Page 1 ACON-C/CG Controller Positioner Type Operation Manual Twelfth Edition Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
Page 2 Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
Page 3 Information contained in this Operation Manual is subject to change without notice for the purpose of product improvement. If you have any question or comment regarding the content of this manual, please contact the IAI sales office near you. Using or copying all or part of this Operation Manual without permission is prohibited.
Page 4 CAUTION 1. Use Environment ACON controllers can be used in an environment of pollution degree 2 or equivalent. 2. PC Software and Teaching Pendant Model Numbers New functions have been added to the entire ACON controller series. To support these new features, the communication protocol has been changed to the general Modbus (Modbus-compliant) mode.
Page 5 CAUTION 4. Initial Parameter Settings at Startup After applying power, at least the three parameters specified below must be set in accordance with the specific application. Inappropriate settings of these parameters will prevent the controller from operating properly, so exercise due caution. For details on how to set the parameters, refer to “Parameter Settings”...
Page 6 CAUTION [2] Enabling/disabling the servo ON input signal (SON) The servo ON input signal has been added to allow for servo ON/OFF control on the PLC side. Depending on the needs, therefore, the user must enable/disable this signal. To select a desired setting, set “0” or “1” in parameter No. 21 (Servo ON input disable selection). Enable (use) Disable (do not use) The factory setting is “0 [Enable].”...
Page 7 CAUTION Changes to Zone Function Applicable application versions: V0015 and later Among the zone signal settings, those that result in “Zone setting+ < Zone setting-” are now effective. V0014 and earlier: “Zone setting+ Zone setting-” A zone signal is not output. V0015 and later: “Zone setting+ = Zone setting-”...
Page 8 CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately. Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
Page 9: Table Of Contents
Supplied Voltage..........................21 Noise Elimination Measures and Grounding................22 Heat Radiation and Installation....................23 4. Wiring ........................24 Positioner Type (with Internal Drive-power Cutoff Relay) (ACON-C)........24 4.1.1 External Connection Diagram................24 4.1.2 Wiring the Power Supply/Emergency-Stop Switch ..........25 Safety Category Type (External Drive-power Cutoff Relay) (ACON-CG) .........
Page 10 Connecting the Actuator ......................43 4.4.1 Wiring the ACON-C/CG and Actuator ..............43 Connecting the Communication Cable..................45 5. I/O Signal Control and Signal Functions..............46 Interface Circuit ......................... 46 5.1.1 External Input Specifications................. 46 5.1.2 External Output Specifications................47 PIO Patterns and Signal Assignments ..................
Page 11 6. Data Entry <Basics>....................65 Description of Position Table ..................... 65 Explanation of Modes ........................ 70 6.2.1 Positioning Mode Push = 0................... 70 6.2.2 Push & Hold Mode Push = Other than 0............... 70 6.2.3 Speed Change during Movement ................. 72 6.2.4 Operation at Different Acceleration and Deceleration Settings ......
Page 12 8. Parameters......................122 Parameter Table ........................122 Detail Explanation of Parameters .................... 124 8.2.1 Parameters Relating to the Actuator Stroke Range ..........124 Soft limit ........................... 124 Software limit margin ....................... 124 Zone boundary......................... 125 Home return direction ...................... 125 Home return offset ......................
Page 13 9. PC/Teaching Pendant Connection Method in Multi-axis Configurations....141 Connection Example ....................... 141 Name and Function of Each Part of the SIO Converter ............142 Address Switch........................144 Connection Cables ........................144 Detail Connection Diagram...................... 145 10. Troubleshooting..................... 147 10.1 Action to Be Taken upon Occurrence of Problem ..............147 10.2 Alarm Level Classification .......................
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Page 15: Safety Guide
Safety Guide When designing and manufacturing a robot system, ensure safety by following the safety precautions provided below and taking the necessary measures. Regulations and Standards Governing Industrial Robots Safety measures on mechanical devices are generally classified into four categories under the International Industrial Standard ISO/DIS 12100, “Safety of machinery,”...
Page 16 Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Cutoff of drive Work area Work condition Measure Article source Signs for starting operation Article 104 Outside During movement automatic Not cut off Installation of railings, Article 150-4 range operation enclosures, etc.
Page 17 Applicable Models of IAI’s Industrial Robots Machines meeting the following conditions are not classified as industrial robots according to Notice of Ministry of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No. 340): (1) Single-axis robot with a motor wattage of 80 W or less...
Page 18 Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. Task Note Model This product is not planned or designed for uses requiring high degrees of safety. selection...
Page 19 [4] Place subject to splashed water, oil or chemicals (2) Wiring the cables Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc. Do not damage, forcibly bend, pull, loop round an object or pinch the cables or place heavy articles on top.
Page 20 Task Note Installation/ Implement safety measures so that the product cannot be started only by turning startup on the power. If the product starts suddenly, injury or product damage may result. Implement safety measures so that the product will not start upon cancellation of an emergency stop or recovery of power following a power outage.
Page 21 Modification The customer must not modify or disassemble/assemble the product or use maintenance parts not specified in the manual without first consulting IAI. Any damage or loss resulting from the above actions will be excluded from the scope of warranty.
Page 22 Indication of Cautionary Information The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and “Note,” as specified below. Level Degree of danger/loss Symbol Failure to observe the instruction will result in an Danger Danger imminent danger leading to death or serious injury. Failure to observe the instruction may result in death Warning Warning...
Page 23: Overview
(Note 1) We have made every effort to ensure precision of the information provided in this manual. Should you find an error, however, or if you have any comment, please contact IAI. Keep this manual in a convenient place so it can be referenced readily when necessary.
Page 24: How To Read The Model Number
1.2 How to Read the Model Number <Series> <Type> <Simple absolute unit> Positioner type (internal drive- power cutoff relay) CG: Safety category type (external <Power-supply voltage> drive-power cutoff relay) 0: 24 VDC <Actuator characteristics> [Motor type] <I/O cable length> 0: No cable 10 W 2: 2 m 20S: 20 W (used exclusively for RA3)
Page 25: System Configuration
1.3 System Configuration 1.3.1 Internal Drive-Power Cutoff Relay Type (ACON-C) Standard teaching pendant <CON-T RCM-T> Host system <PLC> Supplied flat cable 24-VDC I/O power supply PC software (optional) RCA actuator RS232C type <RCM-101-MW> USB type <RCM 101-USB> External EMG switch...
Page 26: External Drive-Power Cutoff Relay Type (Acon-Cg)
1.3.2 External Drive-Power Cutoff Relay Type (ACON-CG) Standard teaching pendant <CON-T RCM-T> Host system <PLC> Supplied flat cable 24-VDC I/O power supply PC software (optional) RCA actuator RS232C type <RCM-101-MW> USB type <RCM 101-USB> Motor drive- power cutoff circuit Safety relay Contactor Input power supply 24...
Page 27: Procedure From Unpacking To Test Operation And Adjustment
If you found any missing part or part specified for a different model number, please contact your dealer. Controller Actuator I/O flat cable Motor cable Encoder cable ACON-C CB-PAC PIO* * * CB-ACS-MA* * * CB-ACS-PA* * * ACON-CG Operation manual Network connector (in case of CC-Link specification and DeviceNet specification) SMSTB2.5/5-ST-5.08AU...
Page 28 Turn on the servo Confirm that the slider or rod is not contacting a mechanical end. If the slider/rod is contacting a mechanical end, move it away from the mechanical end. If the actuator is equipped with a brake, turn on the brake forced-release switch to forcibly release the brake before moving the actuator.
