Type with Option (between actuator and controller) 1) RCS2-RA13R Equipped with Brake, with no Loadcell, or NS Actuators with Brake 24V DC Power Supply for Brake Connect to back side For LS (option) Brake Box Absolute Battery For LS (option)

  • Page 118: I/O Signals In Lc Type

    2.4.2 I/O Signals in LC Type The table below shows the signal assignment of the flat cable. Follow the following table to connect the external equipment (such as PLC). Refer to LC Ladder Programing Manual (ME0329) provided separately for how to assign memories in built-in ladder or how to use it.

  • Page 119: Wiring

    2.4.3 Wiring [1] Main Power Circuit L1 L2 Circuit Breaker SCON Power Supply Input Connector Earth Leakage Breaker Motor Power Unit Noise Filter Control Power Supply Surge Protector Grounding resistance at 100Ω or less (Grounding Class D) (Note) The power voltage of the controller (100V AC or 200V AC) cannot be changed. [2] Brake Power Supply Circuit 24V DC SCON...
  • Page 120 2.4.3 Actuator emergency stop circuit (System I/O Connector) As an example of a circuit, cases of 4 conditions are shown. Select from 3) or 4) for CGB/LCG type. 1) Operate the actuator using only the emergency stop input on the teaching tool 2) Operate the actuator by making the emergency stop input (EMG-) on the equipment and teaching tool activated 3) Stop supplying external motor power at emergency stop input...
  • Page 121 2.4.3 3) Stop supplying external motor power at emergency stop input Emergency stop switch for the teaching pendant Emergency Emergency EMG A EMG B stop reset stop switch switch System I/O connector SIO connector (Note 3) Emergency stop circuit exclusive use (Note 1) (Note 4) AC power supply...
  • Page 122 2.4.3 4) Shut off the motor power externally by inputting the emergency stop with using two units of controllers or more. 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...
  • Page 123 2.4.3 Motor • Encoder Circuit Connection of Short-Axis Robot (excluding RCS2-RA13R equipped with brake/loadcell and NS Series equipped with brake) SCON (Note 1) Encoder cable Encoder Connector Motor Connector (Note 2) Motor Cable Note 1 Applicable Encoder Cable types □□□ : cable length Example) 030 = 3m Actuator Type Cable...
  • Page 124 2.4.3 [5] PIO Circuit Use the attached cable for the I/O connection. Model : CB-PAC-PIO□□□ (□□□ indicates the cable length L. Example. 020 = 2m) BK -4 (20B) No connector Bottom Line BR -3 (1B) BK -2 (20A) Top Line No connector Half Pitch MIL Socket BR -1 (1A)
  • Page 125 2.4.3 [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 126 2.4.3 Multi-function Connector 1) When Host Inputting Feedback Pulse with Line Receiver 2) When Host Inputting Feedback Pulse with Open Collector It is necessary to pulse converter (JM-08 : Option). Caution: Use the same power source for the positioning unit of the host and JM-08.

  • Page 127: Wiring Method (Controller For Motors Of Up To 750W)

    2.5 Wiring Method (Controller for Motors of up to 750W) * Refer in Section 2.6 for the controller for motors of 3000W and above. 2.5.1 Wiring of Power Circuit 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 2.5.1.1 Main Power Supply Circuit (Power Supply Connector)
  • Page 128 The attenuation characteristics of each noise filter is open to the public by each supplier. For example, shown below is the graph of the attenuation characteristics of NAC-10-472 that IAI recommends. NAC-10-472 Normal Mode ■Attenuation Characteristics (Static Characteristics)
  • Page 129 2.5.1 ● Wiring Method Connect the power supply to the enclosed connector (Model code: MSTB2.5/6-STF-5.08: Phoenix Contact). See below for how to lay out the power supply wires. 1) Loosen the terminal screw with using such as a slotted screwdriver to open up the inlet. 2) Reveal the sheath for 7mm on the cable that satisfies the cable diameter complies the specification shown in the table below and put it in the inlet.
  • Page 130 2.5.1.2 Brake Power Supply (Brake Power Supply Connector) Supply 24V DC ±10% and 1A max. when using an actuator equipped with a brake. ● Wiring Image 24V DC power Supply please prepare separately ● Wiring Method Connect the power supply to the enclosed connector (Model code: MC1.5/2-ST-3.5: Phoenix Contact).
  • Page 131 2.5.1 ● For Actuators Necessary to Have Brake Box When connecting RCS2-RA13R, it is necessary to have a brake box (RCB-110-RA13-0) connected. [Refer to Section 1.5.4 for details of the brake box.] Supply 24V DC and 1A max. as the power supply for the brake box. 24VIN 0V The way to layout wires on the connector enclosed in the brake...

  • Page 132: Wiring For Emergency Stop Circuit (System I/O)

    2.5.2 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. ● Wiring Image SCON Teaching Tool Connection Teaching pendant Detection Circuit ティーチングボックス...
  • Page 133 2.5.2 ● Wiring Method Connect the wires for operation stop (System I/O Connector) to the enclosed connector (Model code: FMC1.5/4-ST-3.5: Phoenix Contact). See below for how to lay out the power supply wires. 1) Loosen the terminal screw with using such as a slotted screwdriver to open up the inlet. 2) Reveal the sheath for 10mm on the cable that satisfies the cable diameter complies the specification shown in the table below and put it in the inlet.

