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IAI S CON2 Instruction Manual

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Table of Contents

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ＳＣＯＮ２
Instruction Manual
First Edition
Controller
Overview
Specifications
Check
Wiring
Operation
Various Functions
Parameter
Maintenance and
Inspection
Troubleshooting
Construction of
Safety Circuit
Appendix
ME0458-1E
Chapter
Chapter
Chapter
Chapter
Chapter
Chapter
Chapter
Chapter
Chapter
Chapter
Chapter
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Summary of Contents for IAI S CON2

  • Page 1 ＳＣＯＮ２ Instruction Manual First Edition ME0458-1E Controller Chapter Overview Chapter Specifications Chapter Check Wiring Chapter Operation Chapter Various Functions Chapter Parameter Chapter Maintenance and Inspection Chapter Troubleshooting Chapter Construction of Safety Circuit Chapter Appendix Chapter...

  • Page 3: Please Read Before Use

    • This instruction manual is an original document dedicated for this product. • This product cannot be used in ways not shown in this instruction manual. IAI shall not be liable for any result whatsoever arising from the use of the product in any other way than what is noted in the manual.
  • Page 4 SCON2 Instruction Manual Configuration Control Product name Instruction manual name number SCON2 This manual ME0458 IA-OS First Step Guide PC Software ME0391 * For how to operate, refer to the guiding features IA-OS installed in IA-OS TB-02/02D Touch Panel Teaching Pendant Position Controller, ELECYLINDER ME0355 TB-02...

  • Page 5: Table Of Contents

    Contents Safety Guide ·················································································· Intro-1 Precautions for Handling ··································································· Intro-9 International Standard Compliance ······················································ Intro-15 Actuator Coordinate System ······························································ Intro-16 Chapter 1 Controller Overview 1.1 Overview ·················································································· 1-1 1.2 System Configuration ·································································· 1-2 1.3 Name for Each Parts and Their Functions ········································ 1-3 1.4 Starting Procedures ····································································...
  • Page 6 2.7 Installation and Storage Environment ·············································· 2-30 2.7.1 Installation Environment ············································································ 2-30 2.7.2 Storage and Preservation Environment ························································ 2-30 2.8 Noise Elimination and Mounting Method ·········································· 2-31 2.8.1 Noise Elimination ····················································································· 2-31 2.8.2 Installation and Mounting ·········································································· 2-32 2.8.3 Installation ······························································································ 2-33 Chapter 3 Wiring 3.1 Positioner Mode (PIO Control) ·······················································...
  • Page 7 4.3 Pulse Train Control Mode ····························································· 4-102 4.3.1 Input Signal Controls ················································································ 4-104 4.3.2 Operation Ready and Auxiliary Signals ························································ 4-105 4.3.3 Pulse Train Input Operation ······································································· 4-116 4.3.4 Settings of Basic Parameters Required for Operation ······································ 4-120 4.3.5 Output Setting of Feeldback Pulse ······························································ 4-124 4.3.6 Parameter Settings Required for Advanced Operations ···································...
  • Page 8 7.6 Predictive Maintenance Function ··················································· 7-12 7.6.1 Fan ····································································································· 7-12 7.6.2 Overload Warning ···················································································· 7-13 Chapter 8 Troubleshooting 8.1 Action to Be Taken upon Occurrence of Problem ······························· 8-1 8.2 Fault Diagnosis ·········································································· 8-3 8.2.1 Impossible Communication ········································································ 8-3 8.2.2 Positioning and Speed of Poor Precision (Incorrect Operation) ························· 8-6 8.2.3 Generation of Noise and/or Vibration ···························································...
  • Page 9 10.1.3 Axis No. Setting ····················································································· 10-4 10.1.4 Handling of e-CON Connector (How to Connect) ·········································· 10-6 10.1.5 SIO Converter ······················································································· 10-7 10.1.6 Communications Cable ··········································································· 10-9 10.1.7 External Dimension ················································································ 10-9 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) ············· 10-10 10.2.1 I/O Assignment ······················································································...
  • Page 10 ME0458-1E...

  • Page 11: Safety Guide

    Safety Guide Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...

  • Page 12: Storage And Preservation

    Safety Guide 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”...
  • Page 13 Safety Guide Operation Description Description Installation and (2) Cable Wiring Start ● Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. ● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
  • Page 14 Safety Guide Operation Description Description Installation and (4) Safety Measures Start ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers.

  • Page 15: Automatic Operation

    Safety Guide Operation Description Description Trial Operation ● 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 16 Safety Guide Operation Description Description Maintenance ● When the work is carried out with 2 or more persons, make it clear who is to and Inspection be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers. ●...

  • Page 17: Alert Indication

    Safety Guide 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 injury.
  • Page 18 Safety Guide Intro-8 ME0458-1E...

  • Page 19: Precautions For Handling

    Precautions for Handling Precautions for Handling 1. Make sure to follow the usage condition, environment and specification range of the product. In case it is not secured, it may cause a drop in performance or malfunction of the product. 2. Use the correct teaching tool. Refer to [2.1.2 Teaching Tools] for the PC software and teaching pendant that can be used with this controller, and use the applicable tools.
  • Page 20 Precautions for Handling Calendar function time setting Gateway alarm 069 “Real Time Clock Oscillation Stop Detected” may occur when turning the power on for the first time after delivery. In that case, set the current time with the teaching tool. When fully charged, time data can be retained approximately 10 days after the power is turned OFF.
  • Page 21 Precautions for Handling Actuator would not operate without Servo-ON and pause signals. (1) Servo ON Signal (SON) Servo ON signal (SON) is selectable from “Enable” or “Disable” by using a parameter. It is settable by parameter No. 21 “Select enable/disable servo ON input”. If it is set to “Enable”, the actuator would not operate unless turning this signal ON.
  • Page 22 Precautions for Handling 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 “Rotary axis mode selection”.
  • Page 23  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 24 In such a case, adjust the unit movement amount to appropriate. Also, contact IAI if the usage condition of wish cannot be satisfied. 3. There is the manufacturing number of the connectable actuator printed on the front panel of the controller.

  • Page 25: International Standard Compliance

    International Standard Compliance International Standard Compliance This product complies with the following overseas standards. Refer to the Overseas Standard Compliance Manual (ME0287) for more detailed information. : Applicable ×: Not Applicable RoHS3 Controller Directive Directive SCON2-CG 60W to 750W (Note 1) ...

  • Page 26: Actuator Coordinate System

     For models with which change is not possible, the actuator must be replaced. Contact IAI if anything is unclear. The "0" in the figure below shows home. The parentheses show home reverse specification. (1) Rod type...
  • Page 27 Actuator Coordinate System (2) Slider type (3) Table type (4) Arm type Intro-17 ME0458-1E...
  • Page 28 Actuator Coordinate System (5) Gripper type Note: The finger attachment is not an accessory for the actuator. It is to be prepared by the customer. (6) Rotary Type (300° Rotation Specification) (360° Rotation Specification) For RS 0° 360° 300° 0° (360°...

  • Page 29: Controller Overview

    SCON2-CG Chapter Controller Overview 1.1 Overview ····································································· 1-1 1.2 System Configuration ····················································· 1-2 1.3 Name for Each Parts and Their Functions ·························· 1-3 1.4 Starting Procedures ······················································· 1-8 Step 1 Confirm all the necessary things are prepared ····························· 1-8 Step 2 Installation ············································································ 1-9 Step 3 Wiring ·················································································...

  • Page 31: Overview

    Therefore, take the things that are not described in this manual as an “impossible” thing. * Keep this manual to a place easy to access when necessary to read again. * The contents in this manual should cover everything considerable, however, please contact IAI in case of any awareness to mistakes or consideration.

  • Page 32: System Configuration

    1.2 System Configuration 1.2 System Configuration The following shows the system configuration. Connectable Actuators Field Network Teaching Tool IS Series LS Series RCS Series Teaching PC Software IF Series DD Series Pendant Model : IA-OS NS Series Model : TB-02 TB-03 24V DC Power Supply Model : PSA-24...

  • Page 33: Name For Each Parts And Their Functions

    1.3 Name for Each Parts and Their Functions 1.3 Name for Each Parts and Their Functions ● PIO type / field network type 1. Ground Screw It is the terminal for the connection of ground cable to prevent electric shock and noise. It is connected with the PE of the power connector in the controller.
  • Page 34 1.3 Name for Each Parts and Their Functions 3. Charge Status Display LED (CHARGE) It shows the status of electric charge in the controller. Caution  While this LED lamp is on, do not attempt to touch controller or regenerative resistor units to prevent electric shock.
  • Page 35 1.3 Name for Each Parts and Their Functions 9. Status Indicator LEDs (PWR, SV, ALM, WRG, STOP, SAFE) Following show the controller operation status: Status PWR (Green) Controller in normal startup SV (Green) Servo ON (Blinking in auto servo-OFF state) ALM (Orange) Alarm being generated WRG (Orange)
  • Page 36 1.3 Name for Each Parts and Their Functions 15. Encoder Connector (PG) This connector is used to connect the encoder cable of the actuator. Refer to [3.3.3 Connection to Actuator] 16. Brake Release Switch (BK RLS/NOM) For the actuator equipped with a brake, the switch is used to release the brake forcibly. Even without the control power being supplied, by supplying 24V DC to BK+/BK- on the system I/O connector (refer to [3.3.2 Wiring for Emergency Stop Circuit (System I/O]) and operating this switch, a brake can be compulsorily released.
  • Page 37 1.3 Name for Each Parts and Their Functions ● RCON Connection Type The interface is basically the same as normal SCON2. However, following switches and connectors should be inactivated due to the specifications of the product. Inactivated Switch / Connector Restrictions A teaching tool should be connected via SIO connector 6.

  • Page 38: Starting Procedures

    (e.g. EDS File) 3. Touch Panel Teaching Pendant TB-03 Instruction Manual (ME0376) * For field network type, please 4. SCON2 Field Network Instruction Manual (ME0469) download from the IAI website. 5. SCON2 Motion Field Network Instruction Manual www.iai-robot.co.jp/knowledge/ MECHATROLINK-III Section (ME0471) support/network/index.html...

  • Page 39: Step 2 Installation

    1.4 Starting Procedures Step 2 Installation • External Dimensions Refer to [2.4 Appearance] When mounting the absolute battery (Absolute encoder type) • Heat Radiation and Installation Keep the ambient temperature of the controller at 60°C or less. To fix the units in the control box, use the attachment holes on top and bottom. Install in the orientation shown in the figure below for heat radiation.

  • Page 40: Step 3 Wiring

    1.4 Starting Procedures Step 3 Wiring [Positioner Operation] Refer to Sections [3.1] and [3.5] * Refer to [3.1.3 [5]] and [3.2.3 [5]] for wiring [Pulse Train Control] Refer to Sections [3.3] and [3.5] layout as the signals/features differ for each [Field Network Type] Refer to Section [3.7] PIO pattern (selected in Parameter No.

  • Page 41: Step 4 Operation Ready

    1.4 Starting Procedures Step 4 Operation Ready The operation modes and control methods will defer depending on the type you have purchased. ☆ ☆ What is Positioner Operation ☆ ☆ What is Pulse Train Control ☆ ☆ What is Field Network Control Field Network communication is used instead of connected with and controlled by PIO.

  • Page 42: Step 5 Operate Unit

    1.4 Starting Procedures 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 Basic Operation Methods ⇒ ⇒ 4.2 Operation in Positioner Mode ●...
  • Page 43 SCON2-CG Chapter Specifications Check 2.1 Product Check ····························································· 2-1 2.1.1 Parts ······················································································ 2-1 2.1.2 Teaching Tool ··········································································· 2-3 2.1.3 How to Read the Model Plate ······················································ 2-4 2.1.4 How to Read the Model ····························································· 2-5 2.2 Operation Modes and Functions ······································· 2-6 2.2.1 Operation Mode of Controller ······················································...
  • Page 44 2.4.2 SCON2 + Functional Safety Unit ·················································· 2-18 2.5 I/O Specifications ·························································· 2-19 2.5.1 PIO Input and Output Interface ···················································· 2-19 2.5.2 Pulse Train Input and Output Interface ·········································· 2-20 2.6 Options ······································································· 2-21 2.6.1 Pulse Converter (Model : AK-04) ·················································· 2-21 2.6.2 Pulse Converter (Model : JM-08) ·················································...

  • Page 45: Product Check

    2.1 Product Check 2.1 Product Check 2.1.1 Parts Shown in the table below are the product structures in the NPN types. Check the accessories in the packaging details. If you find any fault in the contained model or any missing parts, contact us or our distributor. Part Name Shape Remarks...
  • Page 46 2.1 Product Check Part Name Shape Remarks CB-RE-CTL002 (0.2m) For Between RCON and SCON2 or Enclosed for Between SCON2 and RCON Connection Type SCON2 Connection cable Shown in the figure is an Safety Guide image. Shown in the figure is an First Step Guide image.