Page 29: Warranty
1.5 Warranty 1.5.1 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 1.5.2 Scope of 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 30: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications
1.5.5 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 31: Specifications
Specifications 2.1 Basic Specifications ACON-C (Internal drive-power cutoff relay type)/ Specification Item ACON-CG (External drive-power cutoff relay type) Model number ACON-C ACON-CG Number of controlled axes 1 axis per unit Power-supply voltage 24 VDC +10%/-10% Standard specification/Support high Support power-saving...
Page 32: Name And Function Of Each Part Of The Controller
NPN --- Sink type PNP --- Source type Explanation of motor drive-power cutoff circuit INT --- ACON-C [Internal drive-power cutoff relay type] EXT --- ACON-CG [External drive-power cutoff relay type] On notational convention of types of actuators to be connected The supported actuator type is specified as in the example below.
Page 33 Explanation of power-supply terminal block [1] ACON-C [Positioner type (with internal drive-power cutoff relay)] Provide a contact output for the emergency-stop button on the teaching pendant.
Page 34: External Dimensions
2.3 External Dimensions An external view and dimensions of the product are shown below. (Note) Refer to the operation manual for each network (CC-Link, DeviceNet and ProfiBus) as well for the detailed explanation of the network connection specifications. 68.1 Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
Page 35: Installation And Noise Elimination
Installation and Noise Elimination Pay due attention to the installation environment of the controller. 3.1 Installation Environment (1) When installing and wiring the controller, do not block the cooling ventilation holes. (Insufficient ventilation will not only prevent the controller from demonstrating its full performance, but it may also cause breakdown.) (2) Prevent foreign matter from entering the controller through the ventilation holes.
Page 36: Noise Elimination Measures And Grounding
Separate the controller cables from high-power lines such as a cable connecting to a power circuit. (Do not tie them together or place in the same cable duct.) When extending the supplied motor cable or encoder cable, consult IAI’s Technical Support. (2) Noise sources and elimination Noise generates from many sources, but the most common sources of noise you should consider when designing a system are solenoid valves, magnet switches and relays.
Page 37: Heat Radiation And Installation
[2] DC solenoid valves, magnet switches and relays Measure: Mount diodes in parallel with the coil or use types with built-in diodes. In a DC circuit, connecting a diode in reverse polarity will damage the diode, internal parts of the controller and/or DC power supply, so exercise due caution.
Page 38: Wiring
Wiring 4.1 Positioner Type (with Internal Drive-power Cutoff Relay) (ACON-C) 4.1.1 External Connection Diagram An example of standard wiring is shown below. (Note) The encoder cable shown in the example is the standard cable for the controller with the maximum current of 2 A.
Page 39: Wiring The Power Supply/Emergency-Stop Switch
4.1.2 Wiring the Power Supply/Emergency-Stop Switch Wiring the power supply Input power supply 24 VDC EMG- To connect multiple controllers, provide a relay terminal block. Use a power cable satisfying the following specifications: Item Specification Applicable wire length Single wire: 1.0 / Stranded: 0.8 mm , AWG size 18, (copper wire) Stripped wire length...
Page 40 To provide an emergency-stop function for the entire system, the controller circuit is designed in such a way that a single EMG switch is able to actuate an emergency stop in all connected controllers. [Example of recommended circuit] ACON-C controller EMG switch on External EMG...
Page 41 Representative connection examples are explained below. Connecting the teaching pendant directly to the controller [1] Connecting multiple controllers (8 units or less) using a single power supply Short the MPI and MPO terminals using a jumper wire. (The controller is shipped with these terminals shorted.) Connect one end of the EMG signal to the 24-V output of the input power supply and the other end to the S1 terminal.
Page 42 [Controller 1] EMG signal Teaching pendant Connection detection circuit Relay [Controller 2] Teaching pendant Connection detection circuit Relay [Controller 3] Teaching pendant Connection detection circuit Relay [Controller 4] Teaching pendant Connection detection circuit Relay Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
Page 43 [2] Using a power supply other than the input power supply (Note) Use an auxiliary relay with a coil current of 0.1 A or less and connect a diode for coil surge absorption. [Controller 1] EMG signal Teaching pendant Connection detection circuit Relay [Controller 2]...
Page 44 [3] Connecting the teaching pendant to a SIO converter Configure the contact circuit for the EMG switch on the teaching pendant using EMG1/EMG2 on the power/emergency-stop terminal block on the SIO converter. (S1/S2 on the controller’s terminal block are not used.) SIO converter EMG signal Teaching pendant...
Page 45 Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
Page 46: Safety Category Type (External Drive-Power Cutoff Relay) (Acon-Cg)
4.2 Safety Category Type (External Drive-power Cutoff Relay) (ACON-CG) 4.2.1 External Connection Diagram An example of standard wiring is shown below. (Note) The encoder cable shown in the example is the standard cable. As for the robot cable or the cable for the dedicated controller for the high-thrust type, refer to 4.4.2, “Encoder Extension Cable.”...
Page 47: Wiring The Power Supply/Emergency-Stop Switch
4.2.2 Wiring the Power Supply/Emergency-Stop Switch Wiring the power supply Input power supply 24 VDC EMG- To connect multiple controllers, provide a relay terminal block. Use a power cable satisfying the following specifications: Item Specification Applicable wire length Single wire: 1.0 / Stranded: 0.8 mm , AWG size 18, (copper wire) Stripped wire length...
Page 48 Wiring the motor power cutoff relay Explained below is a safety circuit conforming to safety category 2. The user is responsible for implementing additional safety measures in the actual circuit configuration, such as providing double contactor contacts to prevent fusing. The circuit illustrated below is for reference purposes only.
Page 49 [Connection example of a multiple-axis configuration] Input power supply Connect to 24-V terminal Connect to 0-V terminal [Controller 1] [Controller 2] [Controller 3] Contactor External reset switch Safety relay unit Phoenix contact (PSR-SCP-24UC-/ESA2/4X1/1X2/B) Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
Page 50: Connecting The I/O Cables
4.3 Connecting the I/O Cables PIO pattern 0 [Positioning mode (Standard Type)] Controller end Host system <PLC> end (signal abbreviation) Upper stage Brown 1 +24 [V] Red 1 +24 [V] Orange 1 Yellow 1 Green 1 Command position 1 Blue 1 Command position 2 Purple 1 Command position 4...
Page 51: Pio Pattern 1 [Teaching Mode (Teaching Type)]
PIO pattern 1 [Teaching mode (Teaching Type)] Host system <PLC> end Controller end (signal abbreviation) Upper Brown 1 stage +24 [V] Red 1 +24 [V] Orange 1 Yellow 1 Green 1 Command position 1 Blue 1 Command position 2 Purple 1 Command position 4 Gray 1 Command position 8...
Page 52: Pio Pattern 2 [256-Point Mode (256-Point Type)]
PIO pattern 2 [256-point mode (256-point type)] Host system <PLC> end Controller end PIO (signal abbreviation) Upper Brown 1 stage +24 [V] Red 1 +24 [V] Orange 1 Yellow 1 Green 1 Command position 1 Blue 1 Command position 2 Purple 1 Command position 4 Gray 1...
Page 53: Pio Pattern 3 [512-Point Mode (512-Point Type)]
PIO pattern 3 [512-point mode (512-point type)] Host system <PLC> end Controller end (signal abbreviation) Upper Brown 1 stage Red 1 Orange 1 Yellow 1 Green 1 Command position 1 Blue 1 Command position 2 Purple 1 Command position 4 Gray 1 Command position 8 White 1...