  • Page 134: Connection To Actuator

    2.5.3 Connection to Actuator Connect the motor cable to the MOT connector Connect the encoder cable to the PG connector. Connect the brake box if using RCS2-RA13R or NS Type equipped with brake. [Refer to 2.1.3 [4], 2.3.3 [4], and 2.4.3 [4]] ●...
  • Page 135 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 Encoder Connector (PG) Model Remarks Cable Side 10126-3000VE...

  • Page 136: Connection Of Pio

    2.5.4 Connection of PIO For the signal assignment of each wire, refer to the following considering the operation mode. 1) Positioner Mode ······················ 2.1.3 [5] PIO Circuit 2) Pulse Train Control Mode ·········· 2.3.3 [5] PIO Circuit 3) LC Type································· 2.4.3 [5] PIO Circuit ●...

  • Page 137: Pulse Train Signal Input And Feedback Pulse Output (Cb/Cgb Type)

    2.5.5 Pulse Train Signal Input and Feedback Pulse Output (CB/CGB Type) Implement the wiring layout to the enclosed plug when it is necessary to read the feedback pulse and to send the command pulse in pulse train control mode. ● Wiring Image Command Pulse →...
  • Page 138 2.5.5 [2] Cable with Connectors for Pulse Train Control (Option) Model : CB-SC-PIOS□□□ □□□ indicates the cable length Example) 020 = 2m Cable length : 10m MAX. in differential mode 2m MAX. in open collector mode (Note) There is no connector equipped on the host controller (PLC, etc.) side. Make an appropriate treatment that suits the host controller (PLC, etc.).
  • Page 139 2.5.5 • Keep pulse converters separated for 10mm or more from each other. 10mm or more 10mm or more If this installation cannot be avoided, shorten the length of the wiring with the host controller as much as possible. [4] Pulse Converter : JM-08 The pulse converter converts feedback pulses in the differential mode into those in the open collector mode.

  • Page 140: Multi-Function Connector (Lc/Lcg Type)

    2.5.6 Multi-function Connector (LC/LCG Type) The multi-function connector is equipped with following interfaces. 1) Feefback pulse output 2) Serial communication port 2 (SIO2) [1] Image of wiring Positioning Unit (Please prepare separately) [2] Multi-function connector (MF I/F) Model Remarks Cable Side 10114-3000PE (3M) Controller Side 10214-52A2PL (3M)
  • Page 141 2.5.6 [3] Wiring Method Caution: Enclosed only in plug and shell. Do the same wiring layout as the following option. Connetct the multi-finction connector to the enclosed connector (Model: 10114-3000PE). See below for how to lay out the power supply wires. 1) Prepare a cable.
  • Page 142 2.5.6 [5] Pulse Converter: JM-08 The pulse converter converts command pulses in the those in the differential mode to open collector mode. Use this converter if the host controller sends output pulses in the applicable for open collector (24V type). Host Controller SCON-CB (PLC etc.)

  • Page 143: Connectable Regenerative Units

    2.5.7 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) ●...
  • Page 144 2.5.7 Caution : 1. The reference table for the number of connected units a reference assuming back and forth operation is made in rated acceleration/deceleration speed with rated load for 1000mm stroke with the actuator operation duty 50%. 2. Regenerative energy is absorbed inside the controller and when it exceeds the limit, Error Code 0CA “Overheat Error”...

  • Page 145: Sio Connecter 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 146: Wiring (Controller For Motors Of 3000W And Above)

    2.6 Wiring (Controller for Motors of 3000W and above) * Refer in Section 2.5 for the controller for motors of up to 750W. 2.6.1 Wiring for Power Supply Circuit 2.6.1.1 Main Power Circuit (Power Supply Connector) Power Supply Type Specifications Reference Motor Power Supply Three-Phase 200 to 230V AC ±10% 50/60Hz...
  • Page 147 2.6.1 ● Wiring Method Connect the wiring of power supply to the enclosed connector (Model code: PC5/6-STF-7,62: Phoenix Contact). See below for how to lay out the power supply wires. 1) Loosen the terminal screw with using such as a slotted screwdriver to open up the inlet. 2) Reveal the sheath for 10mm on the cable that satisfies the cable diameter complies the specification shown in the table below and put it in the inlet.
  • Page 148 2.6.1.2 Brake Power Supply (Brake Power Connector) Supply 24V DC ±10% and 0.1A at maximum to the controller and 24V DC ±10% and 1.5A at maximum to the actuator when an actuator equipped with a brake is used. ● Image of Wiring 24VDC Power (Please prepare separately)
  • Page 149 2.6.1 1) Loosen the screw with a slotted screwdriver 2) Insert wire 3) Tighten the screw with a slotted screwdriver ← FG ← 0V ← 24V Brake Power Supply Connector on Actuator Side Pin No. Signal name Items Applicable cable diameter Frame ground 24V DC ground 1.25 to 0.5mm...

  • Page 150: Wiring Of Emergency Stop Circuit (System I/O)

    2.6.2 Wiring of 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. ● Image of Wiring SCON PC Software Connection Cable or Dummy Plug Emergency Stop Circuit EMG+ Built-in...
  • Page 151 2.6.2 ● Wiring Method Connect the wiring of operation stop (system I/O connector) to the enclosed connector (Model code: FMC1.5/6-ST-3.5: Phoenix Contact). See below for how to lay out the power supply wires. 1) Push in such as a slotted screwdriver to open up the inlet. 2) Reveal the sheath for 7mm on the cable that satisfies the cable diameter complies the specification shown in the table below and put it in the inlet.