  • Page 47: Teaching Tool

    2.1 Product Check 2.1.2 Teaching Tool Refer to the following instruction manuals for how to operate a PC software and a teaching pendant. The instruction manual (first step guide) for IA-OS introduces only the way to install and launch. For how to operate, follow the instructions in a window on IA-OS or help guidances. Instruction Part Name Model...

  • Page 48: How To Read The Model Plate

    2.1 Product Check 2.1.3 How to Read the Model Plate The places to attach the model code plates on this product and how to read them are as shown below. Model MODEL :SCON2-CG-S□□-NP-2-1 Serial number SERIAL No. :100283729 INPUT :1Φ ,100-115V ,50/60Hz ,1.8A OUTPUT :Φ3 ,0-230V ,0-333Hz ,1.1A Connected axis model...

  • Page 49: How To Read The Model

    2.1 Product Check 2.1.4 How to Read the Model Shown below is how to read the model codes. S C O N 2 - C G - S - N P - 0 - 2 - <Series> <Absolute Battery> Not Specified : None <Type (Note 1) >...

  • Page 50: Operation Modes And Functions

    2.2 Operation Modes and Functions 2.2 Operation Modes and Functions The controller is compatible with 10 types of operation patterns to support various applications. The operation pattern setting should be established in Parameter No. 25 “PIO pattern selection”. 2.2.1 Operation Mode of Controller There are two types of operation modes equipped in this product.

  • Page 51: Positioner Mode

    2.2 Operation Modes and Functions 2.2.2 Positioner Mode Refer to [3.1.3 [5], 3.2.3 [5] PIO Circuit] for wiring for each PIO pattern and [4.2 Operation in Positioner Mode] for details of how to operate and the main features. [1] PIO Patterns in Positioner Mode Value set in Type parameter...
  • Page 52 2.2 Operation Modes and Functions [2] List of Main Features in Each PIO Pattern : Valid function  PIO Pattern (Parameter No.25) Force Force Solenoid Solenoid Sensor Sensor Positioning Teaching 256-point 384-point Valve Valve Used Used Mode mode mode mode mode Mode 1 Mode 2...

  • Page 53: Pulse Train Control Mode

    2.2 Operation Modes and Functions 2.2.3 Pulse Train Control Mode There are two types of control systems in the pulse train control mode. Set the most suitable for the actuator specifications PIO patte22--99rn in Parameter No. 25 “PIO pattern selection”. Refer to [Chapter 3 Wiring] for wiring in the pulse train control and [4.3 Pulse Train Control Mode] for details of how to operate and the main features.

  • Page 54: Field Network Operation Modes And Features

    2.2 Operation Modes and Functions 2.2.4 Field Network Operation Modes and Features In the field network, there are following operation modes available to select from and used for operation. (Motion network excluded) Data necessary for operation (e.g. target position, velocity, acceleration and pressing current) should be written in the determined addresses from PLC connected to the host and make operation can be made.
  • Page 55 2.2 Operation Modes and Functions [2] List of Applicable Field Networks Applicable for the field network shown in the list below. Except for RS-485 (Modbus), 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 RS-485, PIO cannot be equipped.

  • Page 56: Basic Specifications

    2.3 Basic Specifications 2.3 Basic Specifications 2.3.1 List of Basic Specifications Item SCON2-CG Power-supply 60 to 200W Voltage 100V AC Corresponding Motor Capacity Power-supply 60 to 750W Voltage 200V AC Single-Phase 100 to 115V AC Single-Phase 200 to 230V AC Power-supply Voltage (Power supply fluctuation ±...
  • Page 57 2.3 Basic Specifications Item SCON2-CG Up to 10m Cable Length RS-485 Total cable length 100m or less. Field Network Refer to each Field Network specification Operation Mode Positioner Mode / Pulse Train Control Mode / Press Program / Motion Standard 64 points, MAX. 384 points (PIO Type, Field Network Type) Number of Positions in Positioner (Note) Number of positions differs depending on the selection in PIO pattern and field Mode...
  • Page 58 2.3 Basic Specifications R-Unit Connection Type Interface Specifications Item Contents Max. 16 Axes Number of * Total number of connection including A/P/D/SC Drivers and Controlled Axes ELECYLINDER PC Board Side : S20B-PUDSS-1 (JST) Connector Cable Side : PUDP-20V-S (JST) Total Cable Length: Up to 10m Cable Length Length of Cables between Devices: Up to 3.0m Cycle Time...

  • Page 59: Power Capacity And Heat Generation

    2.3 Basic Specifications 2.3.2 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 Control Rated Peek Max. Motor Power Peek Max.

  • Page 60: Selection Of Circuit Breaker

    2.3 Basic Specifications 2.3.3 Selection of Circuit Breaker For the selection of the circuit breaker, perform it according to the following items. • 3 times of the maximum rated current flows to the controller during the acceleration/deceleration. Select an interrupter that does not trip with this value of current. If a trip occurs, select an interrupter that possesses the rated current of one grade higher.
  • Page 61 2.3 Basic Specifications Reference: Test Conditions When Safety Certificate Acquired The leakage breaker was confirmed normal operation under the following conditions. For TN System Protection Device System Fault Loop Rated Sensitivity Rated Voltage Impedance Model Name Current Current [IΔn] Fuji Electric 110-115V 30mA 3Ω...

  • Page 62: Appearance

    2.4 Appearance 2.4 Appearance 2.4.1 SCON2 2.4.2 SCON2 + Functional Safety Unit 2-18 ME0458-1E...

  • Page 63: I/O Specifications

    2.5 I/O Specifications 2.5 I/O Specifications 2.5.1 PIO Input and Output Interface Input Section Output Section Input Voltage 24V DC ±10% Load Voltage 24V DC Peak Load Input Current 4mA 1 circuit Electric 50mA 1 circuit Current Specification ON/OFF ON Voltage MIN. 18V DC Leakage MAX.

  • Page 64: Pulse Train Input And Output Interface

    2.5 I/O Specifications 2.5.2 Pulse Train Input and Output Interface Line Driver Input Output Input pulse equivalent to Line Driver Output pulse equivalent to Line Receiver 26C31 26C32 (differential voltage: approx. 4V) (differential voltage: approx. 4V) 26C32 or equiv Internal Specification circuit 26C31 or equiv...

  • Page 65: Options

    2.6 Options 2.6 Options 2.6.1 Pulse Converter (Model : AK-04) The pulse converter converts command pulses in the open collector mode to those in the differential mode. Use this converter if the host controller sends output pulses in the open collector mode. Item Specification Input Power...

  • Page 66: Pulse Converter (Model : Jm-08)

    2.6 Options 2.6.2 Pulse Converter (Model : 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...

  • Page 67: Regenerative Resistor Unit

    2.6 Options 2.6.3 Regenerative Resistor Unit This is a unit that converts the regenerative current to heat when the motor decelerates. Refer to [3.3.5 Connectable Regenerative Resistor Units] for the number of connectable units. Model Codes Specifications of Enclosed Items SCON controller connection Cable Screw attachment small type RESU-2...

  • Page 68: Brake Box

    2.6 Options 2.6.4 Brake Box [1] 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 24V DC ±10% 1A and Current...
  • Page 69 2.6 Options [24V Power Supply Connector] Connector on Cable Side MC1.5/2-STF-3.5 (Phoenix Contact) (Enclosed in standard package) Applicable Cable AWG28 to 16 Pin No. Signal Explanation Power Supply Grounding for Terminal Assignment Terminal Brake Excitation For Brake Excitation and 24V 24VIN Power Supply [Connectors 1 and 2 for external brake release switch connection]...
  • Page 70 2.6 Options [2] IA-110-DD-4 The following actuator is required for the brake-equipped type. • DDA * Brake control for one axis should be available with one unit of a brake box. [Specification] Item Specification Input power supply voltage 100-240V AC ±10% Rated 100V AC: 0.25A / 200V AC: 0.15A Input power...

  • Page 71: Loadcell

    2.6 Options 2.6.5 Loadcell This is the pressing force detection unit that is used for the pressing operation using force sensor. This is used by connecting to the actuator corresponding to the pressing operation using force sensor. In addition, the connectable actuator differs depending on the rated capacity of the loadcell. [Specification] Item Specification...

  • Page 72: Absolute Battery

    Item Specifications Battery classification Thionyl chloride lithium batteries TOSHIBA LIFESTYLE PRODUCTS Battery manufacturer’s name Or, Maxell, Ltd. Battery model (IAI model) AB-5 Battery nominal voltage 3.6V Current standard capacity 2,000mAh 2 years after use (if left unused without power supply to controller)
  • Page 73 2.6 Options Absolute Battery (without holder) Type : AB-5 (with holder) Type : AB-5-CS3 Voltage PIO Signals Alarm 3.1V (Reference value) Voltage drop alert signal – *ALML (Note 2) 2.5V (Reference value) Alarm signal *ALM OEE “Absolute Encoder Error (Note 2) Detection 2”...

  • Page 74: Installation And Storage Environment

    2.7 Installation and Storage Environment 2.7 Installation and Storage Environment This product is capable for use in the environment of pollution degree 2 or equivalent. Pollution Degree 2 : Environment that may cause non-conductive pollution or transient conductive pollution by frost (IEC60664-1) 2.7.1 Installation Environment Do not use this product in the following environment.

  • Page 75: Noise Elimination And Mounting Method

    2.8 Noise Elimination and Mounting Method 2.8 Noise Elimination and Mounting Method 2.8.1 Noise Elimination (1) Noise Elimination Grounding (Frame Ground) Controller Other equipment Connect using FG connection terminal on the main unit. Controller Other Other Use green/yellow copper wire cable equipment equipment with its width 2.0mm...

  • Page 76: Installation And Mounting

    2.8 Noise Elimination and Mounting Method 2.8.2 Installation and Mounting Consider such facts as size of control panel, layout of a controller and cooling performance in design and setup so the ambient temperature falls into the range from 0 to 60°C. Item Installed Orientation Vertical Orientation (Exhaust Upward)

  • Page 77: Installation

    2.8 Noise Elimination and Mounting Method 2.8.3 Installation ● Make sure to conduct grounding in order to avoid electric shock. ● Make sure to perform grounding work for the ground terminal on the AC power supply cable in the controller and the grounding plate in the control panel. For safety grounding, use a green/yellow copper-conducting cable with its width 2.0mm (AWG14) or more.
  • Page 78 2.8 Noise Elimination and Mounting Method 2-34 ME0458-1E...
  • Page 79 SCON2-CG Chapter Wiring 3.1 Positioner Mode (PIO Control) ········································· 3-1 3.1.1 Wiring Diagram (Connection of Construction Devices) ····················· 3-1 3.1.2 PIO Pattern Selection and PIO Signal ··········································· 3-4 3.1.3 Wiring ···················································································· 3-9 3.2 Pulse Train Control Mode ··············································· 3-21 3.2.1 Wiring Diagram (Connection of Construction Devices) ····················· 3-21 3.2.2 I/O Signals and Each Functions in Pulse Train Control Mode ·············...
  • Page 80 3.4 Field Network Connector Connection ································ 3-50 3.5 Connection to R-Unit ····················································· 3-51...

  • Page 81: Positioner Mode (Pio Control)

    3.1 Positioner Mode (PIO Control) 3.1 Positioner Mode (PIO Control) 3.1.1 Wiring Diagram (Connection of Construction Devices) [1] Basic Wiring Diagram If using RCS2-RA13R, DDA or NS Type (Note 1) for the actuator and the option shown in the table is applied, the wiring between the actuator and the controller will differ from the basic wiring layout.
  • Page 82 3.1 Positioner Mode (PIO Control) Caution  Make sure to turn the power to the controller OFF when inserting or removing the connector that connects the PC software or touch panel teaching to the controller. Inserting or removing the connector while the power is turned ON causes a controller failure.
  • Page 83 3.1 Positioner Mode (PIO Control) 3. For DDA with brake type ME0458-1E...

  • Page 84: Pio Pattern Selection And Pio Signal

    3.1 Positioner Mode (PIO Control) 3.1.2 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 selection”. Refer to [4.2 Operation in Positioner Mode] for the details of PIO patterns.
  • Page 85 3.1 Positioner Mode (PIO Control) [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 86 3.1 Positioner Mode (PIO Control) 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 7 points 3 points 32 points 5 points Positioning Points...
  • Page 87 3.1 Positioner Mode (PIO Control) [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...
  • Page 88 3.1 Positioner Mode (PIO Control) Signal Relevant Category Signal Name Function Description Abbreviation Sections Turns ON in the positioning band range after actuator operation. The 4.2.3 Position PEND/INP INP signal will turn OFF if the position deviation exceeds the in-position 4.2.4 Complete range.