Page 54: Pio Pattern 4 [Solenoid Valve Mode 1 (7-Point Type)]
PIO pattern 4 [Solenoid valve mode 1 (7-point Type)] Host system <PLC> end Controller end (signal abbreviation) Upper Brown 1 stage Red 1 Orange 1 Yellow 1 Green 1 Direct position command 0 Blue 1 Direct position command 1 Purple 1 Direct position command 2 Gray 1 Direct position command 3...
Page 55: Pio Pattern 5 [Solenoid Valve Mode 2 (3-Point Type)]
PIO pattern 5 [Solenoid valve mode 2 (3-point Type)] Host system <PLC> end Controller end (signal abbreviation) Upper Brown 1 stage Red 1 Orange 1 Yellow 1 Green 1 Rear end move Blue 1 Front end move Purple 1 Intermediate point move Gray 1 White 1 Black 1...
Page 56 Caution: When performing a continuity check of the flat cable, pay due attention not to expand the female pins in the connector. It may cause contact failure and disable normal operation of the controller. Black 4 Lower stage Brown 3 Black 2 Upper stage Brown 1...
Page 57: Connecting The Actuator
4.4 Connecting the Actuator 4.4.1 Wiring the ACON-C/CG and Actuator Use dedicated extension cables to wire the controller and actuator. (1) RCA motor cable Model number: CB-ACS-MA indicates the cable length L. Example: 080 = 8 m) Pin layout Pin layout...
Page 58 (3) RCA2 integrated motor/encoder cable Model number: CB-ACS-MPA indicates the cable length L. Example: 080 = 8 m) Cable model marking Actuator Controller end Housing: DF1E-3S-2.5C Contact: DF1E-2022SCF Signal Pin No. Cable color Pin No. name Yellow Black Signal Pin No. Description Cable color name...
Page 59: Connecting The Communication Cable
4.5 Connecting the Communication Cable Connect the communication cable to the SIO connector. Pin assignments of the cable-end connector RS485 conversion adapter end Controller end CB-RCA-SIO*** Pin No. Signal name Cable color Cable color Signal name Pin No. Yellow Brown Orange Yellow Brown/Green...
Page 60: I/O Signal Control And Signal Functions
I/O Signal Control and Signal Functions 5.1 Interface Circuit The standard interface specification of the controller is NPN, but the PNP specification is also available as an option. To prevent confusion during wiring, the NPN and PNP specifications use the same power line configuration. Accordingly, there is no need to reverse the power signal assignments for a PNP controller.
Page 61: External Output Specifications
5.1.2 External Output Specifications Item Specification Number of output points 16 points Rated load voltage 24 VDC Maximum current 50 mA/point Residual voltage 2 V or less Isolation method Photocoupler Internal circuit configuration [NPN specification] Controller Load Each output Internal circuit Load External power supply [PNP specification]...
Page 62: Pio Patterns And Signal Assignments
5.2 PIO Patterns and Signal Assignments This controller provides six PIO pattern types to meet the needs of various applications. To select a desired type, set a corresponding value from 0 to 5 in parameter No. 25 (PIO pattern selection). The features of each PIO pattern are explained below: Parameter No.
Page 63: Explanation Of Signal Names
5.2.1 Explanation of Signal Names The following explains the signal names, and gives a function overview of each signal. In the explanation of operation timings provided in a later section, each signal is referenced by its self- explanatory name for clarity. If necessary, however, such as when marker tubes are inserted as a termination of the flat cable, use the signal abbreviations.
Page 64: Pio Pattern = 1 [Teaching Mode (Teaching Type)]
PIO pattern = 1 [Teaching mode (Teaching type)] Signal Category Signal name Function overview abbreviation The target position number is input. Command position A command position number must be specified by 6 ms before number the start signal (CSTR) turns ON. PC16 PC32 Operation mode...
Page 65: Pio Pattern = 2 [256-Point Mode (256-Point Type)]
PIO pattern = 2 [256-point mode (256-point type)] Signal Category Signal name Function overview abbreviation The target position number is input. Command position A command position number must be specified by 6 ms before number PC16 the start signal (CSTR) turns ON. PC32 PC64 PC128...
Page 66: Pio Pattern = 3 [512-Point Mode (512-Point Type)]
PIO pattern = 3 [512-point mode (512-point type)] Signal Category Signal name Function overview abbreviation The target position number is input. Command position PC16 A command position number must be specified by 6 ms before number the start signal (CSTR) turns ON. PC32 PC64 PC128...
Page 67: Pio Pattern = 4 [Solenoid Valve Mode 1 (7-Point Type)]
PIO pattern = 4 [Solenoid valve mode 1 (7-point type)] Signal Category Signal name Function overview abbreviation Direct position The actuator will start moving to position No. 0 at a rise edge command 0 of this signal. Direct position The actuator will start moving to position No. 1 at a rise edge command 1 of this signal.
Page 68: Pio Pattern = 5 [Solenoid Valve Mode 2 (3-Point Type)]
PIO pattern = 5 [Solenoid valve mode 2 (3-point type)] Signal Category Signal name Function overview abbreviation Rear end move The actuator will move toward the rear end while this signal (note) remains at ON level. command Front end move The actuator will move toward the front end while this signal ST1 (JOG+) (note)
Page 69: Signal Assignment Table For Respective Pio Patterns
5.2.2 Signal Assignment Table for Respective PIO Patterns When creating a PLC sequence or wiring signals, assign each pin correctly by referring to the assignment table below. When “1 [Teaching type(Teaching type)]” is selected, the meaning of each pin number will vary depending on the mode. Accordingly, also pay due attention to the mode switch timings.
Page 70: Details Of I/O Signal Functions
5.3 Details of I/O Signal Functions An input time constant is provided for the input signals of this controller, in order to prevent malfunction due to chattering, noise, etc. Except for certain signals, switching of each input signal will be effected when the signal has been received continuously for at least 6 msec.
Page 71: Command Position Number (Pc1 To Pc256)
Command position number (PC1 to PC256) When a movement command is effected upon OFF ON of the start signal, the nine-bit binary code consisting of signals PC1 to PC256 will be read as the command position number. 6 bits from PC1 to PC32 in case of the positioning mode (standard type) and teaching mode (teaching type), 8 bits from PC1 to PC128 in case of the 256-point mode (256-point type), and 9 bits from PC1 to PC256 in case of the 512-point mode (512-point type).
Page 72: Alarm Reset (Res)
Alarm reset (RES) This signal provides two functions. [1] Reset the alarm output signal (*ALM) that turned OFF due to an alarm If an alarm has generated, turn ON this signal after confirming the nature of the alarm. The controller will reset the alarm upon detection of a rise edge of the RES signal. (Note) Certain alarms cannot be reset by the RES signal.
Page 73: Jog (Jog+, Jog-)
Jog (JOG+, JOG-) This signal is valid when the teaching mode (teaching type) is selected. During jogging (JISL is turned OFF), the actuator moves up to ± each software limit if the rise edge from OFF to ON of this signal is detected. The actuator decelerates to a stop if the falling edge from ON to OFF of this signal is detected.
Page 74: Movement To Each Position (St0 To St2) [Solenoid Valve Mode 2 (3-Point Type)]
Movement to each position (ST0 to ST2) [Solenoid valve mode 2 (3-point type)] Since the number of positioning points is limited to three, the actuator can be controlled just like an air cylinder. While this signal is ON, the actuator will move toward the target position. If the signal turns OFF while the actuator is moving, the actuator will decelerate to a stop.