  • Page 152: Connection To Actuator

    2.6.3 Connection to Actuator Connect the motor cable to the MOT connector. Connect the encoder cable to the PG connector. ● Image of wiring Motor Cable (Motor Connector) (Encoder Connector) Encoder Cable Caution: For Absolute Type, remove the absolute battery connector from the controller before connecting the encoder cable.
  • Page 153 Cable Side IPC5/4-STF-7.62 Controller Side IPC5/4-GF-7.62 Pin No. Signal name Items Applicable cable diameter Protective grounding wire Motor drive U-phase Dedicated cable for IAI actuator Motor drive V-phase Motor drive W-phase Encoder Connector (PG) Model Remarks Cable Side 10126-3000PE Controller Side 10226-6202JL Pin No.

  • Page 154: Connection Of Pio

    2.6.4 Connection of PIO For the signal assignment of each wire, refer to 2.2.3 [5] PIO Circuit. ● Wiring Image Brown -3 (1B) • ○ B I/O input signal • (No treatment conducted) • Black -4 (20B) Brown -1(1A) • ○...

  • Page 155: Multi-Function Connector

    2.6.5 Multi-function Connector The multi-function connector is equipped with following interfaces. 1) Feedback pulse output 2) Serial communication port 2 (SIO2) Image of wiring Positioning Unit (Please prepare separately) Multi-function connector (MF I/F) Item Items and Model Connector Name Multi-function connector (MF I/F) Cable Side 10114-3000PE (3M) Controller Side...
  • Page 156 2.6.5 Wiring Method Caution : Enclosed only in plug and shell. Do the same wiring layout as the following option. Connect the multi-function connector to the enclosed connector (Model: 10114-3000PE). See below for how to lay out the power supply wires. 1) Prepare a cable.
  • Page 157 2.6.5 Pulse Converter: JM-08 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 output pulses in the applicable for open collector (24V type). Host Controller SCON-CB (PLC etc.) Caution:...

  • Page 158: Connection Of Regenerative Unit

    2.6.6 Connection of Regenerative Unit Lay out necessary number of regenerative units. ● Image of wiring To Drive Cutoff Circuit Temperature Sensor Contact (Contact opens when excessive temperature rise detected) Regenerative Unit Connector ● [Number of connected units] Determine the number of regenerative units to be connected depending on the operational conditions (payload, transfer velocity and duty ratio).
  • Page 159 2.6.6 ● Wiring Method on Controller Side Connect the wiring of the enclosed connector (Model code: GIC2,5/2-STF-7,62: Phoenix Contact). See below for how to lay out the power supply wires. 1) Loosen the terminal screw with using such as a slotted screwdriver to open up the inlet. 2) Reveal the sheath for 7mm on the cable that satisfies the cable diameter complies the specification shown in the table below and put it in the inlet.

  • Page 160: Sio Connector Connection

    2.6.7 SIO Connector Connection SIO connectors can be used not only for the connection of teaching tool, but also for the connection of the host controller (PLC, touch panel and PC). For the operation, refer to the instruction manual of each module. Dummy Plug DP-5 Item Items and Model...

  • Page 161: Chapter 3 Operation

    Chapter 3 Operation Caution: For SCON-LC/-LCG Types, get knowledge for how to operate in this chapter, and see Ladder Programming Manuals [ME0329 and ME0330] provided separately. Refer to RCON System Instruction Manual [ME0384] for how to operate RCON Connection Type. 3.1 Basic Operation 3.1.1 Power Supply and Cutoff...

  • Page 162: Basic Operation Methods

    3.1.2 Basic Operation Methods There are two types, Positioner Mode and Pulse Train Control Mode. Select the suitable one considering the system function. (Types for 3000W and above should not be equipped with Pulse Train Control 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 163 3.1.2 • Procedure 3 : Turn the servo ON, and have a home-return operation. 1) Press the Servo 2) Turn on the Servo lamp 3) Press the Home Select Position -> Open Position Table 4) Turn on the Home lamp Edit / Teach in Menu (after actuator is stopped) •...
  • Page 164 3.1.2 (2) Pulse Train Control Mode (Only for Types up to 750W) Command Complete Pulse Signal Signal Enter an electronic gear ratio. Edit Parameters of controller Teaching Pendant or Actuator Controller PC software ● Operation････Example for When the Parameter Settings at Delivery •...

  • Page 165: Parameter Settings

    3.1.3 Parameter Settings Parameter data should be set to be suit to the system or application. Parameters are variables to be set to meet the use of the controller in the similar way as settings of the ringtone and silent mode of a cell phone and settings of clocks and calendars. (Example) Soft Stroke Limit : Set a proper operation range for definition of the stroke end,...

  • Page 166: Operation In Positioner Mode

    3.2 Operation in Positioner Mode The front of controller switch has a function to switch over the mode between Positioner Mode and Pulse Train Control Mode. In the positioner mode, the following 8 types of PIO pattern can be selected with a proper parameter. (Pressing Operation Using Force Sensor Mode 1/2 cannot be used in types for 3000W and above.) This Operational PIO Pattern cannot be switched over after the system is finished to be established or during the actuator operation.
  • Page 167 PIO Pattern Selection and Main Functions : Valid function PIO Pattern (Parameter No.25) Pressing Pressing operation operation 256- 512- Solenoid Solenoid Positioning Teaching using using Mode point point valve valve mode mode force force mode mode mode 1 mode 2 sensor sensor mode 1...
  • Page 168 [2] Overview of major Functions Function Description Number of positioning points Number of positioning points which can be set in the position table. Operation with the Position No. Normal operation started by turning the start signal ON after position No. is Input entered with binary data.