  • Page 89: Wiring

    3.1 Positioner Mode (PIO Control) 3.1.3 Wiring [1] Main Power Circuit L1 L2 Earth Leakage Breaker SCON2 Power Supply Connector Circuit Breaker Control Power Supply Motor Power Supply Noise Filter Surge Protector (Note) The power voltage of the controller (100V AC or 200V AC) cannot be changed. [2] Brake Power Supply Circuit (Note) Supply 24V DC if the used actuator is equipped with a brake.
  • Page 90 3.1 Positioner Mode (PIO Control) [3] Actuator emergency stop circuit (System I/O Connector) As an example of a circuit, the following 3 conditions are shown. 1. Operate the actuator using only the emergency stop input on the teaching tool 2. Operate the actuator by making the emergency stop input (STOP-) on the equipment and teaching tool activated 3.
  • Page 91 3.1 Positioner Mode (PIO Control) 3. Stop supplying external motor power at emergency stop input Emergency Stop Switch of Teaching Tool Emergency Stop Reset Switch Emergency Stop Switch SIO Connector System I/O Connector 24V dedicated for emergency stop circuit (Note 1) Stop Detection Circuit AC Power Supply Input Connector...
  • Page 92 3.1 Positioner Mode (PIO Control) [4] Motor • Encoder Circuit Applicable Encoder Cable types □□□ : cable length Example) 030 = 3m Actuator Connection Cable Series Type Encoder Cable Encoder Robot Cable RCS4(CR) CB-X1-PA□□□ CTZ5C / CT8C CB-X1-PA□□□ RA6R / RCS3(P)(CR) CB-RCS2-PLDA□□□...

  • Page 93: Actuator Type

    3.1 Positioner Mode (PIO Control) Note 2 Applicable Encoder Cable types □□□ : cable length Example) 030 = 3m Actuator Type Cable Single Axis Robot CB-X2-MA□□□ DD, DDA high torque type, LSA large type CB-XMC1-MA□□□ RCS series CB-RCC1-MA□□□ RCS series (robot cable) CB-X2-MA□□□...
  • Page 94 3.1 Positioner Mode (PIO Control) Connection when RCS2-RA13R with loadcell (with no brake) SCON2 Brake Power Supply Connector CB-RCS2-PLLA□□□ Encoder Connector CB-RCC-MA□□□ Motor Connector CB-LDC-CTL□□□ (Cable in the cable track) 2. Connection When RCS2-RA13R is Equipped with Loadcell or Brake 24V DC Brake Box 24V DC...
  • Page 95 3.1 Positioner Mode (PIO Control) [5] PIO Circuit Use the attached cable for the I/O connection. Model : CB-PAC-PIO□□□ (□□□ indicates the cable length L. Example. 020 = 2m) Caution  When having a conduction check on the flat cable, make sure not to spread out the inside of the connector female pins.
  • Page 96 3.1 Positioner Mode (PIO Control) PIO Pattern 1 ··········· Teaching mode (Teaching type) 0V (NPN Type) 24V DC (NPN Type) SCON2 24V DC (PNP Type) 0V (PNP Type) PIO Connector BR-1 BR-3 ―――( )―――――――― Completed Position No.1 PM1 ――■ ■―― P24 ●...
  • Page 97 3.1 Positioner Mode (PIO Control) PIO Pattern 3 ··········· 384-point mode (Number of positioning points : 384-point type) 0V (NPN Type) 24V DC (NPN Type) SCON2 24V DC (PNP Type) 0V (PNP Type) PIO Connector BR-1 BR-3 ―――( )―――――――― ■―― P24 PM1 ――■...
  • Page 98 3.1 Positioner Mode (PIO Control) PIO Pattern 5 ··········· Solenoid Valve Mode 2 (3-point type) 0V (NPN Type) 24V DC (NPN Type) SCON2 24V DC (PNP Type) 0V (PNP Type) PIO Connector BR-1 BR-3 ―――( Backward End Detection LS0 ――■ )――――――――...
  • Page 99 3.1 Positioner Mode (PIO Control) PIO Pattern 7 ··········· Pressing Operation Using Force Sensor Mode 2 (Solenoid valve type) 0V (NPN Type) 24V DC (NPN Type) SCON2 24V DC (PNP Type) 0V (PNP Type) PIO Connector BR-1 BR-3 ―――( )―――――――― Current Position No.0 PE0 ――■...
  • Page 100 3.1 Positioner Mode (PIO Control) [7] Feedback Pulse Readout Circuit ● When Host Unit in Differential System SCON2 CB-SC2-MFC□□□ Multi-function Connector (Note) Connect cable also to 0V if there is 0V (COM) on the host unit. ● When Host Unit in Open Connector System JM-08 (option) is necessary. CB-SC2- SCON2 MFC□□□...

  • Page 101: Pulse Train Control Mode

    3.2 Pulse Train Control Mode 3.2 Pulse Train Control Mode 3.2.1 Wiring Diagram (Connection of Construction Devices) [1] Basic Wiring Diagram * When the host unit is in the open collector system, use AK-04/JM-08 (option). (Note) Pulse Train Control Mode is not available to use in the field network type. If using RCS2-RA13R or NS Type for the actuator and the option shown in the table is applied, the wiring between the actuator and the controller will differ from the basic wiring layout.
  • Page 102 3.2 Pulse Train Control Mode Caution  Make sure to turn the power to the controller OFF when inserting or removing the connector that connects the PC software or touch panel teaching. Inserting or removing the connector while the power is turned ON causes a controller failure.

  • Page 103: I/O Signals And Each Functions In Pulse Train Control Mode

    3.2 Pulse Train Control Mode 3.2.2 I/O Signals and Each Functions 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).

  • Page 104: Wiring

    3.2 Pulse Train Control Mode 3.2.3 Wiring [1] Main Power Circuit L1 L2 Earth Leakage Breaker SCON2 Power Supply Connector Circuit Breaker Control Power Supply Motor Power Supply Noise Filter Surge Protector (Note) The power voltage of the controller (100V AC or 200V AC) cannot be changed. [2] Brake Power Supply Circuit (Note) Supply 24V DC if the used actuator is equipped with a brake.
  • Page 105 3.2 Pulse Train Control Mode [3] Actuator emergency stop circuit (System I/O Connector) As an example of a circuit, cases of 4 conditions are shown. 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.
  • Page 106 3.2 Pulse Train Control Mode 3. Stop supplying external motor power at emergency stop input Emergency Stop Switch of Teaching Tool Emergency Stop Reset Emergency Switch System I/O Connector SIO Connector Stop Switch 24V dedicated for emergency stop circuit (Note 1) Stop Detection Circuit AC Power Supply Input Connector...
  • Page 107 3.2 Pulse Train Control Mode [4] Motor • Encoder Circuit Connection of Short-Axis Robot (excluding RCS2-RA13R equipped with brake/loadcell and NS Series equipped with brake) Encoder cable (Note 1) Encoder Connector Motor Connector Motor Cable (Note 2) Note 1 Applicable Encoder Cable types □□□ : cable length Example) 030 = 3m Actuator Type Cable Single Axis Robot...
  • Page 108 3.2 Pulse Train Control Mode Connection of RCS2-RA13R or NS-type equipped with brake 3-28 ME0458-1E...
  • Page 109 3.2 Pulse Train Control Mode [5] PIO Circuit ● Use the attached cable for the I/O connection. Model : CB-PAC-PIO□□□ (□□□ indicates the cable length. Example. 020 = 2m) Caution  When having a conduction check on the flat cable, make sure not to spread out the inside of the connector female pins.
  • Page 110 3.2 Pulse Train Control Mode [6] Circuits for Pulse Train Control ● When Host Unit is Differential System SCON2 CB-SC2-MFC□□□ Class D for grounding class (Grounding No. 3 in old standard: Grounding resistance at 100Ω or less) (Note) Lay out also 0V (COM) if it exists on the host unit. ●...
  • Page 111 3.2 Pulse Train Control Mode [7] Circuit of Regenerative Resistor Units SCON2 3-31 ME0458-1E...

  • Page 112: Wiring Method

    3.3 Wiring Method 3.3 Wiring Method 3.3.1 Wiring of Power Circuit Power Supply Type Specifications Motor Power Supply 100V Specification : 100 to 115V AC ±10% 50/60Hz 200V Specification : 200 to 230V AC ±10% 50/60Hz Control Power Supply [1] Main Power Supply Circuit (Power Supply Connector) Supply the appropriate power from the following considering the controller type.
  • Page 113 2. Attenuation Characteristics : A noise filter which possesses the similar attenuation characteristics to the noise filter code stated in the previous page should be selected. For example, shown below is the graph of the attenuation characteristics of NAC-10-472 that IAI recommends. Normal Mode ■Attenuation Characteristics (Static Characteristics)
  • Page 114 3.3 Wiring Method ● Wiring Method Connect the power supply to the enclosed connector (Model code: MPS_7S/05_S_F3_TN_B_B: Weidmuller). See below for how to lay out the power supply wires. Select a cable complies with the applicable cable diameter in the table below, strip it for approximately 9mm, and insert it to the inlet till it makes a “click”...
  • Page 115 3.3 Wiring Method [2] Brake Power Supply (Power Supply Connector) Supply 24V DC ±10% and 1A max. when using an actuator equipped with a brake. ● Wiring Method Connect the power supply to the system I/O connector (Model code: B2CF_3.50/08/180_SN_BK_BX: Weidmuller). See below for how to lay out the power supply wires.
  • Page 116 3.3 Wiring Method ● For Actuators Necessary to Have Brake Box When connecting RCS2-RA13R with brake, it is necessary to have a brake box (RCB-110- RA13-0) connected. Refer to [2.6.4 Brake Box] for details. Supply 24V and 1A max. as the power supply for the brake box. 1) Loosen the terminal screw with using such as a slotted screwdriver to open up the inlet.

  • Page 117: Wiring For Emergency Stop Circuit (System I/O)

    3.3 Wiring Method 3.3.2 Wiring for Emergency Stop Circuit (System I/O) Make sure to construct the wiring of the emergency stop circuit considering the suitability to the Safety Category of the whole system. ● Wiring Image SCON2 Teaching pendant Stop Switch (Note 1) (Note3) STOP+...
  • Page 118 3.3 Wiring Method ● Wiring Method Connect the wires for operation stop (System I/O Connector) to the enclosed connector (Model code: B2CF_3.50/08/180_SN_BK_BX: Weidmuller). See below for how to lay out the power supply wires. 1) Push in the protruded portion on the terminal with a tool such a tool as a slotted screwdriver to open up the inlet.

  • Page 119: Connection To Actuator

    3.3 Wiring Method 3.3.3 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, NS Type or DDA equipped with brake. Refer to [2.6.4 Brake Box] (Encoder Cable) (Motor Cable) Encoder Cable...
  • Page 120 Controller Side SC04B-F35DK-GGR Pin No. Signal Name Contents Applicable cable diameter Motor drive phase W Protective ground Cable dedicated for IAI actuators Motor drive phase U Motor drive phase V Encoder Connector (PG) Model Remarks Cable Side 10126-3000VE Controller Side...

  • Page 121: Connection Of Pio

    3.3 Wiring Method 3.3.4 Connection of PIO Conduct the connection of I/O to the controller is to be carried out using the dedicated I/O cable. Cable length is to be indicated in the controller model code. Please check the controller model code.

  • Page 122: Connectable Regenerative Resistor Units

    3.3 Wiring Method 3.3.5 Connectable Regenerative Resistor Units Connect regenerative resistor unit (s) with attached cables as shown in the figure below. When connecting 1 unit : Connect with enclosed cable (CB-SC-REU) When connecting 2 or more units : Connect with enclosed cable (CB-ST-REU) ●...
  • Page 123 3.3 Wiring Method ● Reference number of connectable unit (Excluding RCS2-RA13R) Connectable Number of Regenerative Motor Output Resistor Units to 200W (Note) Not Required Horizontal Mount to 400W /Vertical Mount to 750W (Note) One unit is necessary for LSA/LSAS-N10S Types. ●...
  • Page 124 3.3 Wiring Method Controller Link Cable ● Regenerative resistance connection cable for SCON (CB-SC-REU□□□) □□□ indicates the cable length (Example) 010 = 1m Display of Cable Mode Code Regenerative Resistor Controller Side Unit Side Wiring Color Signal Signal Color Wiring Light Blue Light Blue 1.0mm...

  • Page 125: Sio Connecter Connection

    Contents Applicable cable diameter Difference Signal for Teaching Tool + Difference Signal for Teaching Tool - 5V Output for Teaching Tool Enable Signal Input Cable dedicated for IAI STOPA Stop Line A products T24V 24V Output for Teaching Tool STOPB...