Page 75: Details Of Each Output Signal
5.3.2 Details of Each Output Signal Operating mode status (RMDS) The internal operating mode of the controller is output based on the AUTO/MANU selector switch on the controller and the RMOD signal received by the input port. If the selector switch is set to “AUTO” and the RMOD signal is OFF (AUTO), the controller is in the AUTO (OFF) mode.
Page 76: Home Return Completion (Hend)
Home return completion (HEND) This signal is OFF immediately after the power is input, and turns ON in either of the following two conditions: [1] Home return operation has completed with respect to the first movement command issued with the start signal.
Page 77: Movement Complete At Each Position (Pe0 To Pe6) [Solenoid Valve Mode 1 (7-Point Type)]63
Movement complete at each position (PE0 to PE6) [Solenoid valve mode 1 (7-point type)] When PIO pattern is “4,” a position number (0 through 6) corresponding to each movement command will be output upon completion of positioning. Simple alarm-code output function is not provided for these signals. If an alarm generates, only the *ALM signal will turn OFF.
Page 78: Emergency Stop (*Emgs)
Emergency stop (*EMGS) This signal remains ON while the controller is normal, and will turn OFF if the emergency stop circuit is cut off. Program the PLC so that it will monitor this signal and implement appropriate safety measures for the entire system if the signal turns OFF.
Page 79: Data Entry
Data Entry <Basics> To move the actuator to a specified position, a target position must be entered in the “Position” field. A target position can be specified in the absolute mode where a distance from the home is entered, or in the incremental mode where a relative travel from the current position is entered.

Page 80 Increasing the speed and acceleration/deceleration may significantly impact the actuator depending on the transferring mass, and the actuator characteristics also vary from one model to another. Contact IAI for the maximum limits that can be entered in your specific application.
Page 81 “Push & hold operation” This field defines the maximum push distance after reaching the target position in push & hold operation. Consider possible mechanical variation of the work part and set an appropriate positioning band that will prevent the positioning from completing before the work part is contacted.
Page 82 (9) Acceleration/deceleration • This field defines the acceleration/deceleration pattern characteristics. mode The factory setting is “0.” 0: Trapezoid pattern 1: S-motion 2: Primary delay filter Trapezoid pattern Speed Deceleration Acceleration Time * Acceleration and deceleration are set in the “Acceleration” and “Deceleration” fields of the position table, respectively.
Page 83 Primary delay filter The actuator operates along acceleration/deceleration curves that are more gradual than those of linear acceleration/deceleration (trapezoid pattern). Use this mode in situations where you wish to prevent the work part from receiving micro-vibration during acceleration or deceleration. Speed Time * The level of primary delay is set by parameter No.
Page 84: Explanation Of Modes
6.2 Explanation of Modes 6.2.1 Positioning Mode Push = 0 The actuator moves to the target position set in the “Position” field of the position table. Speed The position complete signal turns ON here. Target position Moving distance Time Positioning band 6.2.2 Push &...
Page 85 (2) Work part was not contacted (missed) If the actuator does not still contact the work part after having moved the distance specified in the “Positioning band” field, the position complete signal will not turn ON. Therefore, include timeout check processing in the sequence circuit on the PLC side. It is recommended that a zone signal be also used as a “simple ruler”...
Page 86: Speed Change During Movement
“reduce the tact time when the transferring mass is significantly smaller than the rated load capacity.” If you want to use acceleration/deceleration settings greater than the rating, consult IAI beforehand because it may affect the life of the actuator.
Page 87: Pause
6.2.5 Pause The actuator can be paused during movement using an external input signal (*STP). The pause signal uses the contact b logic (always ON) to ensure safety. Turning the *STP signal OFF causes the actuator to decelerate to a stop. When *STP is turned ON subsequently, the actuator will resume the remaining movement.
Page 88: Home Return
6.2.7 Home Return After the power is turned on, home return must be performed to establish the home position. The method of home return varies depending on the PIO pattern. When a dedicated input is used [PIO pattern Home return is performed using the home return (HOME) input. The actuator will return home regardless of whether or not home return has been completed once before.
Page 89: Overview Of Teaching Mode (Teaching Type)
6.2.8 Overview of Teaching Mode (Teaching Type) Depending on your system, it may be desirable to be able to use a touch panel, etc., to perform jogging operation or write the current position to the “Position” field of the position table, without using a PC or teaching pendant.
Page 90: Overview Of Solenoid Valve Mode 1 (7-Point Type)
6.2.9 Overview of Solenoid Valve Mode 1 (7-point Type) The number of positioning points is kept small, or specifically to seven or less. This type assumes simple applications where the PLC ladder sequence only requires a simple circuit configuration. I/O signals provide separate command inputs and movement complete outputs for respective position numbers. Accordingly, the signal pattern is different from the positioning mode (standard type) (PIO pattern = 0).
Page 91 [2] In case of positioning mode (standard type) Command position 1 input (PC1) Command position 2 input (PC2) “5” is indicated by a binary code. Command position 4 input (PC4) * All other command position inputs (PC8, PC16 and PC32) turn OFF. At least 6 msec of delay time is needed (ensured by a timer setting on the PLC side).
Page 92: Overview Of Solenoid Valve Mode 2 (3-Point Type)
6.2.10 Overview of Solenoid Valve Mode 2 (3-point Type) This type provides a control method adjusted to that of an air cylinder by assuming that the controller is used as an air cylinder. The key differences between this controller and an air cylinder are summarized in the table below. Program appropriate controls by referring to this table.
Page 93 Item Air cylinder ACON Position Determined by an Immediately after the power is turned on, the controller cannot check upon external detection identify the current position because the mechanical coordinates power ON sensor, such as a reed have been lost. switch.
Page 94: Power-Saving Modes At Standby Positions
6.3 Power-saving Modes at Standby Positions This product provides energy-saving modes to reduce power consumption in situations where the actuator remains standstill for a long period at a standby position. Use these modes after confirming that they will not present problems to any part of your system. The actuator stands by after completing the home return operation effected by the HOME input signal When the actuator is in this condition, you can select a desired energy-saving mode from the available options by setting an applicable value in parameter No.
Page 95 Also note that when the PIO pattern is “0,” “1,” “2,” “3” or “4,” the servo will turn off and therefore the position complete signal (PEND), completed position number signals (PM1 to PM256) and movement complete signals at respective positions (PE0 to PE6) will turn OFF. However, you can keep the signals ON via a parameter in situations where the PLC sequence circuit is designed in such a way that problems will occur if complete signals turn OFF.
Page 96: Operation
Operation <Practical Steps> 7.1 How to Start 7.1.1 Timings after Power On Procedure after initial startup until actuator adjustment [1] Connect the motor extension cable to the MOT connector and encoder relay connector to the PG connector. [2] Connect the supplied flat cable to the PIO connector (for connection between the host PLC and I/O unit). [3] Reset the emergency stop or enable the supply of motor drive power.

Page 97 [10] Perform home return. Overview of operation on the teaching pendant In case of CON-T, press the “ADJ” key, enter 1 in “Adjustment No.” and press the return key. On the RCM-T, select the “Edit/Teach” screen, bring the cursor to “*Home” in the sub display area, and then press the Return key.
Page 98: Procedure Of Normal Operation
Procedure of Normal Operation The operating procedure in normal condition is specified below: [1] Reset the emergency stop or enable the supply of motor drive power. [2] Supply the 24-VDC I/O power. [3] Supply the 24-VDC controller power. * If the monitor LED [SV/ALM] on the front panel illuminates for 2 seconds initially and then turns off, the controller is normal.