  • Page 169: 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 170 (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 171 3.2.1 Pressing [%] ·········· Setting proper data here allows pressing to be done. Set a pressing torque (limit current value) in %. If the value is set to 0, the normal positioning operation is performed. The speed for the pressing operation is set in Parameter No. 34. If the setting done in 3) is less than the pressing speed setting value, the pressing operation is performed at this setting value.
  • Page 172 3.2.1 (*1) 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.
  • Page 173 3.2.1 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...
  • Page 174 3.2.1 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 175 3.2.1 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 176: 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 1) Therefore, input each input signal for 6ms or more continuously. The signal cannot be identified if it is less than 6ms.
  • Page 177 3.2.3 [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 communication. The mode change is normally done by the operation mode setting switch ON the front panel of the controller.
  • Page 178 3.2.3 [3] Servo ON (SON, SV, PEND) PIO signal Input Output 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 179 3.2.3 [4] Home Return (HOME, HEND, PEND, MOVE) Input Output PIO signal HOME HEND PEND MOVE Patterns 0 and 1 Patterns 2 to 4 × Pattern 5 × × × (Note1) Patterns 6 and 7 × : Available, ×: Unavailable Note 1: For pattern 5, the home return by the HOME signal is not allowed.
  • Page 180 3.2.3 [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 181 3.2.3 [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 182 3.2.3 [5] Zone Signal and Position Zone Signal (ZONE1, PZONE) PIO signal Output (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 183 3.2.3 (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...
  • Page 184 3.2.3 [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 185 3.2.3 [7] Binary Output of Alarm Data Output (*ALM, PM1 to 8) PIO signal Output *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 186 3.2.3 : ON : OFF ALM8 ALM4 ALM2 ALM1 Binary Code Description: Alarm code is shown in ( ). (PM8) (PM4) (PM2) (PM1) Actual speed excessive (0C0) Overrun detected (0C2) Electromagnetic brake unrelease Error (0A5) Dynamic brake not released (0A6) Overcurrent (0C8) Overheat (0CA) Current sensor offset adjustment error (0CB)
  • Page 187 3.2.3 [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 188: 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 189 3.2.4 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...
  • Page 190 3.2.4 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...
  • Page 191 3.2.4 [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 192 3.2.4 (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.
  • Page 193 3.2.4 [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...
  • Page 194 3.2.4 [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...
  • Page 195 3.2.4 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 196 3.2.4 [4] Pressing operation Sample use 1) 2) 4) 5) Positioning width 50 Press-fitting process Velocity 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...
  • Page 197 3.2.4 The control method is the same as that in [1] Positioning. However, the processing of positioning complete signal PEND is different from that in [1] Positioning. PEND is output when the shaft is stopped by pressing (pressing complete). If the work is not subject to pressing (miss-pressing), the actuator moves by the value set in “Positioning width”...
  • Page 198 3.2.4 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 199 3.2.4 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 200 3.2.4 Force judgment margins are described by percent of the base thrust in pressing operation (*1) 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 201 3.2.4 Procedure 1) Decrease the pressing velocity when an overshoot is occurred. The pressing velocity is determined for each actuator to be used, and is set in Parameter No. 34. Set a lower velocity than the pressing velocity already set temporarily to the position (Note 1) data, and perform a pressing operation.
  • Page 202 3.2.4 Procedure 2) In case the condition has not improved in Procedure 1, try to change the pressing gain with force censor use (Parameter No. 94).When changing the setting, increase or (Note 2) decrease gradually referring to the following table. Note 2 Try those values below (for each model) for the setting value in Parameter No.
  • Page 203 3.2.4 * At delivery from factory ◎RA6R Rigidity of pressing target Hard ← Rigidity → Soft 7000 14000 28000 56000 112000 224000 8000 16000 32000 64000 128000 256000 9000 18000 36000 72000 144000 288000 10000 20000 40000 80000 160000 320000 11000 22000 44000...
  • Page 204 3.2.4 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 205 3.2.4 [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 206 3.2.4 In the similar way as pressing, the positioning complete signal is output when the shaft is 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.
  • Page 207 3.2.4 [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...
  • Page 208 3.2.4 [7] Teaching by PIO (MODE, MODES, PWRT, WEND, JISL, JOG+, JOG-) PIO signal Input Output 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 209 3.2.4 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 210 3.2.4 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 211 3.2.4 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 212: Direct Position Specification (Solenoid Value Mode 1) = Operations Of

    3.2.5 Direct Position Specification (Solenoid Value Mode 1) = Operations of PIO Patterns 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 213 3.2.5 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 214 3.2.5 [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...
  • Page 215 3.2.5 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 216 3.2.5 [3] Pressing operation Sample use 1) 2) 4) 5) Positioning width 50 Press-fitting process Velocity 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...
  • Page 217 3.2.5 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 Completion operation Movement by Positioning be Stop of positioning setting of coordinate...
  • Page 218 3.2.5 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 219 3.2.5 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 220 3.2.5 Procedure 1) Decrease the pressing velocity when an overshoot is occurred. The pressing velocity is determined for each actuator to be used, and is set in Parameter No. 34. Set a lower velocity than the pressing velocity already set temporarily to the position (Note 1) data, and perform a pressing operation.
  • Page 221 3.2.5 Procedure 2) In case the condition has not improved in Procedure 1, try to change the pressing gain with force censor use (Parameter No. 94).When changing the setting, increase or (Note 2) decrease gradually referring to the following table. Note 2 Try those values below (for each model) for the setting value in Parameter No.
  • Page 222 3.2.5 * At delivery from factory ◎RA6R Rigidity of pressing target Hard ← Rigidity → Soft 7000 14000 28000 56000 112000 224000 8000 16000 32000 64000 128000 256000 9000 18000 36000 72000 144000 288000 10000 20000 40000 80000 160000 320000 11000 22000 44000...
  • Page 223 3.2.5 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 224 3.2.5 [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 225 3.2.5 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 226 3.2.5 [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...
  • Page 227 3.2.5 [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 228 3.2.5 (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 229: Direct Position Specification (Solenoid Value Mode 2) = Operations Of