  • Page 126: Pulse Train Signal Input And Feedback Pulse Output

    3.3 Wiring Method 3.3.7 Pulse Train Signal Input and Feedback Pulse Output Implement the wiring layout to the multi-function connector when it is necessary to read the feedback pulse and to send the command pulse in pulse train control mode. ●...
  • Page 127 3.3 Wiring Method ● Pulse Converter : AK-04 The pulse converter converts command pulses in the open collector mode to those in the differential mode. Use this converter if the host controller sends output pulses in the open collector mode. Host controller SCON2 (PLC side)
  • Page 128 3.3 Wiring Method A recommended installation sample is shown in the figure below. • Make the wiring between the host controller and the pulse converter as short as possible. Host Controller Cable length: recommended 50mm or less • Allocate them 10mm or more away from each other in multiple use. 10mm or more 10mm or more In this installation connot be avolded,...
  • Page 129 3.3 Wiring Method Caution  Pay attention not to insert wrongly because it is the same e-CON connector as input and output. Putting the power on with the insertion being wrong will burn JM-08.  Use the pulse converter in the ambient temperature range between 0 and 40°C. ...

  • Page 130: Field Network Connector Connection

    3.4 Field Network Connector Connection 3.4 Field Network Connector Connection For how to lay out cables for each field network, refer to the following instruction manuals to proceed the work. Field Network Name Description Details CC-Link CC-Link IE Field DeviceNet Control of the actuator is available with I/O communication using the control signals Refer to the other...

  • Page 131: Connection To R-Unit

    3.5 Connection to R-Unit 3.5 Connection to R-Unit The SCON extension unit and the SCON2 are connected with a dedicated cable (model: CB- RE-CTL□□□). When connecting two or more SCON2, connect the SCON2 units together with a dedicated cable. Up to 16 axes can be controlled by combining with a driver unit and the connected axis.
  • Page 132 3.5 Connection to R-Unit 3-52 ME0458-1E...
  • Page 133 SCON2-CG Chapter Operation 4.1 Basic Operation ···························································· 4-1 4.1.1 Power on and off ······································································ 4-1 4.1.2 Basic Operation Methods ··························································· 4-3 4.1.3 Parameter Settings ··································································· 4-8 4.2 Operation in Positioner Mode ·········································· 4-9 4.2.1 Set of Position Table ·································································· 4-12 4.2.2 Control of Input Signal ·······························································...
  • Page 134 4.3.4 Settings of Basic Parameters Required for Operation ······················· 4-120 4.3.5 Output Setting of Feeldback Pulse ··············································· 4-124 4.3.6 Parameter Settings Required for Advanced Operations ···················· 4-128 4.4 Operation of Field Network Type ······································ 4-131 4.5 Absolute Reset ····························································· 4-132 4.5.1 How to Perform Absolute Reset ···················································...

  • Page 135: Basic Operation

    4.1 Basic Operation 4.1 Basic Operation Caution  Refer to [RCON System Instruction Manual] for how to operate R-Unit Connection Type. 4.1.1 Power on and off The process below shows the case that the parameters are kept as they are on delivery and there has been no error occurred and it is not in the status of emergency stop.
  • Page 136 4.1 Basic Operation [3] Timing to Supply Power for R-Unit Connection Type Supply power to R-Unit after power is supplied to SCON2. Turn on in Advance SCON2 Power Supply (100/200V AC) R-Unit Power Supply (24V DC) <Total Frame Communication> Initial Communication (Configuration Communication) [4] Timing to Supply Power for R-Unit Connection Type (when not in time for initial communication)

  • Page 137: Basic Operation Methods

    4.1 Basic Operation 4.1.2 Basic Operation Methods There are two types, Positioner Mode and Pulse Train Control Mode, for the operation. 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.
  • Page 138 4.1 Basic Operation  Operation Ready････Resistration of Position Data (Example of Registration IA-OS) • Procedure 1 : Turn on the power to the controller. • Procedure 2 : Start up the IA-OS and establish the connection to the controller. Press” Yes” (Safety circuit confirmation) Select the communication Select a controller to connect with...
  • Page 139 4.1 Basic Operation • Procedure 4 : Define the destination (position) of the slider or rod of the actuator. The destination can be defined by using the following two methods: 1. Read out the coordinate values from such a tool as CAD. 2.
  • Page 140 4.1 Basic Operation  Operation････Example for Parameters (PIO Patterns 0) at Delivery • Procedure 1 : Input the position number at which positioning is desired to be performed in the binary data (PC1 to PC32) from a tool such as the host controller, and then turn the start signal (CSTR) ON.
  • Page 141 4.1 Basic Operation [2] Pulse Train Control Mode  Operation････Example for When the Parameter Settings at Delivery • Procedure 1 : Establish the settings for the pulse train form and electronic gear ratio (to determine how many millimeters the actuator moves when 1 pulse is given) to the controller parameters by using a teaching tool such as IA-OS.

  • Page 142: Parameter Settings

    4.1 Basic Operation 4.1.3 Parameter Settings Parameter data should be set to be suited 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.

  • Page 143: Operation In Positioner Mode

    4.2 Operation in Positioner Mode 4.2 Operation in Positioner Mode In the positioner mode, the following 8 types of PIO pattern can be selected with a proper parameter. The PIO Pattern cannot be switched over after the system is finished to be established or during the actuator operation.
  • Page 144 4.2 Operation in Positioner Mode [2] Overview of Main function Main function Description Number of Positioning Points Number of positioning points which can be set in the position table. Operation with the Position Normal operation started by turning the start signal ON after position No.
  • Page 145 4.2 Operation in Positioner Mode [3] Operation Modes of Rotary Actuator in Multiple Rotation Mode and Command Limitations An actuator of multi-rotation specification includes two operation modes, the normal mode enabling only a limited number of rotations and the index mode (Note 1) enabling a number of rotations.

  • Page 146: Set Of Position Table

    4.2 Operation in Positioner Mode 4.2.1 Set of Position Table 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 147 4.2 Operation in Positioner Mode (2) Position [mm] : Positioning coordinate value. Enter it as the distance from the home position. For pitch feed (relative movement = incremental feed), enter the pitch width. A value with – indicates that the actuator moves toward the home position. A value without – (negative) indicates that the actuator moves to be away from the home position.
  • Page 148 4.2 Operation in Positioner Mode Reference  How to set the acceleration is described below. The same idea can be applied to the deceleration. 1G = 9,800mm/s : Accelerated to 9,800mm/s per second 0.3G: Accelerated to 9,800mm/s × 0.3 = 2,940mm/s per second Velocity 9,800mm/s 2,940mm/s...
  • Page 149 4.2 Operation in Positioner Mode Caution  If the pressing velocity is changed, the pressing force may differ from that specified in [10.3 List of Specifications of Connectable Actuators]. When the pressing velocity is changed, make sure to measure the actual pressing force before start using.
  • Page 150 4.2 Operation in Positioner Mode Reference  Output Range of LS Signal (Example of PIO pattern 5) The figure below shows the position table and the position at which each of the LS signals is turned ON. If the actuator passes any of the positioning bands in the operation by another position number or manual operation in the servo-off state, the relevant LS signal is always turned ON.

  • Page 151: Operation

    4.2 Operation in Positioner Mode (11) Acceleration / deceleration mode : Select a proper acceleration/deceleration pattern depending on the load. Acceleration/ Deceleration Operation Value Pattern Velocity Trapezoid Time Velocity S-motion Time Set the S-motion rate with parameter No.56. Velocity First-Order Delay Filter Time Set the delay time constant with parameter No.55.
  • Page 152 4.2 Operation in Positioner Mode (12) Incremental : Set to 1 for pitch feed (relative movement = incremental feed). The set value for (1) indicates the pitch feed distance. When this is set to 0, positioning to a position set in (1) withe the absolute coordinates should be performed.
  • Page 153 4.2 Operation in Positioner Mode It is able to establish the gain set that corresponds to the position number to be operated to the indicated gain set. Refer to [6.2 Servo Adjustment] for each gain parameter details. Setting Selected parameter set Parameter No.
  • Page 154 4.2 Operation in Positioner Mode (15) Vibration suppress No. : Suppresses vibration (sympathetic vibration) of the load installed on the actuator. The vibration suppress No. can accept three types of vibrations. Four parameters are defined for a single vibration to form a single set. In the position table, parameter sets are defined to correspond to position numbers for which vibrations must be suppressed.
  • Page 155 4.2 Operation in Positioner Mode (16) Link No. After completing travel, this sets the position No. to continue traveling. If "wait time" is not set, this function will be disabled. This function is subject to the following precautions. Be sure to check before use. 1) AUTO/MANU mode ■...
  • Page 156 4.2 Operation in Positioner Mode (17) Standby time [s] After completing travel, this sets the standby time until the next position No. operation starts. Enabled only when “Link No.” is set. This function can only be enabled in AUTO mode. When performing continuous operation with PC software, use the easy programming function.

  • Page 157: Control Of Input Signal

    4.2 Operation in Positioner Mode 4.2.2 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. Therefore, input each input signal for 6ms or more (Note 1) continuously.

  • Page 158: Operation Ready And Auxiliary Signals (Common To Patterns 0 To 7)

    4.2 Operation in Positioner Mode 4.2.3 Operation Ready and Auxiliary Signals (Common to Patterns 0 to 7) [1] Emergency Stop Status (*EMGS) Output PIO signal *EMGS Common to  Patterns 0 to 7 : Available, ×: Unavailable 1. The emergency stop status EMGS is turned ON when in normal condition and turned OFF when STOP- terminal on [3.1.3 [3] Actuator emergency stop circuit] is 0V (emergency stop condition or disconnected).
  • Page 159 4.2 Operation in Positioner Mode Because the RMDS signal is set to ON with the “MANU” mode selected by using the signal, make the operation sequence interlocked. The table below lists the switches ON the front panel, the modes selected by the RMOD signal and the corresponding output states of the RMDS signal.
  • Page 160 4.2 Operation in Positioner Mode [3] Servo ON (SON, SV, PEND) Input Output PIO signal PEND Other than    pattern 5 Pattern 5 ×   : Available, ×: Unavailable 1. Servo ON signal SON is the input signal making the servo motor of the actuator operable. 2.
  • Page 161 4.2 Operation in Positioner Mode [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 × (Note 1) ×...
  • Page 162 4.2 Operation in Positioner Mode [Home Return Operation of Slider Type/Rod Type Actuator] Mechanical end Home 1) 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. 2) Reversing operation from the mechanical end should be performed and it stops at the home position.
  • Page 163 4.2 Operation in Positioner Mode [Home Return Operation of Actuator of Gripper Type] (Note 1) Finger attachment is not included in the actuator package. Please prepare separately. 1) If the HOME signal is turned ON, the actuator moves toward the mechanical end (to end side) at the home return speed (20mm/s).
  • Page 164 4.2 Operation in Positioner Mode [Actuator Movement for Spurious Absolute Type] Approx. 16mm 1) With HOME Signal ON, the actuator moves towards the home-return direction set in Parameter No.5 at 5mm/s (fixed). 2) Move back and forth in approximately 16mm (to confirm the current position). 3) Home return operation is completed after the actuator confirms the current position.
  • Page 165 4.2 Operation in Positioner Mode [5] Zone Signal and Position Zone Signal (ZONE1, ZONE2, PZONE) Output PIO signal ZONE2 ZONE1 PZONE Pattern 0 (Note 2)    Pattern 1 (Note 3) ×   Pattern 2 (Note 3) × ...
  • Page 166 4.2 Operation in Positioner Mode The feature can play a role as the sensor for judging whether the completion position is good or not in pressing operation, setting the continuous operation zone in pitch feed or interlocking operations of other units in the setting zone. (1) Zone signa (ZONE1, ZONE2) Set the zone range to the relevant parameter.
  • Page 167 4.2 Operation in Positioner Mode [Example of rotary actuator of multi-rotation specification in index mode] 0° 0° 315° 315° 70° 70° Set Value Set Value Zone setting + : 70° Zone setting + : 315° Zone setting - : 315° Zone setting - : 70°...
  • Page 168 4.2 Operation in Positioner Mode [6] Alarm, Alarm Reset (*ALM, RES) Input Output PIO signal *ALM Common to   Patterns 0 to 7 : Available, ×: Unavailable 1. 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 169 4.2 Operation in Positioner Mode [7] Binary Output of Alarm Data Output (*ALM, PM1 to 8) Output PIO signal *ALM PM1 to 8 Common to   Patterns 0 to 3 Pattern 4 (Note 1) ×  Pattern 5 × (Note 1) ...
  • Page 170 4.2 Operation in Positioner Mode ALM8 ALM4 ALM2 ALM1 *ALM Binary Code Description: Alarm code is shown in ( ). (PM8) (PM4) (PM2) (PM1) Parameter data error (0A1) Position data error (0A2)      Unsupported motor/encoder type (0A8) Z-phase position error (0B5) Magnetic pole indeterminacy (0B7) Home sensor non-detection (0BA)
  • Page 171 4.2 Operation in Positioner Mode [8] Brake Release (BKRL) Input PIO signal BKRL Pattern 0  Pattern 1 (Note 1) × Patterns 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 172: Operation With The Position No. Input (Pio Patterns 0 To 3 And 6)