Page 99 Emergency stop not actuated (motor drive power supplied) Safety circuit condition Supply of 24-VDC I/O power Supply of 24-VDC controller power * Be sure to set the switch to the “AUTO” side. Mode selector switch * If this output signal is OFF, I/O signal communication with the PLC is enabled. Operation mode status output (RMDS) Pause input...
Page 100 Warning: Excited phase detection is performed when the servo is turned on for the first time after the power has been turned on, or before an absolute reset is executed following the connection of a simple absolute unit. For this reason, the actuator moves 0.5 to 2 mm under the normal circumstances, although it depends on the lead length of ball screws.
Page 101: Position Table And Parameter Settings Required For Operation
7.1.2 Position Table and Parameter Settings Required for Operation Startup adjustment Immediately after the system has been started, the moving speed can be reduced by the methods specified below to ensure safety of operators and prevent damage to jigs, etc. Change the applicable parameters, if necessary.
Page 102: Full-Scale Operation
Full-scale operation This product provides energy-saving modes to reduce power consumption in situations where the actuator remains standstill for a long period at a standby position. You can also select the status of position complete signal to be applied if the servo turns off or “position deviation”...
Page 103: Home Return Operation
7.2 Home Return Operation 7.2.1 Method Using the HOME Input Signal (PIO Pattern = 0 to 4) Since the home return signal (HOME) is provided in PIO patterns 0 to 4, perform home return using this signal. When the home return signal (HOME) turns ON, the actuator starts moving toward the mechanical end on the home side.
Page 104 (Note) If the home is not yet established immediately after the power has been turned on, directly inputting the command position signal and start signal without inputting the home return signal (HOME) first will cause the actuator to perform home return operation and then move to the target position. However, it is recommended that the PLC sequence circuit use the home return signal (HOME) to prevent errors.
Page 105: Method Used When No Home Input Signal Is Available (Pio Pattern = 5)
7.2.2 Method Used When No HOME Input Signal Is Available (PIO Pattern = 5) Since no home return signal (HOME) is available in PIO pattern 5, input the rear end move command (ST0) first to perform home return. When the rear end movement command (ST0) turns ON, the actuator starts moving toward the mechanical end on the home side.
Page 106: Positioning Mode (Back And Forth Movement Between Two Points)
7.3 Positioning Mode (Back and Forth Movement between Two Points) Example of use in operation) The actuator moves back and forth between two positions. The position 250 mm from the home is set as position 1, and the position 100 mm from the home is set as position 2.
Page 107 Position table (Field(s) within thick line must be entered.) Position Speed Acceleration Deceleration Push Positioning [mm] [mm/s] band [mm] 250.00 200.00 0.30 0.30 0.10 100.00 100.00 0.30 0.30 0.10 Command position Position 1 Position 2 Position 1 Start Position complete Moving Note Note...
Page 108: Push & Hold Mode
7.4 Push & Hold Mode Example of use in operation) The actuator is caused to move back and forth in the push & hold mode and positioning mode. The position 280 mm from the home is set as position 1, and the position 40 mm from the home is set as position 2.
Page 109 Position table (Field(s) within thick line must be entered.) Position Speed Acceleration Deceleration Push Positioning [mm] [mm/s] band [mm] 280.00 200.00 0.30 0.30 15.00 40.00 100.00 0.30 0.30 0.10 Position 1 Position 2 Position 1 Command position Start Position complete Moving Note Note...
Page 110: Return Action After Push & Hold By Relative Coordinate Specification
7.4.1 Return Action after Push & Hold by Relative Coordinate Specification Positioning mode The reference position is the target position for the position number used in the applicable push & hold operation. In the aforementioned example, the actuator moves to the 240-mm position if position No. 2 is set to -40 mm in the incremental mode (280 –...
Page 111: Speed Change During Movement
7.5 Speed Change during Movement Example of use in operation) The actuator speed is reduced at a certain point during movement. The position 150 mm from the home is set as position 1, and the position 200 mm from the home is set as position 2. The actuator is initially located between the home and position 1.
Page 112 Position table (Field(s) within thick line must be entered.) Position Speed Acceleration Deceleration Push Positioning [mm] [mm/s] band [mm] 150.00 200.00 0.30 0.30 10.00 200.00 100.00 0.30 0.30 0.10 Position 1 Position 2 Command position Note Note Start Position complete Position 2 Completed position Position 1...
Page 113: Operation At Different Acceleration And Deceleration Settings
7.6 Operation at Different Acceleration and Deceleration Settings Example of use in operation) Positioning is performed to the position 150 mm from the home (position 1) at a speed of 200 mm/sec. The acceleration is 0.3 G and the deceleration is 0.1 G. Method) Set 0.3 [G] in the “Acceleration”...
Page 114 Position table (Field(s) within thick line must be entered.) Position Speed Acceleration Deceleration Push Positioning [mm] [mm/s] band [mm] 150.00 200.00 0.30 0.10 0.10 Command position Position 1 Start Position complete Completed position Position 1 Moving Speed Positioning band Actuator movement Acceleration 0.3 G Deceleration 0.1 G T1: 6 msec or more;...
Page 115: Pause
7.7 Pause Example of use in operation) Pause the actuator during movement. [Effective in PIO pattern = 0 to 4] Method) Use the pause input. Controller Reference flow Select/enter a desired command position. Category Signal name [5][2] Start Start input ON Command position 1 Movement to the selected position Command position 2...
Page 116 Command position Start Note Position complete Completed position Pause Moving 4 msec or less Speed Actuator movement Deceleration to a stop Start of remaining movement T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON (The scan time of the host controller must be considered.) Caution: When the start signal turns ON, the position complete output will turn OFF and the moving output will turn ON.
Page 117: Zone Signal Output
7.8 Zone Signal Output Two types of zone output signals are available: zone output (ZONE1) and position zone output (PZONE). The boundaries defining the signal ON range are set differently for each zone output. [1] Zone output (ZONE1) --- Set by parameter No. 1/No. 2. [2] Position zone output (PZONE) --- Set in the “Zone boundary-“...
Page 118 Controller Reference flow Category Signal name Select/enter a desired command position. [5] [2] Start Start input ON Command position 1 Input Movement to the selected position starts. Completed position OFF Command position 32 Completed position 1 Position complete output OFF Moving output ON Completed position 32 Output...
Page 119 Command position Start Note Position complete Completed position Zone Moving Speed Actuator movement 0 mm 40 mm 120 mm 150 mm 6 msec or more; time after selecting/entering a command position until the start input turns ON (The scan time of the host controller must be considered.) Caution: When the start signal turns ON, the position complete output will turn OFF and the moving output will turn ON.
Page 120: Incremental Moves
7.9 Incremental Moves Example of use in operation) Move the actuator from the home to the 30-mm position by issuing an absolute position command (position No. 1), and thereafter move the actuator continuously at a 10-mm pitch until the final position of 200 mm is reached. (Pitch feed command: Position No.
Page 121 Position table (Field(s) within thick line must be entered.) Positioning Speed Position Zone + Zone - band Incremental [mm/ss] [mm] [mm] [mm] [mm] 30.00 100.00 0.10 Incremental 10.00 20.00 0.10 29.50 190.50 feed * On the teaching pendant screen, this sign indicates that the position is specified in the incremental mode.
Page 122: Judgment Method Of End Position
7.9.1 Judgment Method of End Position Although completion judgment is based on the applicable count managed by the PLC, the zone output signal can be used additionally to double-check the completion of movement. Program the PLC so that the ON/OFF status of the zone output signal is checked when positioning is completed, and if the signal is OFF, the applicable position will be determined as the last work part position.