    3.2.6 Direct Position Specification (Solenoid Value Mode 2) = Operations of PIO Patterns 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 230 3.2.6 [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 231 3.2.6 [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.
  • Page 232 3.2.6 [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 233 3.2.6 [3] Positioning [Basic] (ST0 to ST2, LS0 to LS2) 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...
  • Page 234 3.2.6 (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 235 3.2.6 [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...
  • Page 236 3.2.6 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)
  • Page 237 3.2.6 [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.

  • Page 238: Operation Ready For Pressing Operation Using Force Sensor

    3.2.7 Operation Ready for Pressing Operation Using Force Sensor (Calibration of Loadcell) 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 239 3.2.7 [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 240 3.2.7 [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 241 3.2.7 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 242: Operation In Pulse Train Control Mode (Only For Types Up To 750W)

    3.3 Operation in Pulse Train Control Mode (Only for Types up to 750W) Controller front side can switch over the setting between Pulse Train Control Mode and Positioner Mode with the switch. In Pulse Train Mode, the actuator can be operated by the pulse train output of the host controller (PLC) positioning control function.

  • Page 243: I/O Signal Controls

    Main Functions Function Name Name 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 244: 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 245 3.3.2 [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 246 3.3.2 [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 247 3.3.2 [6] Home Return (HOME, HEND) Input Output PIO signal HOME HEND The HOME signal is intended for automatic 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 automatically. Once the home return is completed, the HEND (home return completion) signal will turn ON.
  • Page 248 3.3.2 [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 249 3.3.2 [7] Zone (ZONE1, ZONE2) PIO signal Output 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 250 3.3.2 [8] Alarm, Alarm Reset (*ALM, RES) PIO signal Input Output *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 251 3.3.2 : 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)
  • Page 252 3.3.2 [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 253: 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 254 3.3.3 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 255 3.3.3 [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”.
  • Page 256 3.3.3 [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 257: Setting Of Basic Parameters Required For Operation

    For those models with 131072 pulse/rev for the number of encoder pulse such as ISB, the electric gear ratio setting may exceed the upper limit of the internal arithmetic. In such a case, adjust the unit movement amount to appropriate. Also, contact IAI if the usage condition of wish cannot be satisfied.
  • Page 258 3.3.4 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] ×...
  • Page 259 3.3.4 [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 Input Mode CPMD –...

  • Page 260: Output Setting Of Feeldback Pulse

    3.3.5 Output Setting of Feeldback 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 261 3.3.5 [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...
  • Page 262 3.3.5 [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 263 3.3.5 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 264: 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 265 3.3.6 [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).

  • Page 267: Chapter 4 Field Network

    Chapter 4 Field Network 4.1 Each Field Network The controller is applicable for the following field network. Except for RS485, it is the option which can be selected when purchasing. It cannot be changed after the product is delivered. Also, for the field network other than RS485, PIO cannot be equipped. And Pulse Train Control Mode cannot be operated.
  • Page 268 [Reference] Wiring Layout of Field Network (for Field Network Type) Follow the instruction manual of the master unit and PLC consists of each field network for the details of how to perform connections. 1) DeviceNet Type 2) CC-Link Type 3) PROFIBUS-DP Type...
  • Page 269 4) CompoNet Type SCON Even though communication power is not necessary to be supplied to SCON, there should be no problem if communication power is supplied. 5) MECHATROLINK-Ⅰ/ⅡType Master unit SCON SCON Terminater JEPMC-W6022 MECHATROLINK Cable JEPMC-W6002-□□ JEPMC-W6003-□□ 6) EtherNet/IP Type SCON...
  • Page 270 7) EtherCAT Type 8) PROFINET-IO Type 9) MECHATROLINK-Ⅲ Type PCON MECHATROLINK-Ⅲ Type Other slave Master side...

  • Page 271: Rcon Connection Type

    4.2 RCON Connection Type This can be used as a driver unit that operates SCON-CB/CGB with commands from RCON Gateway. (Note1) 16 axes can be connected at the maximum with one unit of RCON Controller. (One unit of the extension unit is necessary. P Driver Unit, A Driver Unit and D Driver Unit should be included as a number of axes in the 16 axes.) 4.2.1 Model Codes for RCON Connection Type...

  • Page 272: Specifications

    4.2.3 Specifications RCON Connection Type Interface Specifications Item Contents Max. 16 Axes Number of Controlled Axes * Total number of connection including A/P/D Drivers PC Board Side : S20B-PUDSS-1 (JST) Connector Cable Side PUDP-20V-S (JST) Total Cable Length: 10m Max. Cable Length Length of Cables between Devices: 3m Max.