    4.2 Operation in Positioner Mode 4.2.4 Operation with the Position No. Input (PIO Patterns 0 to 3 and 6) This section describes the methods of operations of PIO patterns 0 to 3 and PIO pattern 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 173 4.2 Operation in Positioner Mode ■ Sample use ■ Control method 1) First enter command position No. PC1 to PC** with binary data. Next turn start signal CSTR ON. Then the actuator starts acceleration depending on the data in the specified position table for positioning to the target position.
  • Page 174 4.2 Operation in Positioner Mode Command position No. PC1 to PC** (PLC→Controller) T1≥6ms Turned OFF by turning PEND OFF Start signal CSTR (PLC→Controller) Completed position PM1 to PM** PM1 to PM**＝0 (Note 1) PM1 to PM**＝0 (Note 1) (Controller→PLC) Turned ON after Target Positioning Completion Signal entering into...
  • Page 175 4.2 Operation in Positioner Mode [Shortcut control of rotary actuator of multi-rotation specification] Note The shortcut control gets available for setting when the index mode setting is activated. (When Parameter No. 79 “Rotary Axis Mode Select” is set to “1: Index Mode”) Refer to [4.2 [3] Operation Modes of Rotary Actuator in Multiple Rotation Mode and Command Limitations].
  • Page 176 4.2 Operation in Positioner Mode (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 177 4.2 Operation in Positioner Mode [2] Speed Change During the Movement ■ Sample use ■ Control method The speed of the actuator can be changed while it moves. Positions are used by the number of speeds. The method of controlling the operation to each position is the same as that described in [1] Positioning.
  • Page 178 4.2 Operation in Positioner Mode [3] Pitch Feeding (Relative Movement = Incremental Feed) ■ Sample use (Position No.2 sets pitch feed.) ■ Control method 1) The method of controlling pitch feed is the same as that described in [1] Positioning except the setting of the position table.
  • Page 179 4.2 Operation in Positioner Mode Caution  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.  When it is required to have pitch feed operation straight after pressing operation (condition kept in pressing), it is necessary to be cautious as the actuator moves directly to the coordinates that the pitch feed distance is added to the base point of pitch.

  • Page 180: Pressing Operation

    4.2 Operation in Positioner Mode [4] Pressing Operation ■ Sample use * Position No.2 sets pressing operation. ■ Control method The method of controlling the pressing operation is the same as that described in [1] Positioning except the setting of the position table. Any setting of “Operation Type” in the position table allows the pressing operation to be done.
  • Page 181 4.2 Operation in Positioner Mode Caution  It is necessary to have the calibration done on the loadcell in order to perform the force sensor used pressing in PIO Pattern 6. Refer to [4.2.7 Preparation for Operation in Force Sensor Pressing (Loadcell Calibration)] 3) The control method is the same as that in [1] Positioning.
  • Page 182 4.2 Operation in Positioner Mode Caution  The speed during pressing operation is set in Parameter No.34. Check [10.3 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 183 4.2 Operation in Positioner Mode Judging completion of pressing operation (1) For Standard (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 184 4.2 Operation in Positioner Mode The force judgment margin is be expressed with the base that the pressing current limit when the force sensor is used is considered as 100% . It should be set in Parameters No. 95 (Note 1) and No.
  • Page 185 4.2 Operation in Positioner Mode Step (1) Try to reduce the pressing velocity when overshooting is being occurred. The pressing velocity is determined for each actuator to be used, which should be set in Parameter No. 34. Set the speed lower than the pressing velocity being set temporarily to the position data (Note3) and perform the pressing operation.
  • Page 186 4.2 Operation in Positioner Mode  RA13R, RA10R (Default on Delivery = 1,500） Stiffness Subject to Pressing Hard ← ← Stiffness → → Soft 1,050 2,100 4,200 8,400 16,800 33,600 1,200 2,400 4,800 9,600 19,200 38,400 1,350 2,700 5,400 10,800 21,600 43,200 1,500...
  • Page 187 4.2 Operation in Positioner Mode  RA6R (Default on Delivery = 10,000） Stiffness Subject to Pressing Hard ← ← Stiffness → → Soft 7,000 14,000 28,000 56,000 112,000 224,000 8,000 16,000 32,000 64,000 128,000 256,000 9,000 18,000 36,000 72,000 144,000 288,000 10,000 20,000...
  • Page 188 4.2 Operation in Positioner Mode Torque Level Detection in Press-fitting Operation It is a signal dedicated for an actuator equipped with a loadcell. Use this as a reference output for other actuators. This is a function to detect whether the specified load is applied to the actuator when having a press-fitting process with the pressing operation.
  • Page 189 4.2 Operation in Positioner Mode ■ Control method It monitors the pressing force set in [%] in “Load Current Threshold” in the position data, and turns the torque level status signal TRQS ON when the pressing force reaches the following condition.
  • Page 190 4.2 Operation in Positioner Mode [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 191 4.2 Operation in Positioner Mode ■ Control method The method of controlling the tension operation is the same as that described in [4] Pressing operation. The control method is explained below by using the sample position table shown above. 1) Position No.2 indicates the settings of tension operation. The settings of “Position” and “Positioning width”...
  • Page 192 4.2 Operation in Positioner Mode  The work is pulled also after completion of the tension. The work is drawn back or pulled further if the work is moved. When the work is drawn back before the approach position, alarm 0DC “pressing operation range error” occurs to stop the work. When the work is moved in the tension direction and the load current becomes less than the current limit value (pressing in [%]), PEND is turned OFF.
  • Page 193 4.2 Operation in Positioner Mode [6] Multi-step Pressing ■ Image diagram Position No.1 Position No.2 Position No.3 ■ Control method After pressing, the pressing pressure can only be changed in the pressing state. The method of controlling multi-step pressing is the same as that described in [4] Pressing operation.
  • Page 194 4.2 Operation in Positioner Mode [7] Teaching by PIO (MODE, MODES, PWRT, WEND, JISL, JOG+, JOG-) Input Output PIO signal MODE JISL JOG+ JOG－ PWRT MODES WEND Other than pattern 1 × × × × × × × Pattern 1 ...
  • Page 195 4.2 Operation in Positioner Mode (2) Jog/inching switch and jog input 1) Jog/inching switching signal JISL indicates whether the jog operation or inching operation is performed by the jog input signal. JISL signal OFF : Jog operation JISL signal ON : Inching operation 2) There are two jog input signals, or JOG+ for operation in the positive direction and JOG- for operation in the negative direction.
  • Page 196 4.2 Operation in Positioner Mode • Velocity ································· Parameter No.8 “Default speed” • Acceleration ··························· Parameter No.9 “Default acceleration/deceleration” • Deceleration ·························· Parameter No.9 “Default acceleration/deceleration” • Positioning width ····················· Parameter No.10 “Default positioning width (in-position)” • Acceleration/deceleration mode ·· Parameter No.52 “Default acceleration/deceleration mode” •...
  • Page 197 4.2 Operation in Positioner Mode [8] Pause and Operation Interruption (*STP, RES, PEND, MOVE) Input Output PIO signal *STP PEND MOVE Patterns 0 to 1     Patterns 2 to 3 and 6 ×    : Existence of signal, ×: No signal ■...
  • Page 198 4.2 Operation in Positioner Mode Pause signal *STP (PLC→Controller) PEND not turned ON PEND (Controller→PLC) PEND turned OFF Moving Signal MOVE (Controller→PLC) Before operation Temp. Cont. Position Operation of actuator Operation Positioning complete state stop complete Turning RES ON here allows continuous operation to be cancelled Caution ...

  • Page 199: Position Direct Command (Pio Patterns 4 And 7) Operation

    4.2 Operation in Positioner Mode 4.2.5 Position Direct Command (PIO Patterns 4 and 7) Operation 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 200 4.2 Operation in Positioner Mode ■ Sample use ■ Control method 1) 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. 2) At the completion of positioning, positioning complete signal PEND is turned ON as well as current position No.
  • Page 201 4.2 Operation in Positioner Mode Caution  If the ST* signal is turned ON for the position after completion of positioning, both the PE* and PEND signals remain ON (except the pitch feed operation).  Both the PE* and PEND signals are set to ON in the positioning width zone. Accordingly, they may be turned ON under operation of the actuator if a large positioning width is set.
  • Page 202 4.2 Operation in Positioner Mode [2] Pitch Feeding (Relative Movement = Incremental Feed) ■ Sample use (Position No.2 sets pitch feed.) ■ Control method 1) The method of controlling pitch feed is the same as that described in [1] Positioning except the setting of the position table.
  • Page 203 4.2 Operation in Positioner Mode Caution  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 204 4.2 Operation in Positioner Mode [3] Pressing Operation ■ Sample use (Position No.2 sets pressing operation.) ■ Control method 1) The method of controlling the pressing operation is the same as that described in [1] Positioning except the setting of the position table. Any setting of “Operation Type (Pressing)”...
  • Page 205 4.2 Operation in Positioner Mode Note 1 Base thrust in pressing operation using force sensor: Converted thrust at rating motor output in pressing operation using force sensor (Pressing force at limit current value 100%) Base thrust in pressing Actuator operation using force sensor [N] RCS3-RA6R RCS3-RA7R RCS3-RA8R...
  • Page 206 4.2 Operation in Positioner Mode Caution  The speed during pressing operation is set in Parameter No.34. Refer to [10.3 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 207 4.2 Operation in Positioner Mode Judging completion of pressing operation (1) For Standard (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 208 4.2 Operation in Positioner Mode The force judgment margin is be expressed with the base that the pressing current limit when the force sensor is used is considered as 100% . It should be set in Parameters No. 95 (Note 1) and No.
  • Page 209 4.2 Operation in Positioner Mode Step (1) Try to reduce the pressing velocity when overshooting is being occurred. The pressing velocity is determined for each actuator to be used, which should be set in Parameter No. 34. Set the speed lower than the pressing velocity being set temporarily to the position data (Note3) and perform the pressing operation.
  • Page 210 4.2 Operation in Positioner Mode  RA7R (Default factory setting = 5,000) Stiffness Subject to Pressing Hard ← ← Stiffness → → Soft 3,500 7,000 14,000 28,000 56,000 112,000 4,000 8,000 16,000 32,000 64,000 128,000 4,500 9,000 18,000 36,000 72,000 144,000 5,000 10,000...
  • Page 211 4.2 Operation in Positioner Mode Torque Level Detection in Pressing Operation It is a signal dedicated for the actuator with loadcell. Use this as a reference output for other actuators. This is a function to detect whether the specified load is applied to the actuator when having a press-fitting process with the pressing operation.
  • Page 212 4.2 Operation in Positioner Mode (1) Torque Level Detection During Pressing Operation (Enabled with PIO Pattern 7) ■ Control method The pressing force set in percent [%] in "Threshold" of the position data should be monitored, and when the pressing force satisfies the following condition, the torque level status signal TRQS gets turned on.
  • Page 213 4.2 Operation in Positioner Mode [4] Tension Operation 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 214 4.2 Operation in Positioner Mode ■ Control method The method of controlling the tension operation is the same as that described in [3] Pressing operation. The control method is explained below by using the sample position table shown above. 1) Position No.2 indicates the settings of tension operation. The settings of “Position” and “Positioning width”...
  • Page 215 4.2 Operation in Positioner Mode  The work is pulled also after completion of the tension. The work is drawn back or pulled further if the work is moved. When the work is drawn back before the approach position, alarm 0DC “pressing operation range error” occurs to stop the work. When the work is moved in the tension direction and the load current becomes less than the current limit value (pressing in [%]), PEND is turned OFF.
  • Page 216 4.2 Operation in Positioner Mode [5] Multi-step Pressing ■ Image diagram Position No.1 Position No.2 Position No.3 ■ Control method After pressing, the pressing pressure can only be changed in the pressing state. The method of controlling multi-step pressing is the same as that described in [3] Pressing operation.
  • Page 217 4.2 Operation in Positioner Mode [6] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND) 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 218 4.2 Operation in Positioner Mode Pause signal *STP (PLC→Controller) PEND and PE not turned PEND (Controller→PLC) PEND turned OFF Current Position No. (Controller→PLC) Before operation Temp. Cont. Position Operation of actuator Operation Positioning complete state stop complete Turning RES ON here allows continuous operation to be canceled Caution ...
  • Page 219 4.2 Operation in Positioner Mode (2) Use of start signal ST* ■ Control method If start signal ST* is turned OFF during movement, the actuator can be paused. Use the control method for interlock in case where an object is invaded into the moving direction of the actuator being moved.