Page 123: Notes On Incremental Mode
7.9.2 Notes on Incremental Mode (1) Positioning mode If any incremental position number is selected and input and then a start signal is input while positioning is in progress, the actuator will move to the position corresponding to the target position of the initial command plus the incremental distance.
Page 124 (2) Push & hold mode The following explains how the actuator will move if an incremental position number is selected and input and then a start signal is input while the actuator is moving in the push & hold mode. Positioning operation using the incremental position number Example) If a position 2 command is input followed by a start signal while the actuator is moving to position 1, the actuator will move to the position corresponding to the target position of the position 1 command...
Page 125 Push & hold operation using the incremental position number Example) If a position 2 command is input followed by a start signal while the actuator is moving to position 1, a new target position will be set by adding the incremental distance to the current position where the start input was received.
Page 126: Jogging/Teaching Using Pio
7.10 Jogging/Teaching Using PIO If the teaching type is selected, you can jog the actuator via operation from the PLC. You can also write the current actuator position to the “Position” field of the position table under a specified position number via operation from the PLC. If the actuator position is written to a blank “Position”...
Page 127 Jogging/teaching timing Operation mode Current operation mode Manual operation switching +Jog -Jog Command position Position 1 Current-position write Write completion T1: 20 msec or more; time after the current-position write input is turned ON until writing of the current position is started When the operation mode (MODE) input is turned ON, the current operation mode (MODES) output will turn ON and the teaching mode permitting PIO teaching will become effective.
Page 128: Operation Of Solenoid Valve Mode 1 (7-Point Type)
7.11 Operation of Solenoid Valve Mode 1 (7-point Type) Separate movement command inputs are provided for the target positions for position Nos. 0 to 6, so simply turn ON the input signal corresponding to the position you wish to move the actuator to, and the actuator will start moving.
Page 129 Direct position command 0 input (ST0) Direct position command 1 input (ST1) Direct position command 2 input (ST2) Movement complete 0 output (PE0) Movement complete 1 output (PE1) Movement complete 2 output (PE2) Actuator movement Position No. 0 (5 mm) Position No.
Page 130 The movement command input operates in two modes. You can select the operation condition of the movement command input (ST0 to ST6) in parameter No. 27. The factory setting is “0: [Level mode].” Description of the movement command input Setting Level mode: The actuator starts moving when the input signal turns ON.
Page 131 Handling of the pause (*STP) signal This signal is a contact B signal, meaning that it must remain ON while the actuator is moving. If the pause signal turns OFF while the actuator is moving, the actuator will decelerate to a stop. The actuator will start moving when the signal turns ON again.
Page 132: Operation Of Solenoid Valve Mode 2 (3-Point Type)
7.12 Operation of Solenoid Valve Mode 2 (3-point Type) After the power has been turned on, input the rear end move command first to complete home return, and then perform continuous operation. Refer to 7.2.2, “Method Used When No HOME Input Signal Is Available.” Example of use in operation) How to move the actuator from the rear end to the front end is explained.
Page 133 Meaning of position detected output signals (LS0, LS1, LS2) These signals are handled in the same manner as limit switches (LSs), and turn ON when the following conditions are met: [1] The home return complete output signal (HEND) is ON. [2] The current position is within the positioning band from each target position in the positive or negative direction.
Page 134 Speed change during movement If the load is made of soft material or is a bottle or otherwise topples easily due to its shape, one of the following two methods can be used to prevent the load from receiving vibration or impact when it stops: [1] Reduce the deceleration to make the deceleration curve gradual.
Page 135 Pause during movement Since move commands are based on level mode, the actuator continues to move while a move command is ON. Once the move command turns OFF, the actuator will decelerate to a stop and complete the operation. Therefore, turn OFF the move command if the actuator must be stopped temporarily as a low-degree safety measure.
Page 136: Parameters
Parameters 8.1 Parameter Table Category: a: Parameter relating to the actuator stroke range b: Parameter relating to the actuator operating characteristics c: Parameter relating to the external interface d: Servo gain adjustment Category Symbol Name Unit Default factory setting ZONM Zone boundary 1+ Effective actuator length ZONL Zone boundary 1–...
Page 137 Category Symbol Name Unit Default factory setting Operating-mode input disable selection FPIO 0 [Enable] [0: Enable / 1: Disable] FPIO Enable function [0: Enable/1: Disable] 1 [Disable] (In accordance with the specification at the AIOF Polarity of home check sensor input time of order) SIVM Silent interval multiplier...
Page 138: Detail Explanation Of Parameters
8.2 Detail Explanation of Parameters If a parameter has been changed, always restart the controller using a software reset command or by reconnecting the power. 8.2.1 Parameters Relating to the Actuator Stroke Range Soft limit (No. 3/4 LIMM/LIML) Set the soft limit in the positive direction in parameter No. 3, and that in the negative direction in parameter No. 4. The factory setting for the soft limits conforms to the effective actuator length.
Page 139: Zone Boundary
Zone boundary (1: No. 1/2 ZONM/ZONL 2: No. 23/24 ZNM2/ZNL2) These parameters set the range where the zone output signal (ZONE1) is turned ON when the PIO pattern 0 [Positioning mode (standard type)], 4 [Solenoid valve mode 1 (7-point type)], or 5 [Solenoid valve mode 2 (3- point type)] is selected.
Page 140: Parameters Relating To The Actuator Operating Characteristics
8.2.2 Parameters Relating to the Actuator Operating Characteristics PIO jog speed (No. 26 IOJV) When the selected PIO pattern is “1” [teaching mode (teaching type)], this parameter defines the jog speed to be applied when jog input commands are received from the PLC. The factory setting is “100 [mm/sec].”...
Page 141: Current-Limiting Value During Home Return
Should this error occur, one way to correct the abnormal condition is to change the direction set in parameter No. 28. If you wish to change the default setting of this parameter, contact IAI beforehand. Excited-phase signal detection time (No. 29 PHSP) When the servo is turned on for the first time after the power has been input, the controller performs magnetic- pole phase detection.
Page 142: Automatic Servo-Off Delay Time
Automatic servo-off delay time (No. 36 ASO1/No. 37 ASO2/No. 38 ASO3) This parameter defines the delay time after the positioning is completed until the servo turns off automatically, when the “Standstill mode” field of the position table is set to “1,” “2” or “3” (automatic servo-off control enabled) or parameter No.
Page 143: Push Speed
Push speed (No. 34 PSHV) This parameter defines the push speed to be applied after the actuator reaches the target position in push & hold operation. Before the shipment, this parameter has been set to the default value selected in accordance with the characteristics of the actuator.
Page 144: Enable Function
Enable function (No. 42 FPIO) Whether to enable or disable the deadman switch function on an ANSI-type teaching pendant is defined by parameter No. 42. * An ANSI-type teaching pendant will be developed in the future. Setting Enable (Use) Disable (Do not use) The factory setting is “1 [Disable].”...
Page 145: Home-Sensor Input Polarity
Home-sensor input polarity (No. 18 AIOF) Parameter No. 18 defines the input polarity of the home sensor. With the current models of RCA actuators, the factory setting is “0 [Sensor not used]” because these models do not adopt the home sensor method. This parameter is provided to help develop new actuator models that support the home sensor method.
Page 146: Ball Screw Lead Length
Ball screw lead length (No. 77 LEAD) This parameter defines the ball screw lead length. A default value appropriate for the characteristics of the actuator is set at the factory. * Do not change the setting. Axis operation type (No. 78 ATYP) This parameter defines the type of the actuator used.