  • Page 273: Pin Assignment On Connector

    4.2.5 Pin Assignment on Connector Pin Assignment on RCON Connector (OUT end) Signal Signal Description Description Name Name IN/OUT IN/OUT 24V Power Supply Output for Module 0V Power Supply Output for Module DRV_DY Total Frame Communication Dedicated for Driver Differential Sending Line + DRV_RA Total Frame Communication Dedicated for Driver Differential Reception Line + DRV_DZ...

  • Page 274: Led Display

    4.2.6 LED Display Field Network LED Display Item Contents Flashing in Green : Startup ~ Configuration Communication Completed Illuminating in Green : In Regular Communication (Upper) Illuminating in Orange : Communication Error Occurred Illuminating in Green : In Normal Condition (Only Module) (Lower) Illuminating in Orange : Error Occurred (Only Module) 4.2.7...

  • Page 275: Timing To Supply Power

    4.2.8 Timing to Supply Power (1) Timing to Supply Power Supply power to RCON after power is supplied to SCON. <Power Supply Sequence> SCON Power Supply (AC100/200V) RCON Power Supply (DC24V) <Total Frame Communication> Initial Communication (Configuration Communication) (2) Timing to Power Supply (when not in time for initial communication) If the timing to supply power to SCON is later than to RCON (cannot make it in time for initial communication), it is available to set the initial communication start delay in the gateway parameter setting tool.

  • Page 277: 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 278 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 279: Setting Procedure

    5.1 Setting Procedure To use the vibration suppress control function, make proper measurements and settings depending on the procedure described below. Before setting vibration suppress control 1) Provide start setting 1) Are steps up to trial adjustment 2 in according to Starting Starting Procedure/Positioner Mode Procedure/Positioner completed?

  • Page 280: 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 281: Setting Of Position Data

    [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 283: 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 284 (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 285: Chapter 7 Absolute Reset And Absolute Battery

    Chapter 7 Absolute Reset and Absolute Battery 7.1 Absolute Reset The Battery-less absolute type or absolute type, controllers retain the encoder position data even with power is OFF. For those types, it is unnecessary to perform home-return operation every time the power is turned on. For Absolute Type, register the home position (absolute reset) in case of (1) to (3).
  • Page 286 (2) For Teaching Pendant (TB-02/TB-03) Press Alarm reset. Press Trial Operation on the Menu 1 screen. Press Jog inching on Test run screen. Touch Servo to turn the servo ON and touch Homing in Jog inching screen.
  • Page 287 (3) For Teaching Pendant (TB-01) Press Reset Alm. Press Trial Operation on the Menu 1 screen. Press Jog_Inching on Trial Operation screen. Touch SV OFF to turn the servo ON and touch HOME in Jog screen.
  • Page 288 [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 289 [2] Absolute Reset Using PIO Check the servo-on status SV is OFF. Turn the servo-on Input SON OFF for 100ms or longer. (Turn the SV and SON signals OFF and continue this status for 100ms or longer.) Turn the home return signal HOME (ST0 signal in case of PIO pattern 5) from OFF to ON. (Processed with ON edge.) Turn the reset signal RES from OFF to ON.

  • Page 290: Absolute Battery

    Item Specifications Battery classification Thionyl chloride lithium batteries Battery manufacturer’s name TOSHIBA HOME APPLIANCES CORP Or, Maxell, Ltd. Battery model (IAI model) AB-5 Battery nominal voltage 3.6V Current standard capacity 2000mAh (Note 1) 2 years after use (if left unused without power supply to...
  • Page 291 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 292: 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. Caution: To replace the old absolute battery with a new one with the controller power being OFF, complete the replacement within 15 minutes from the removal of the old battery.

  • Page 293: Chapter 8 Parameter

    Chapter 8 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 294: Parameter List

    8.1 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 295 I/O Parameter List (Continued) 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] (deg/s) max. speed 0: Level Movement command type FPIO –...
  • Page 296 I/O Parameter List (Continued) for Pulse Default factory Relevant (Note1) Name Symbol Unit Input Range Positioner Train setting sections Mode Mode 0: Enabled, B Compulsory stop input FPIO – 3.3.6 1: Disabled 0: Enabled, B Feedback pulse output FPIO – 3.3.5 1: Disabled B Feedback pulse train...
  • Page 297 I/O Parameter List (Continued) for Pulse Default factory Relevant Name Symbol Unit Input Range Positioner Train setting sections Mode Mode Natural frequency NP01 1/1000Hz 500 to 30000 10000 Notch filter gain NFG1 – 1 to 20000 9990 Damping characteristic DC12 –...
  • Page 298 I/O Parameter List (Continued) for Pulse Default factory Relevant Name Symbol Unit Input Range Positione Train setting sections r Mode Mode In accordance 8.2 [23] Velocity loop proportional gain 2 VLG2 – 1 to 9999999 (Note2) with actuator In accordance 8.2 [24] Velocity loop integral gain 2 VLT2...