  • Page 220: Position Direct Command (Pio Pattern 5) Operation

    4.2 Operation in Positioner Mode 4.2.6 Position Direct Command (PIO Pattern 5) Operation 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 221 4.2 Operation in Positioner Mode Warning  Use this pattern with Parameter No.27 “Movement command type” set to “0” (factory setting). When Parameter No.27 is set to “1”, the home return is started as soon as the ST0 signal is turned ON and the operation cannot be stopped even if ST0 is turned OFF. ...
  • Page 222 4.2 Operation in Positioner Mode [Actuator Movement for Spurious Absolute Type] Approx. 16mm 1) If ST0 Signal gets turned ON when the home-return operation is incomplete, the actuator moves towards the home-return direction set in Parameter No.5 at 5mm/s (fixed). 2) Move back and forth in approximately 16mm (to confirm the current position).
  • Page 223 4.2 Operation in Positioner Mode [Home Return Operation of Rotary Actuator] Home = 0° Home sensor 1. When the HOME signal is turned on, 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.) 2.
  • Page 224 4.2 Operation in Positioner Mode [Home Return Operation of Actuator of Gripper Type] (Note) Finger attachment is not included in the actuator package. Please prepare separately. 1) If the ST0 signal is turned ON, the actuator moves toward the mechanical end (to end side) at the home return speed (20mm/s).
  • Page 225 4.2 Operation in Positioner Mode [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. Just as it does in detection with a sensor, the applicable LS* Signal should turn ON once the actuator gets in the range of the setting values regardless of the indicated position number.
  • Page 226 4.2 Operation in Positioner Mode [3] Positioning [Basic] (ST0 to ST2, LS0 to LS2) Position No. Input Output (Note) Pressing and pitch feed are unavailable. ■ Sample use ■ Control method 1) 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.
  • Page 227 4.2 Operation in Positioner Mode (Example) Repetition of ST1 → ST2 → ST1 →• • • Insert timer Δt if necessary. Δt Start signal Δt (PLC→Controller) Δt Start signal (PLC→Controller) Position sensing output (Controller→PLC) Position sensing output (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 228 4.2 Operation in Positioner Mode Caution  If the ST* signal for the position is turned ON after the completion of positioning, the LS* signal remains ON.  Both the LS* and PEND signals are set to ON in the positioning width zone. Accordingly, they may be turned ON under operation of the actuator if a large positioning width is set.
  • Page 229 4.2 Operation in Positioner Mode 1) In this example, the speed is changed while the actuator moves from the position of 150mm to the position of 0mm. At first, set the positioning to the target position at the first speed in position No.1.
  • Page 230 4.2 Operation in Positioner Mode [5] Pause and Operation Interruption (ST*, RES, LS*) Turning start signal ST* OFF allows the actuator to be paused while it is moved. To restart it, turn the same ST* signal ON. ■ Control method If start signal ST* is turned OFF during movement, the actuator can be paused.

  • Page 231: Preparation For Operation In Force Sensor Pressing (Loadcell Calibration)

    4.2 Operation in Positioner Mode 4.2.7 Preparation for Operation in Force Sensor Pressing (Loadcell Calibration) With the performance of a loadcell for the feedback control of the pressing force during the pressing operation in operation of the force sensor used pressing (PIO Patterns 6 and 7), pressing operation with high precision should be available.
  • Page 232 4.2 Operation in Positioner Mode (1) Setting for Pressing Control with Loadcell 1) Set “1: Loadcell to be Used” in Parameter No. 92 “Use of loadcell”. Set “0” and the loadcell would not activate. 2) Set “1: Control with Force Sensor” in Parameter No. 93 “Selection of pressing control”. Set “0”...

  • Page 233: (Loadcell Calibration)

    4.2 Operation in Positioner Mode [2] Loadcell Calibration (CLBR, CEND) A loadcell should be set at the condition with no load as 0 (zero) [N] on delivery. It is necessary to calibrate in such a case as when a pressing fixture such as a pusher is attached is to be set as the datum (0 (zero) [N]).
  • Page 234 4.2 Operation in Positioner Mode [With No Calibration] [With Calibration] [Loadcell Not Used] Pressing Pressing Force Force Setting Setting at 300N at 300N Fixture Fixture Weight Weight Actuator Pressing Approx. Actuator Pressing Approx. Force Force 10kgf 10kgf 200N 300N (100N) (100N) Pressing Pressing...
  • Page 235 4.2 Operation in Positioner Mode Calibration Signal Check Period (Note 1) Calibration Period (Note 2) Calibration Signal CLBR (PLC → Controller) Calibration Complete Signal CEND (Controller → PLC) Note 1 It is a period of time (20ms) for a check of the calibration signal. If CLBR turns off within this period of time, the signal should be ignored and calibration should not be performed.

  • Page 236: Pulse Train Control Mode

    4.3 Pulse Train Control Mode 4.3 Pulse Train Control Mode This controller can switch over the mode between positioner mode and pulse train control mode with the teaching tool. In Pulse Train Control Mode, there are 2 types, incremental type for actuator (PIO Pattern 0) and (Battery-less) absolute type for actuator (PIO Pattern 1), the actuator can be operated by the pulse train output of the host controller (PLC) positioning control function.

  • Page 237: Function Name

    4.3 Pulse Train Control Mode ■ Main Functions Function Name Detail When this function (signal) is used, home return can Dedicated home return signal be performed without using a complex sequence or an external sensor, etc. Since the controller controls the brake, there is no need to program a separate sequence.

  • Page 238: Input Signal Controls

    4.3 Pulse Train Control Mode 4.3.1 Input Signal Controls The input signals in this controller are equipped with the input time constant for 6ms in order to prevent error operation caused by chattering or noise. Therefore, it is necessary to input each input signal for 6ms or more (Note 1) .

  • Page 239: Operation Ready And Auxiliary Signals

    4.3 Pulse Train Control Mode 4.3.2 Operation Ready and Auxiliary Signals [1] System Ready (PWR) Output PIO signal *PWR 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 SCON2 can be controlled regardless of alarm and servo status.
  • Page 240 4.3 Pulse Train Control Mode However, the controller is subject to link connection (Note 1) to connect with a teaching tool such as the IA-OS by using a SIO converter, the controller may be far apart from the teaching tool. In such a case, the controller can be entered into the “MANU”...
  • Page 241 4.3 Pulse Train Control Mode [4] Compulsory Stop (CSTP) Input PIO signal CSTP This signal is used to forcibly stop the actuator. Input the CSTP signal continuously for 16ms or longer. Once the CSTP signal is received, the actuator decelerates and stops with the maximum torque, and then turns the servo OFF. At this time, the deviation counter is cleared.
  • Page 242 4.3 Pulse Train Control Mode Dynamic Lock Brake Release Brake Lock (Note 1) Excitation Release 20ms 100ms It may differ due to operation condition and load condition. PEND (Note 2) Note 1 T1 is 30ms before SV becames OFF. Note 2 PEND would not turn ON in the pause condition. ●...
  • Page 243 4.3 Pulse Train Control Mode [6] Home Return (HOME, HEND) Input Output PIO signal HOME HEND The HOME signal is intended for home return. When the HOME signal is turned ON, the command will be processed at the leading edge (ON edge) of the signal and the actuator will perform home return operation.
  • Page 244 4.3 Pulse Train Control Mode [Home Return Operation of Slider Type/Rod Type Actuator] Mechanical end Home 1) 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.
  • Page 245 4.3 Pulse Train Control Mode [Home Return Operation of Actuator of Gripper Type] (Note) Finger attachment is not included in the actuator package. Please prepare separately. 1) If the HOME signal is turned ON, the actuator moves toward the mechanical end (to end side) at the home return speed (20mm/s).
  • Page 246 4.3 Pulse Train Control Mode [7] Datum Position Move (RSTR, REND) Input Output PIO signal RSTR REND RSTR Signal is a command signal to move (Note 1) to the datum position * set at any point. This command is processed at the startup (ON-edge) and operation to the datum position is conducted.
  • Page 247 4.3 Pulse Train Control Mode [8] Zone Signal (ZONE1, ZONE2) Output PIO signal ZONE1 ZONE2 Each of the signals turns ON when the current actuator position is inside the range specified by the relevant parameter. Two zones, ZONE1 and ZONE2, can be set. When the current position of the actuator is in ZONE1, it is turned ON if it is in the range of Parameter No.1 “Zone Boundary 1+”...
  • Page 248 4.3 Pulse Train Control Mode [9] Alarm, Alarm Reset (*ALM, RES) Input Output PIO signal *ALM Alarm signal *ALM is set to ON in the normal status but turned OFF at the occurrence of an alarm at a level equal to or higher than the operation release level. Turning reset signal RES ON under occurrence of an alarm at the operation release level allows the alarm (Note 1)
  • Page 249 4.3 Pulse Train Control Mode [11] Brake Release (BKRL) Input 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 250: Pulse Train Input Operation

    4.3 Pulse Train Control Mode 4.3.3 Pulse Train Input Operation [1] Command Pulse Input (PP•/PP, NP•/NP) In the differential type, it is able to have 2.5Mpps of pulse train input at maximum. When the host controller possesses only the pulse output function of the open collector, it is able to input 200kpps pulse at maximum by connecting AK-04 (option).
  • Page 251 4.3 Pulse Train Control Mode Caution  Consider the electric gear ratio of the host side and that of the controller side via the following calculation. [Reference] Acceleration/deceleration settings of general positioning device Motor Rotation Velocity [mm/s] × 60 Motor Rotation [rpm] = Ball Screw •...
  • Page 252 4.3 Pulse Train Control Mode [2] Position Complete (INP) Output PIO signal This signal will turn ON when the remaining travel pulses (accumulated pulses) on the deviation counter enters the positioning width. When the servo is ON, this signal turns ON when the accumulated pulses on the deviation counter are within the number of pulses set in Parameter No.10 “Default positioning width”.
  • Page 253 4.3 Pulse Train Control Mode [4] Deviation Counter Clear (DCLR) Input PIO signal DCLR This is the signal to clear the deviation counter that stores the specified pulse until its process is completely finished (positioning is completed) once a command pulse is input. It is used when the deviation is desired to be cleared after the pressing by TL signal is complete (TLR signal ON).

  • Page 254: Settings Of Basic Parameters Required For Operation

    4.3 Pulse Train Control Mode 4.3.4 Settings of Basic Parameters Required for Operation It is a mandatory parameter to perform an operation. (The parameters listed in the table below may only be set if the actuator performs only positioning operation.) Parameter Name Details...
  • Page 255 4.3 Pulse Train Control Mode  Formula for velocity: The velocity of the actuator can be figured out with the following formula. Velocity = Unit Travel Distance × Input Pulse Frequency [Hz]  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.
  • Page 256 4.3 Pulse Train Control Mode  Do not set the minimum movement unit out of the encoder resolution ability. If this setting is conducted, the actuator would not start moving until enough command pulse is stored in the encoder resolution error. Ball Screw Lead Length [mm/rev] Encoder resolution for linear axis [mm/pulse]...
  • Page 257 4.3 Pulse Train Control Mode [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 Name Unit Input Range Default factory setting Command Pulse Input −...

  • Page 258: Output Setting Of Feeldback Pulse

    4.3 Pulse Train Control Mode 4.3.5 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.

  • Page 259: Input Range

    4.3 Pulse Train Control Mode Command Pulse Setting Input Terminal In Normal Rotation In Reverse Rotation String Mode Value Normal Rotation AFB • /AFB Pulse String Reverse Rotation BFB • /BFB Pulse String The normal rotation pulse string shows the motor rotation amount in normal direction, and reverse rotation pulse string shows the motor rotaion amount in reverse direction.
  • Page 260 4.3 Pulse Train Control Mode (1) Feedback Pulse Gear Ratio Specification Selection (Parameter No.114) Name Unit Input Range Default factory setting Feedback Pulse Form 0, 1 − Polarity 0: It outputs the pulse equivalent to the input pulse. If the movement amount of input pulse is 0.01mm, 1 pulse is output when moved for 0.01mm.
  • Page 261 4.3 Pulse Train Control Mode  Formula for velocity: The velocity of the actuator is in proportion to the frequency of the output pulse. Velocity = Movement amount per pulse × Output Pulse Frequency [Hz]  Examples of electronic gear ratio 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...