Page 147: Absolute Unit
If the actuator is moved in the order to positions 1 4, the actuator will operate differently depending on whether or not shortcut is selected, as explained below. When shortcut is not selected Point No. 1 Point No. 1 Point No. 2 Point No.
Page 148: Parameters Relating To The External Interface
8.2.3 Parameters Relating to the External Interface PIO pattern selection (No. 25 IOPN) Select the PIO operation pattern in parameter No. 25. This setting forms the basis of operation, so be sure to set this parameter at the beginning. The factory setting is “0 [Positioning mode (Standard type)].” Parameter No.
Page 149: Movement Command Type
Movement command type (No. 27 FPIO) Parameter No. 27 defines the operation conditions via the movement command inputs (ST0 to ST6) when the PIO pattern is “solenoid value mode 1 (7-point type)." The factory setting is “0 [Level mode].” Description of the movement command input Setting Level mode: The actuator starts moving when the input signal turns ON.
Page 150: Pause Input Disable Selection
Pause input disable selection (No. 15 FPIO) Parameter No. 15 defines whether the pause input signal is disabled or enabled. Setting Enable (use) Disable (do not use) The factory setting is “0 [Enable].” Servo ON input disable selection (No. 21 FPIO) Parameter No.
Page 151: Output Mode Of Position Complete Signal
Output mode of position complete signal (No. 39 FPIO) This parameter is effective when any PIO pattern other than “5” [Solenoid valve mode 2 (3-point type)] is selected. It defines the status of completed position number signals [PM1 to PM256], movement complete signals at respective positions [PE0 to PE6] and position complete signal [PEND] to be applied if the servo turns off or “position deviation”...
Page 152: Silent Interval Multiplier
Silent interval multiplier (No. 45 SIVM) This parameter is not used for this controller. It is applied to controllers of RS485 serial communication type. If specified, this parameter defines the multiplier to be applied to the silent interval time for delimiter judgment in the RTU mode.
Page 153: Servo Gain Adjustment
In particular, custom types (having a longer ball screw lead or stroke than standard types) are more vulnerable to vibration and noise due to external conditions. In these circumstances, the following parameters must be changed. Contact IAI for details. Servo gain number (No. 7 PLG0) Parameter No.
Page 154: Torque Filter Time Constant
However, this parameter can be used in certain undesirable situations. For example, if resonance noise generates, the noise can be suppressed by changing this parameter. Even if a need arises to change the default setting of this parameter, always consult IAI and change the parameter according to our instruction.
Page 155: Pc/Teaching Pendant Connection Method In Multi-Axis Configurations
PC/Teaching Pendant Connection Method in Multi-axis Configurations This section explains the method to permanently connect a PC/teaching pendant in configurations consisting of multiple axes, so that the PC/teaching pendant connector need not be removed/inserted each time. The connector is connected to a SIO converter, and the SIO converter sends/receives data to/from each controller via RS485 serial communication.
Page 156: Name And Function Of Each Part Of The Sio Converter
9.2 Name and Function of Each Part of the SIO Converter This is a converter unit conforming to RS485/232C. [2] Link-connection terminal block (TB1) [1] Power/emergency-stop terminal block (TB2) [6] Monitor LEDs [5] PORT switch [3] D-sub, 9-pin connector [4] Mini DIN, 8-pin connector [1] Power/emergency-stop terminal block (TB2) EMG1, EMG2 Provide a contact output for the emergency-stop switch on the teaching pendant.
Page 157 [2] Link-connection terminal block (TB1) A connection port for linking the controller. “A” on the left side connects to pin 1 (SGA) in the controller’s communication connector. “B” on the right side connects to pin 2 (SGB) in the controller’s communication connector. (Note) Be sure to use twisted pair wires for the above two connections (SGA/SGB).
Page 158: Address Switch
9.3 Address Switch Set an address (0 to 15) as a hexadecimal (0 to F) using the ADRS switch on the front panel of each controller to define the slave number for the controller. Assign “0” to the controller nearest the host, and then assign 1, 2, 3, …, E and F to the remaining controllers in the direction of moving away from the host.
Page 159: Detail Connection Diagram
9.5 Detail Connection Diagram (*1) Two-paired shielded cable Recommended brand: SIO converter Taiyo Electric Wire & Cable Four-way junction (AMP: 5-1473574-4) HK-SB/20276XL 2PX22AWG E-Con connector (AMP: 4-1473562-4) Housing color: Green (*2) Controller link cable CB-RCB-CTL002 Yellow Yellow Orange Orange Blue Blue Controller 1 Controller 2...
Page 160 When connecting a PC to ACON without using an SIO converter (grounding to plus terminal) Make sure to use an SIO isolator (RCB-ISL-SIO) for connection. Note that the PC support software that can be used is RCM-101-USB and RCM-101-MW cannot be used. Conversion unit PC (USB port) SIO isolator...
Page 161: Troubleshooting
Check the serial numbers of the controller and actuator. k. Analyze the cause. l. Take action. Please check items a through j before contacting IAI. (Reference) Changes in status indicator lamps and *ALM output signal in respective conditions Emergency stop...
Page 162: Alarm Level Classification
Caution: Reset each alarm after identifying and removing the cause of the alarm. If the cause of the alarm cannot be removed or the alarm still persists after the cause has been removed, contact IAI. If the same error occurs again after resetting the alarm, it means that the cause of the alarm still remains.
Page 163: Alarm Description Output Using Pio
10.3 Alarm Description Output Using PIO In PIO patterns 0 to 3 (64 to 512-point positioning type), alarm information can be output using the ports for completed position output signals (four bits of PM1 to PM8) so that when an alarm occurs, the nature of the alarm can be identified on the PLC side.
Page 164: Alarm Description And Cause/Action
0B5 Phase-Z position error The position at which phase Z was detected during the home return was out of the specified range, or phase Z was not detected. Cause: Encoder error Action: Contact IAI. Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
Page 165 [2] The load increased due to momentary application of external force. Action: Check the assembly condition of mechanical parts for any abnormality. If the actuator itself is suspected as the cause, please contact IAI. 0C9 Motor power-supply This error indicates that the motor power-supply voltage is excessively high overvoltage (24 V + 20%: 28.8 V or above).
Page 166 Code Error name Cause/Action 0D9 Software stroke limit Cause: [1] The actuator installed vertically overshot and exceeded a overtravel error software stroke limit due to a large load or high deceleration setting when the target position was set to a point near the software stroke limit.
Page 167: Cold-Start Level Alarms
Cause: Motor type and/or encoder type set in parameters are not 0A8 Unsupported supported. motor/encoder type Action: Contact IAI if the error persists even after turning the power on again. Cause: The position deviation counter has overflowed. 0B4 Electric angle...
Page 168 Action: [1] Lower the surrounding air temperature. [2] Review the setting condition so that the deceleration curve will be moderate. If [1] or [2] does not apply, please contact IAI. 0CB Current-sensor offset The condition of the current detection sensor in the controller is checked adjustment error during the initialization process performed after the controller is started.
Page 169 This error indicates that the two do not match. Cause: The parameter was not entered correctly or the correct board was not assembled. Action: Should this error occur, please contact IAI. 0F5 Nonvolatile memory When data has been written to the nonvolatile memory, the written data is write verification error read again to check (verify) if it matches the original data.
Page 170: Messages Displayed During Operation Using The Teaching Pendant
10.5 Messages Displayed during Operation Using the Teaching Pendant This section explains the warning messages that may be displayed during operation using the teaching pendant. Code Message name Description Invalid data An inappropriate value was entered in a parameter. (Example) 9601 was entered as the serial communication speed by mistake.