  • Page 299: 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 300 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 301 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 302 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 303 [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 304 [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 305 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 306 [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 307 [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 (note1) (deg/s) max. speed This is the jog operation velocity setting with PIO signal (jog input command) when PIO pattern = 1 (Teaching Mode) is selected.
  • Page 308 [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 9999999 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 309 [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 310 [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 311 [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 312 [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 313 [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 15 actuator This parameter is for the manufacturer’s use only to determine the response capability of the current loop control.
  • Page 314 [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 315 [43] Torque limit (Parameter No.57) This parameter is exclusively used for the pulse-train control mode. [Refer to 3.3.6 Parameter Settings Required for Advanced Operations.] [44] Deviation clear at servo OFF & alarm stop (Parameter No.58) This parameter is exclusively used for the pulse-train control mode. [Refer to 3.3.6 Parameter Settings Required for Advanced Operations.] [45] Deviation error monitor during torque limiting (Parameter No.59) This parameter is exclusively used for the pulse-train control mode.
  • Page 316 [55] Feedback Pulse Train (Parameter No.69) 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) 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 317 [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 318 [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 319 [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 320 [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 321 [72] Allowable time of exceeding torque allowing continuous pressing (Parameter No.89) Default factory Name Symbol Unit Input Range setting Allowable time of exceeding In accordance with torque allowing continuous PSCT 0 to 300 actuator pressing This is the parameter to limit the continuous pressing time when using RCS2-RA13R with the pressing setting of 71% or more.
  • Page 322 [76] Selection of pressing control (Parameter No.93) Default factory Name Symbol Unit Input Range setting 0: Current limit In accordance with Selection of pressing control FFRC – 1: Force sensor actuator This parameter defines the pressing method. Set Value Description Pressing by current limit (when standard actuator) Force sensor pressing (For the actuator with the loadcell)
  • Page 323 [77] Pressing operation using force sensor gain (Parameter No.94) Default factory Name Symbol Unit Input Range setting Pressing operation using force In accordance with FRCG – 100 to 999999 sensor gain actuator This parameter defines the gain for pressing operation using force sensor. The gain may be adjusted when the rigidity of the pressing target is extremely large or small.
  • Page 324 * At delivery from factory ◎RA7R Rigidity of pressing target Hard ← Rigidity → Soft 3500 7000 14000 28000 56000 112000 4000 8000 16000 32000 64000 128000 4500 9000 18000 36000 72000 144000 5000 10000 20000 40000 80000 160000 5500 11000 22000 44000...
  • Page 325 [78] Force judgment margin + / - (Parameter No.95, No.96) 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 Force judgment margin - FJML Pressing Force actuator...
  • Page 326 [82] Calendar function (Parameter No.111) Default factory Name Symbol Unit Input Range setting 0: Does not use the calendar timer Calendar function FRTC – 1: Use the calendar timer This parameter defines whether the calendar function (RTC) is used or not. Set the current time with using a teaching tool when the calendar function is used.
  • Page 327 [84] Monitoring period (Parameter No.113) Default factory Name Symbol Unit Input Range setting Monitoring period FMNT msec 1 to 1000 This is the parameter to set up the frequency of time to obtain data (Sampling Frequency) when the monitoring mode is selected. By setting the value in this parameter bigger, the frequency of data obtaining can be made longer.
  • Page 328 [87] Automatic loadcell calibration at start (Parameter No.117) 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. Set Value Description Does not provide loadcell calibration...
  • Page 329 [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 330 [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 331 [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.(as it is necessary to register the Z-phase nearest to the mechanical end as the datum) The value should be an integer multiple of ±(ball screw lead length) including 0.00.
  • Page 332 [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 333 [114] Total Movement Count Threshold (Parameter No.147) Default factory Name Symbol Unit Input Range setting Total Movement Count TMCT Times 0 to 999999999 0(Disabled) Threshold An alarm is generated when the total movement count exceeds the value set to this parameter. The judgment would not be made if the value is set to 0.
  • Page 334 [117] Linear Absolute Home Preset Value (Parameter No.150) Default factory Name Symbol Unit Input Range setting Linear Absolute Home Preset In accordance LAPS -9999.99 to 9999.99 Value with actuator This can set the home position of the actuator for Spurious Absolute Type. This can set the home position of the actuator for Spurious Absolute Type.The diagram below shows the position of each part related to the datum (the initial position at the delivery from our factory):...
  • Page 335 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 336 [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] Nominal Rigidity (Parameter No.163) Default factory Name...
  • Page 337 [123] Pulse Train Datum Position (Parameter No.167) This is used when a absolute type actuator is operated with pulse train control. Refer to 3.3.4 [3]. [124] Force Control Transition Threshold (Parameter No.173) Default factory Name Symbol Unit Input Range setting Force Control Transition FCTH 10 to 90...

  • Page 338: 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 339 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 340 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 341: 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 342: 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 2.5.1 Wiring of Power Circuit.] EMG on the status During emergency-stop. 1) Release the emergency stop switch.
  • Page 343 [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 344 [Startup Adjustment with Teaching Tool when Control Circuit Incomplete] Situation Possible cause Check/Treatment Operation is not Cable treatment or mode selection 1) Make a short circuit between EMG + performed even though 1) Emergency stop condition and -. the teaching tool is The status display LED EMG is Warning connected, and power to...