  • Page 262: Parameter Settings Required For Advanced Operations

    4.3 Pulse Train Control Mode 4.3.6 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 Name Unit Input Range Default factory setting Position Command Primary 0.0 to 100.0 Filter Time Constant The acceleration/deceleration of the actuator can be set in S-shaped curve with this parameter...
  • Page 263 4.3 Pulse Train Control Mode [3] Deviation Error Monitor During Torque Limiting Name Unit Input Range Default factory setting Deviation Error Monitor − 0: Disable, 1: Enable During Torque Limiting You can select whether to enable or disable the function to monitor deviation while torque is being limited (the TL signal is ON).
  • Page 264 4.3 Pulse Train Control Mode [7] Select Enable/Disable Compulsory Stop Input Name Unit Input Range Default factory setting Select Enable/Disable − 0: Enable, 1: Disable Compulsory Stop Input Compulsory stop of the actuator can be performed with PIO (CSTP Signal ON) from the host system.

  • Page 265: Operation Of Field Network Type

    4.4 Operation of Field Network Type 4.4 Operation of Field Network Type In the field networks, the following operation modes are available to choose from for operation. (Except for the motion network) Operation should be made with the data necessary for operation (such as target position, velocity, acceleration, pressing current, etc.) written in the determined addresses from such as PLC connected to the host.

  • Page 266: Absolute Reset

    4.5 Absolute Reset 4.5 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. Absolute Type registers the home position in the cases of (1) to (3) (absolute reset) to retain.

  • Page 267: How To Perform Absolute Reset

    4.5 Absolute Reset 4.5.1 How to Perform Absolute Reset The absolute reset is performed by using a teaching tool such as IA-OS or PIO. Each of the absolute reset procedures is described below. [1] Absolute Reset Procedure from Teaching Tool 1) Connect the controller with the actuator.
  • Page 268 4.5 Absolute Reset [For IA-OS] Refer to [First Step Guide (ME0391)] for how to install the IA-OS. Open Position data edit screen and click Position data edit screen Click Click located on the right of “Alarm” in Position data edit screen. Position data edit screen Click The alarm should be reset.
  • Page 269 4.5 Absolute Reset [For teaching pendant (TB-02/TB-03)] Touch Alarm reset . Touch Touch Trial operation on the Menu 1 screen. Touch On the test run screen, touch Jog inching Touch Touch On the jog/inching screen, turn the servo on by touching Servo then touch Homing Touch...
  • Page 270 4.5 Absolute Reset [Absolute Reset Process] Note 1 Turn ON 24V power supply for PIO (and 24V power supply for brake if the actuator is equipped with a brake) prior to turn ON the control power supply or motor power supply. Note 2 Have the control power supply and motor power supply in common, and have them turned ON that the same time.
  • Page 271 4.5 Absolute Reset [2] Absolute Reset Using PIO As ABS-related alarms are the cold start level alarms, an alarm reset cannot be conducted only with RES Signal. In order to reset an ABS-related alarm from PIO, perform the process from Step 1 to 8 below.
  • Page 272 4.5 Absolute Reset 4-138 ME0458-1E...

  • Page 273: Various Functions

    SCON2-CG Chapter Various Functions 5.1 Vibration Suppress Control Function ································· 5-1 5.1.1 Overview ················································································ 5-1 5.1.2 Setting Procedure ····································································· 5-4 5.1.3 Settings of Parameters for Vibration Suppress Control ····················· 5-5 5.1.4 Setting of Position Data ····························································· 5-7 5.2 Power-saving Function (Auto Servo-motor OFF Function) ····· 5-8 5.3 Collision Detection Feature ·············································...

  • Page 275: Vibration Suppress Control Function

    5.1 Vibration Suppress Control Function 5.1 Vibration Suppress Control Function 5.1.1 Overview 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 0.5 to 30Hz.
  • Page 276  Vibrations subject to vibration suppress control Vibrations subject to vibration suppress controlI 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 1.
  • Page 277 5.1 Vibration Suppress Control Function  Prohibition of simultaneous use of vibration suppress control with feed forward gain The vibration suppress control function cannot be used with feed forward gain simultaneously.  Prohibition of switch to use vibration suppress control during moving operation Switching between vibration suppress control and normal positioning is disabled during movement of the actuator.

  • Page 278: Setting Procedure

    5.1 Vibration Suppress Control Function 5.1.2 Setting Procedure To use the vibration suppress control function, make proper measurements and adjustments depending on the procedure described below. Before setting vibration suppress control Output a movement Did you set the operation mode setting →No command from PLC to the controller to have a check...

  • Page 279: Settings Of Parameters For Vibration Suppress Control

    5.1 Vibration Suppress Control Function 5.1.3 Settings of Parameters for Vibration Suppress Control Set the parameters associated with vibration suppress control, which are listed in the table below. Parameter Parameter Factory Parameter Name Unit Input Range Set No. Setting Damping characteristic Rate 0 to 1,000 coefficient 1...
  • Page 280 5.1 Vibration Suppress Control Function [3] Notch Filter Gain (Parameter No.100, 104 and 108) Set the notch filter gain following the table below in response to the measured specific frequency of the loaded object. See the table below for reference. Provide fine adjustment if overshooting occurs.

  • Page 281: Setting Of Position Data

    5.1 Vibration Suppress Control Function 5.1.4 Setting of Position Data To make the anti-vibration control effective, set the parameter set number to be used in Anti- Vibration Number Column in Position Data. (Note) The vibration suppress control function cannot be used in pressing operation. Accele- Decele- Thresh-...

  • Page 282: Power-Saving Function (Auto Servo-Motor Off Function)

    5.2 Power-saving Function (Auto Servo-motor OFF Function) 5.2 Power-saving Function (Auto Servo-motor OFF Function) Equipped with AUTO servo OFF to reduce power consumption while the actuator is stopped. Fully understand the descriptions in this section and use without any safety or operational issues. With automatic servo OFF function, the servo turns OFF automatically after a certain period of time once positioning is completed.
  • Page 283 5.2 Power-saving Function (Auto Servo-motor OFF Function) Caution  Automatic servo OFF function is disabled for push-motion operation. Do not use it. This function will be enabled upon completion of positioning operation. For push-motion operation, it will be enabled only when contactless (completion of operation without contact = same status as positioning complete).

  • Page 284: Positioning Operation

    5.2 Power-saving Function (Auto Servo-motor OFF Function) Define the setting in Parameter No.39. Signal outputs during automatic servo Value set in Content of PEND signal Parameter No.39 PEND PM1 to PM** PE** Positioning Completion Signal In-position Signal (Note) While the automatic servo OFF, SV of the controller status indicator LED on the front panel flashes green.

  • Page 285: Collision Detection Feature

    5.3 Collision Detection Feature 5.3 Collision Detection Feature It is a feature to rapidly stop or evacuation the actuator when it has a contact to an object during operation. Understand the explanation in this section well for use without any problem in operation and for safety.
  • Page 286 5.3 Collision Detection Feature [Collision judgment current value] Comparing to the feedback current, the collision judgment current should judge collision for current when Feedback Current > Collision Judgment Current. The judgment should be disabled when “0” is set in the judgment current and should be enabled when a value higher than “0” is set.
  • Page 287 5.3 Collision Detection Feature [Collision judgment distance] Then collision judgment distance should judge it as a collision detection for distance when the gap between the current position and the virtual position (virtual position differential value) is |Virtual Position Differential Value| > Collision Judgment Distance compared to the absolute value.

  • Page 288: Judgment Operation

    5.3 Collision Detection Feature 5.3.2 Judgment Operation By indicating a position number to the reversing operation at collision detection position number, a reversing operation should be performed after a collision gets detected. The position data to be used in the reversing operation should be “Position”, “Velocity”, “Acceleration”, “Deceleration”...

  • Page 289: Collision Detection Setup

    5.3 Collision Detection Feature 5.3.3 Collision Detection Setup For the setup of collision detection, the following tools are available for use. Product name Applicable versions PC Software IA-OS Ver.13.01.00.00 or later Touch Panel Teaching Pendant Ver.4.42 or later TB-03/02 [How to Set up in IA-OS] →...
  • Page 290 5.3 Collision Detection Feature Select a method for collision detection judgment and click Execute . Collision Judgment Methods ● With Judgment Distance Only ● Judgment Distance + Judgment Current Value Note: Actuator starts moving. The feedback values should be shown in the graph. Click →...
  • Page 291 SCON2-CG Chapter Parameter 6.1 Parameter ······························································· 6-1 6.1.1 Parameter List ··································································· 6-2 6.1.2 Detail Explanation of Parameters ········································· 6-11 6.2 Servo Adjustment ····················································· 6-64...

  • Page 293: Parameter

    6.1 Parameter 6.1 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

    6.1 Parameter 6.1.1 Parameter List The categories in the table below indicate whether parameters should be set or not. There are five categories as follows: Check the settings before use. 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 6.1 Parameter Default factory Pulse Relevant Positioner Name Unit (Note1) Input Range setting Train sections Mode Mode B SIO communication speed 9,600 to 230,400 38,400 6.1.2 [12]   Minimum delay time for slave transmitter 0 to 255 6.1.2 [13] ...
  • Page 296 6.1 Parameter Default factory Pulse Relevant Name Unit (Note1) Input Range Positioner setting Train sections Mode Mode Select enable/disable 0: Enabled, – 6.1.2 [29]   homereturn input 1: Disabled Select enable/disable 0: Enabled, – 6.1.2 [30]   operatingmode input 1: Disabled 0: Enabled, C Enable function...
  • Page 297 6.1 Parameter Default factory Pulse Relevant Name Unit (Note1) Input Range Positioner setting Train sections Mode Mode 0: Enabled, B Compulsory stop input – – 4.3.6  1: Disabled 0: Enabled, B Feedback pulse output – 6.1.2 [51]   1: Disabled B Feedback pulse train –...
  • Page 298 6.1 Parameter Default factory Pulse Relevant Name Unit Input Range Positioner (Note1) setting Train sections Mode Mode 0: Not Applicable In accordance C Use of loadcell – – 6.1.2 [71]  1: Use with actuator (Note2) Selection of pressing 0: Current limit In accordance –...
  • Page 299 6.1 Parameter Default factory Pulse Relevant Name Unit Input Range Positioner (Note1) setting Train sections Mode Mode Electronic gear – 1 to 99,999,999 ○ 6.1.2 [82] denominator  (Feedback Pulse) 0: Does not Automatic loadcell – perform – 6.1.2 [83] ...
  • Page 300 6.1 Parameter Default factory Pulse Relevant Name Unit Input Range Positioner (Note1) setting Train sections Mode Mode -9,999.99 to In accordance A Home preset value 6.1.2 [87]   (deg) 9,999.99 with actuator (Note2) 0.0.0.0 to Separate B IP Address –...
  • Page 301 6.1 Parameter Default factory Pulse Relevant Name Unit Input Range Positioner (Note1) setting Train sections Mode Mode Separate B Network number – 1 to 239 –  volume 0: Disabled Position data expansion 1: Drive torque – – 6.1.2 [106] ...
  • Page 302 6.1 Parameter Default factory Pulse Relevant Name Unit Input Range Positioner (Note1) setting Train sections Mode Mode 0 to Collision judgment current In accordance – 6.1.2 [125]  value 1 with actuator 0.00 to Collision judgment In accordance 5.00 – 6.1.2 [126] ...