Page 171 These conditions do not occur in normal operation. Should they occur, record the entire error list before cutting off the power for use in the cause investigation. Also contact IAI. Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
Page 172 [3] Supply power after connecting the link cable between the converter and controller. [4] Make sure the ADRS switch settings are not duplicated. If the message is still displayed after taking the above actions, please contact IAI. Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
Page 173: Specific Problems
Check the servo ON signal (SON) on the I/O monitor screen of the PC or teaching pendant. If the signal is input, probably the controller is faulty. Please contact IAI. [3] Is parameter No. 42 (Enable function) enabled by mistake by connecting a teaching pendant not supporting the enable switch? Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
Page 174: Home Return Ends In The Middle In A Vertical Application
[1] Loosen the fixing bolts and check if the slider moves smoothly. If the slider moves smoothly, review the affixing method and bolt tightening condition. [2] If the slide resistance of the actuator itself is large, please contact IAI. The actuator overshoots when decelerated to a stop.
Page 175: Appendix
Do not change the setting of push speed (parameter No. 34). If you must change the push speed, consult IAI. If, among the operating conditions, the positioning speed is set to a value equal to or smaller than the push speed, the push speed will become the set speed and the specified push force will not generate.
Page 176 Minimum Maximum Motor Minimum Maximum acceleration/ Rated push No. of Lead Maximum speed push push Actuator Feed Mounting Type output encoder speed deceleration speed series screw direction force force pulses [mm] [mm/s] [mm/s] [mm/s] Horizontal/ 12.5 vertical Ball Horizontal/ RA3R 6.25 screw vertical...
Page 177 Minimum Maximum Motor Minimum Maximum acceleration/ Rated push No. of Lead Maximum speed push push Actuator Feed Mounting Type output encoder speed deceleration speed series screw direction force force pulses [mm] [mm/s] [mm/s] [mm/s] Horizontal/ vertical Horizontal/ vertical Horizontal/ 3.75 vertical Ball RA4D...
Page 178 Minimum Maximum Motor Minimum Maximum acceleration/ Rated push No. of Lead Maximum speed push push Actuator Feed Mounting Type output encoder speed deceleration speed series screw direction force force pulses [mm] [mm/s] [mm/s] [mm/s] Horizontal/ vertical Horizontal/ vertical Horizontal/ 3.75 vertical Ball RGD4R...
Page 179 Minimum Maximum Motor Minimum Maximum acceleration/ Rated push No. of Lead Maximum speed push push Actuator Feed Mounting Type output encoder speed deceleration speed series screw direction force force pulses [mm] [mm/s] [mm/s] [mm/s] Horizontal/ Energy-saving spec.: 0.3 12.5 vertical High acc/dec spec.: 1.0 Ball Horizontal/...
Page 180 Minimum Maximum Motor Minimum Maximum acceleration/ Rated push No. of Lead Maximum speed push push Actuator Feed Mounting Type output encoder speed deceleration speed series screw direction force force pulses [mm] [mm/s] [mm/s] [mm/s] 1300 (at50 to 500st) Horizontal 1160 (at 550st) 990 (at 600st) Vertical 800 (at 50 to 450st)
Page 181 Minimum Maximum Motor Minimum Maximum acceleration/ Rated push No. of Lead Maximum speed push push Actuator Feed Mounting Type output encoder speed deceleration speed series screw direction force force pulses [mm] [mm/s] [mm/s] [mm/s] 800 (at 50 to 450st) Horizontal/ 760 (at 500st) vertical 640 (at 550st)
Page 182 Minimum Maximum Motor Minimum Maximum acceleration/ Rated push No. of Lead Maximum speed push push Actuator Feed Mounting Type output encoder speed deceleration speed series screw direction force force pulses [mm] [mm/s] [mm/s] [mm/s] 5.72 Vertical Ball 3.81 screw Vertical 1.90 Vertical RP4N...
Page 183 Minimum Maximum Motor Minimum Maximum acceleration/ Rated push No. of Lead Maximum speed push push Actuator Feed Mounting Type output encoder speed deceleration speed series screw direction force force pulses [mm] [mm/s] [mm/s] [mm/s] Vertical Ball SA3C screw Vertical Vertical Vertical Ball SA3R...
Page 184 Minimum Maximum Motor Minimum Maximum acceleration/ Rated push No. of Lead Maximum speed push push Actuator Feed Mounting Type output encoder speed deceleration speed series screw direction force force pulses [mm] [mm/s] [mm/s] [mm/s] 380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st) 860 (at 250st)
Page 185 Minimum Maximum Motor Minimum Maximum acceleration/ Rated push No. of Lead Maximum speed push push Actuator Feed Mounting Type output encoder speed deceleration speed series screw direction force force pulses [mm] [mm/s] [mm/s] [mm/s] 380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st) 860 (at 250st)
Page 186 Minimum Maximum Motor Minimum Maximum acceleration/ Rated push No. of Lead Maximum speed push push Actuator Feed Mounting Type output encoder speed deceleration speed series screw direction force force pulses [mm] [mm/s] [mm/s] [mm/s] 3.81 Lead Horizontal/ TC3N 1048 1.90 screw vertical 0.95...
Page 187 Minimum Maximum Motor Minimum Maximum acceleration/ Rated push No. of Lead Maximum speed push push Actuator Feed Mounting Type output encoder speed deceleration speed series screw direction force force pulses [mm] [mm/s] [mm/s] [mm/s] Vertical Ball TA4R screw Vertical Vertical 12.5 Vertical Ball...
Page 188: Positioning Sequence
Appendix Positioning Sequence Given below is an example of basic sequence for creating a positioning sequence indicates PIO signals of the controller. (Completed-position decoding circuit) Position complete PEND Waiting for the completed position to be read Timer1 (Must be longer Completed position codes than the PLC’s scan time.)
Page 189 Appendix (Positioning circuit for position 2) Positioning start request to position 2 Positioning start pulse to position 2 Positioning start request to position 2 Auxiliary positioning start pulse to position 2 Current positioning completed position Auxiliary positioning start for position 2 PEND Start check for position 2...
Page 190 Appendix Command position 1 Position 3 set signal Position 5 set signal Command position 2 Position 3 set signal Position 6 set signal Command position 4 Command position 8 (Start signal circuit) Timer 2 Waiting for start 5 msec or more (Must be longer than the...
Page 191: Recording Of Parameters
Appendix Recording of Parameters Recorded date: Category: a: Parameter relating to the actuator stroke range b: Parameter relating to the actuator operating characteristics c: Parameter relating to the external interface d: Servo gain adjustment Category Name Unit Recorded data Zone boundary 1+ Zone boundary 1–...
Page 192 Appendix Category Name Unit Recorded data Operating-mode input disable selection [0: Enable / 1: Disable] Enable function [0: Enable / 1: Disable] Polarity of home check sensor input Silent interval multiplier time Speed override PIO jog speed 2 mm/sec PIO inching distance PIO inching distance 2 Default acceleration/deceleration mode Default standstill mode...
Page 193: Change History
Appendix Change History Revision Date Description of Revision First edition 2007.03 Second edition 2007.04 Third edition • Note of “1. 24-V Power Supplies Required for UL Certification” added • Note of “2. Use Environment” added 2009.01 Fourth edition 2009.08 Fifth edition 2009.12 Fifth B edition •...
Page 194 Appendix Revision Date Description of Revision 2015.07 12D edition • Change made to cable color layout for CB-ACS Cable in P. 44 Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
Page 195 Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
Page 196 Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
Page 197 Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
Page 198 825 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 © 2015. Jul. IAI Corporation. All rights reserved. 15.07.000 Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...

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