  • Page 345: 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 346 [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 347: 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 348: 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 349: 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 350: 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 351 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 352 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 353 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 354 Treatment : In the case that the work does not interfere with anything, the cause 2) or 3) is supposed. In such case, please contact IAI. Home return timeout Cause : Home return does not complete after elapse of a certain period after the start of home return.
  • Page 355 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 356 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 357 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 358 2) Effect of noise is suspected. Check the presence Cold start of noise source around the loadcell. 3) Replace the loadcell if it may be faulty. 4) Replace the controller if it may be faulty. In cases 3) and 4), please contact IAI.
  • Page 359 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 360 Driver logic error Cause : Exceeded load, parameter (motor type) mismatched, noise, malfunction of controller, etc. Treatment : Please contact IAI. Field bus link error Cause : This error occurs when the link of the fieldbus is disconnected in a fieldbus type controller.
  • Page 361 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 363: Chapter 10 Appendix

    Chapter 10 Appendix 10.1 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 364: Detailed Connection Diagram Of Communication Lines

    10.1.2 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 365: Axis No.setting

    10.1.3 Axis No.Setting 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. Caution : The axis number must be unique.

  • Page 366: Handling Of E-Con Connector (How To Connect)

    10.1.4 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 367: Sio Converter

    10.1.5 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 368 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 369: Communications Cable

    10.1.6 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 10.1.7 External Dimension (Leg Element Bottom Side) (Leg Element Top Side)

  • Page 370: Conformity To Safety Category

    10.2 Conformity to Safety Category [1] System Configuration When it is necessary to construct a system complied with Safety Category (ISO12100-1), use SCON-CGB Controller. Also, choose one from below for a teaching pendant. (1) TB-02D or TB-01D/-01DR (Touch Panel Teaching) (2) CON-PGAS (Touch Panel Teaching) Also, TP adapter (Model : RCB-LB-TGS) is required.
  • Page 371 [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 372 ● 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- EMG1+ ENB1+ ENB2- EMG2- AWG24 AWG24 ENB2+ EMG2+ ENBIN EMGIN ENBOUT...
  • Page 373 [3] Examples of Safety Circuits 1) In case of category 1 TB-02D or 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 374 • Detailed category 1 circuit example RCB-LB-TGS SCON EMGSTR Emergency Stop SW EMGA EMG1- VP24 EMG1+ TP Connection Detecting T24V EMG2- 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 EMB2- EMB2+...
  • Page 375 In case of category 2 TB-02D or 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) T11 A2 A1 41 33 23 13 42 34 24 14 T21 PE G9SA-301 (OMRON)
  • Page 376 • Detailed category 2 circuit example RCB-LB-TGS SCON EMGSTR Emergency Stop SW EMGA EMG1- VP24 EMG1+ TP Connection Detecting T24V EMG2- 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 EMB2- EMB2+...
  • Page 377 In case of category 3 or 4 TB-02D or 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 378 • Detailed category 3 or 4 circuit example RCB-LB-TGS SCON EMGSTR Emergency Stop SW EMGA EMG1- VP24 EMG1+ TP Connection Detecting T24V EMG2- 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 379 [4] TP Adapter and Related Components TP adapter external dimensions RCB-LB-TGS 2-φ3.5...
  • Page 380 Connection Cable ● 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 381 Dummy plug 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 382: 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 40Ⅲ 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 383: 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 to move the actuator successively to three positions on an axis. 10.4.1 I/O Assignment Operation Box Operation Box Input Output OUT0...

  • Page 384: 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 385 [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 386 [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 387 [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 388 [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 389 [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 390 [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 391 [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 AUX14...
  • Page 392 [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 393 [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 394 [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 395: 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 396 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 397 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 398 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Lead Oriented Acceleration/ Pressing Pressing Pressing Type Encoder Output Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 380 (at 75st) Horizontal 280 (at 50st) − − − 330 (at 75st) Vertical 230 (at 50st)
  • Page 399 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Lead Oriented Acceleration/ Pressing Pressing Pressing Type Encoder Output Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 0.25 − − − 0.15 − − − 0.05 − −...
  • Page 400 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 401 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 402 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 403 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 404 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 405 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 406 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 407 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 408 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 409 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 410 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 411 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 412 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 413 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 414 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 415 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 416 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 417 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 418 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 419 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 420 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 421 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 422 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 423 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 424 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 425 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 426 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 427 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 428 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 429 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 430 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 431 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 432 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 433 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 434 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 435 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 436 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 437 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 438 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 439 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 440: Specifications And Limitations In Pressing Operation

    10.5.2 Specifications and Limitations in Pressing Operation [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). • Apply a pressing force larger than the minimum pressing force to the actuator. If not, the pressing force can be unstable.
  • Page 441 ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA7R 1250 1000 Current-Limiting Value (%) ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA8R 2500 2000 1500 1000 Current-Limiting Value (%) ■...
  • Page 442 ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA15R 180 200 Current-Limiting Value (%) ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA20R Current-Limiting Value (%)
  • Page 443 [2] Limitation in Operation Make sure to check the way to make selection for the operational condition and so on described in RCS2-RA13R and RCS3 Rod Type Instruction Manual, and use the unit in the range of the specifications.

  • Page 445: 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 446: 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 447: Change History

    Change History Revision Date Revision Description 2015.08 First Edition 2015.11 1B Edition Pg. 32 Loadcell life deleted Pg. 283 Correction made to e-CON model code 2016.03 Second Edition Pg. 11 Note added for caution in handling Pg. 97, 122 Loadcell model added Pg.
  • Page 448 Revision Date Revision Description 2018.02 5C Edition Applicable cable size revised 1.2.2 Value corrected for heat generation 2.5.5, 2.5.6, 2.6.5 Description added for pin numbers on connector soldering side 2018.04 5D Edition RCON Connection Type added (Startup Process, 1.1.3, 1.1.5, 1.2.1, 3, 4.2) Description revised in Connection of PIO in 2.5.4 and 2.6.4 Description revised in 4.1 Each Field Network Correction made to statement and Terms unified...
  • Page 450 825, 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 © 2018. Apr. IAI Corporation. All rights reserved. 18.04.000...

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