  • Page 303: Detail Explanation Of Parameters

    6.1 Parameter 6.1.2 Detail Explanation of Parameters Caution  After changing (writing) parameters, perform a software reset or power reboot so that the set values can be reflected.  The unit (deg) is for rotary actuator. Note that it will be displayed as millimeter [mm] on the teaching tool.
  • Page 304 6.1 Parameter [Example of Rotary Actuator Index Mode] Areas that the zone 0° signal is ON 0° 315° 315° 70° 70° Set Value Set Value Zone boundary + : 70mm Zone boundary + : 315mm Zone boundary - : 315mm Zone boundary - : 70mm Caution ...
  • Page 305  If it becomes necessary to reverse the homing direction after assembly to equipment, check the model of the applicable actuator to ensure that the homing direction is changeable.  For models with which change is not possible, the actuator must be replaced. Contact IAI if anything is unclear. 6-13 ME0458-1E...
  • Page 306 6.1 Parameter Press & hold stop judgment period (Parameter No.6) Name Unit Input Range Default factory setting Press & hold stop 0 to 9,999 judgment period Judging completion of pressing operation This is the parameter to set the completion judgment time in pressing operation. (PIO pattern 0 to 3).
  • Page 307 6.1 Parameter Speed When the setting value is high (overshoot) When the setting value is low Time Default speed (Parameter No.8) Name Unit Input Range Default factory setting mm/s 1 to Actuator’s max. Default speed Rated actuator’s speed (deg/s) speed The factory setting is the rated velocity of the actuator.
  • Page 308 6.1 Parameter Default acceleration/deceleration (Parameter No.9) Name Unit Input Range Default factory setting Default positioning width 0.01 to 9,999.99 In accordance with actuator (deg) When a target position is set in an unregistered position table, the setting in this parameter is automatically written in the applicable position number.
  • Page 309 6.1 Parameter [11] Select enable/disable pause input (Parameter No.15) Name Unit Input Range Default factory setting Select enable/disable ― 0: Enabled, 1: Disabled pause input This parameter defines whether the pause input signal is disabled or enabled. If pause from PIO is not required, setting the parameter to “1” allows the actuator to be operated without wiring of the pause signal input.
  • Page 310 6.1 Parameter [14] Home position check sensor input polarity (Parameter No.18) Name Unit Input Range Default factory setting Home position check ― 0 to 2 In accordance with actuator sensor input polarity A parameter to select input polarity of the home sensor. Home sensor is optional.
  • Page 311 6.1 Parameter Creep sensor is an option for the line axis type. This parameter is set properly prior to the shipment according to the specification of the actuator. Set value Content Standard specification (Creep sensor not in use) Input is a-contact Input is b-contact [17] Select enable/disable servo ON input (Parameter No.21) Name...
  • Page 312 Caution  If the homing offset has been changed, the software limit parameter also needs to be reviewed. If the value must be set above the default setting, contact IAI. 6-20 ME0458-1E...

  • Page 313: Input Range

    6.1 Parameter [19] PIO pattern selection (Parameter No.25) Name Unit Input Range Default factory setting PIO pattern selection ― 0 to 7 0 (Standard Type) Select the PIO operation pattern. For the details of PIO patterns, refer to [3.1.2 PIO Pattern Selection and PIO Signal] or [3.2.2 I/O Signals in Pulse Train Control Mode].
  • Page 314 6.1 Parameter [For Pulse Train Control Mode] Value set in Pattern Parameter Mode Overview type No.25 Differential pulse input (MAX.200kpps) • Home return function Pulse train control mode • (factory setting) for incremental Pattern 0 Zone signal output: 2 points •...
  • Page 315 6.1 Parameter [21] Movement command type (Parameter No.27) Name Unit Input Range Default factory setting Movement command type ― 0: Level, 1: Edge Set the input methods for the start signal (ST0 to ST6, or ST0 to ST2 if PIO Pattern = 5) when PIO Pattern 4 = Solenoid Valve Mode 1 (7-point type), PIO Pattern 5 = Solenoid Valve Mode 2 (3-point type) and PIO Pattern 7 = Force Sensor Used Pressing Mode 2 (Electromagnetic Valve Mode)
  • Page 316 6.1 Parameter [22] Velocity loop proportional gain (Parameter No.31, 122, 128, 134) Name Unit Input Range Default factory setting Velocity loop proportional ― 1 to 99,999,999 In accordance with actuator gain Velocity loop proportional ― 1 to 99,999,999 In accordance with actuator gain 1 Velocity loop proportional ―...
  • Page 317 6.1 Parameter [23] Velocity loop integral gain (Parameter No.32, 123, 129, 135) Name Unit Input Range Default factory setting Velocity loop integral gain ― 1 to 99,999,999 In accordance with actuator 123 Velocity loop integral gain 1 ― 1 to 99,999,999 In accordance with actuator 129 Velocity loop integral gain 2 ―...
  • Page 318 6.1 Parameter [25] Press velocity (Parameter No.34) Name Unit Input Range Default factory setting mm/s 1 to actuator's max. Press velocity In accordance with actuator (deg/s) pressing speed This is the parameter to set the velocity in pressing operation. The setting is done considering the actuator type when the product is delivered. For details, refer to [10.3 List of Specifications of Connectable Actuators].
  • Page 319 6.1 Parameter [27] Auto servo-motor OFF delay time 1, 2, 3 (Parameter No.36, No.37, No.38) Name Unit Input Range Default factory setting Auto servo-motor OFF 0 to 9,999 delay time 1 Auto servo-motor OFF 0 to 9,999 delay time 2 Auto servo-motor OFF 0 to 9,999 delay time 3...
  • Page 320 6.1 Parameter [29] Select enable/disable homereturn input (Parameter No.40) Name Unit Input Range Default factory setting Select enable/disable ― 0: Enabled, 1: Disabled homereturn input This parameter defines whether the home return input signal is disabled or enabled. Normally this parameter need not be changed. [30] Select enable/disable operatingmode input (Parameter No.41) Name Unit...
  • Page 321 6.1 Parameter [33] Velocity override (Parameter No.46) Name Unit Input Range Default factory setting Velocity override 1 to 100 When executing travel commands from the PLC side, override can be applied against the travel speed set in the "Velocity " field in the position table. Minimum setting unit is 1%, and input range is 1 to 100%.
  • Page 322 6.1 Parameter [36] Default acceleration/deceleration mode (Parameter No.52) Name Unit Input Range Default factory setting Default 0: Trapezoid pattern acceleration/deceleration ― 1: S-motion (Trapezoid pattern) mode 2: First-order delay filter When a target position is written to an unregistered position table, this value is automatically set as the “Acceleration/deceleration mode”...
  • Page 323 6.1 Parameter The greater the setting value is, the longer the delay is and the slower the acceleration/deceleration is. The impact at the acceleration and deceleration will be eased, but the cycle time will become longer. Use for applications where minor vibrations to the workpiece during acceleration/deceleration are to be avoided.
  • Page 324 6.1 Parameter The S-motion is a sine curve that has the acceleration time as 1 cycle. The level of its swing width can be set by this parameter. Setting [%] Degree of amplitude No S-motion (dotted line in the image diagram) Amplitude of sinusoidal wave ×...
  • Page 325 6.1 Parameter [41] Torque limit (Parameter No.57) …Pulse train only Name Unit Input Range Default factory setting Torque limit 0 to 70 This parameter is exclusively used for the pulse-train control mode. Refer to [4.3.6 Parameter Settings Required for Advanced Operations]. [42] Deviation error monitor during torque limiting (Parameter No.59) …Pulse train only Name Unit...
  • Page 326 6.1 Parameter [46] Command pulse input mode (Parameter No.63) …Pulse train only Name Unit Input Range Default factory setting Command pulse input ― 0 to 2 mode This parameter is exclusively used for the pulse-train control mode. Refer to [4.3.4 Settings of Basic Parameters Required for Operation]. [47] Command pulse input mode polarity (Parameter No.64) …Pulse train only Name Unit...
  • Page 327 6.1 Parameter [51] Select enable/disable feedback pulse output (Parameter No.68) Name Unit Input Range Default factory setting Select enable/disable ― 0: Enabled, 1: Disabled feedback pulse output This parameter is exclusively used for the pulse-train control mode. Refer to [4.3.6 Parameter Settings Required for Advanced Operations]. [52] Feedback pulse form (Parameter No.69) Name Unit...
  • Page 328 6.1 Parameter Gain adjustment of position, speed, and current loop in the feedback control directly changes the response of the servo control system, so affecting the stability of the control system due to inappropriate setting may cause vibration and abnormal noise. However, this parameter only changes the speed command value, so it is irrelevant to the servo loop, and it would not generate persistent vibration and noise.
  • Page 329 6.1 Parameter [56] Encoder voltage level (Parameter No.73) Name Unit Input Range Default factory setting Depending on encoder ― Encoder voltage level 0 to 3 cable length To stabilize encoder detection signals, this parameter defines the voltage supplied to the encoder circuit to one of four levels in accordance with the encoder type and the length of the encoder relay cable.
  • Page 330 6.1 Parameter [58] Belt breaking sensor input polarity (Parameter No.76) Name Unit Input Range Default factory setting Belt breaking sensor input ― 0 to 2 In accordance with actuator polarity Set the input polarity of the sensor for Belt Break Detection in the Ultra-High Thrust Type RCS2-RA13R.
  • Page 331 6.1 Parameter [60] Axis operation type (Parameter No.78) Name Unit Input Range Default factory setting 0: Line Axis ― Axis operation type In accordance with actuator 1: Rotary Axis This parameter defines the type of the actuator used. Connected Actuator Set Value Remarks Line Axis...
  • Page 332 6.1 Parameter Caution  Push-motion operation is not available during index mode. Even if data is input for the "push-motion" of position data, it will become invalid and normal travel will be executed. Also, the positioning band is the value set in Parameter No. 10 “Default positioning width”.
  • Page 333 6.1 Parameter [66] Network type (Parameter No.87) This parameter is exclusively used for the controller of field network specification. Check the applicable instruction manual number in [4.4 Operation of Field Network Type] and refer to each instruction manual. [67] Software limit margin (Parameter No.88) Name Unit Input Range...
  • Page 334 6.1 Parameter [70] Current limit value at stopping due to miss-pressing (Parameter No.91) Name Unit Input Range Default factory setting 0: Current limit value Current limit value at during movement stopping due to miss- ― 1: Current limit value pressing during pressing This parameter defines the restricted current value at stopping due to miss-pressing.

  • Page 335: Default Factory Setting

    6.1 Parameter 1: Force sensor pressing Force sensor pressing Selection of pressing control 1: Use Pressing by current limit (this parameter) 0: Pressing by (conventional method) Select to use loadcell current limit (Parameter No. 92) 1: Force sensor Parameter data error pressing alarm 0: Does not use...
  • Page 336 6.1 Parameter RA7R (Default factory setting = 5,000) Rigidity of pressing target Hard ← ← Rigidity → → Soft 3,500 7,000 14,000 28,000 56,000 112,000 4,000 8,000 16,000 32,000 64,000 128,000 4,500 9,000 18,000 36,000 72,000 144,000 5,000 10,000 20,000 40,000 80,000 160,000...
  • Page 337 6.1 Parameter [74] Force judgment margin + / - (Parameter No.95, No.96) Name Unit Input Range Default factory setting 0 to Maximum Pressing Force judgment margin + In accordance with actuator Force 0 to Maximum Pressing Force judgment margin - In accordance with actuator Force This parameter defines the pressing force range in which the completion of pressing by pressing...
  • Page 338 6.1 Parameter [77] Stop method at servo OFF (Parameter No.110) Name Unit Input Range Default factory setting 0: Rapid stop ― Stop method at servo OFF 1: Deceleration to stop Selects Servo OFF command, drive source cutoff, and stop mode of actuator during alarm generation (operation cancel level).
  • Page 339 6.1 Parameter [79] Monitoring mode (Parameter No.112) Name Unit Input Range Default factory setting 0: Disabled, 1: 4CH ― Monitoring mode 2: 8CH, 3: 2CH The controller can be connected with PC software to monitor the servo. This parameter allows you to select a monitoring mode function (servo monitor). Refer to [Help: Servo Monitoring] in IA-OS or [PC Software Instruction Manual (ME0155)] or detail.
  • Page 340 6.1 Parameter [81] Selecting used feedback pulse gear ratio (Parameter No.114) Name Unit Input Range Default factory setting Selecting used feedback 0: Not Applicable ― pulse gear ratio 1: Use Feedback pulse is available for the output also other than Pulse Train Control Mode. In this case, select “1”.
  • Page 341 6.1 Parameter [84] Pressing operation without completion of loadcell calibration (Parameter No.118) Name Unit Input Range Default factory setting Pressing operation 0: Forbidden without completion of ― 1: Allow loadcell calibration This parameter is exclusively used for pressing operation using force sensor. Refer to [4.2.7 Preparation for Operation in Force Sensor Pressing (Loadcell Calibration)].
  • Page 342 6.1 Parameter [87] Home preset value (Parameter No.139) Name Unit Input Range Default factory setting Home preset value -9,999.99 to 9,999.99 In accordance with actuator For the actuator of absolute specification, set this parameter so that (home return offset + value of this parameter) is within the range between 0 and the ball screw lead.
  • Page 343 6.1 Parameter [89] Subnet mask (Parameter No.141) Name Unit Input Range Default factory setting 0.0.0.0 to ― Subnet mask 255.255.255.0 255.255.255.255 It is the parameter dedicated for Field Network (EtherNet/IP). For details, refer to [SCON2 Field Network Instruction Manual (ME0469)] provided separately. [90] Default gateway (Parameter No.142) Name Unit...
  • Page 344 6.1 Parameter [92] Total travel count threshold (Parameter No.147) Name Unit Input Range Default factory setting Total travel count Times 0 to 999,999,999 0 (Disabled) threshold When total travel count exceeds the set value of this parameter, alarm 04E “Exceeded movement count threshold”...
  • Page 345 6.1 Parameter [95] Linear absolute home preset value (Parameter No.150) Name Unit Input Range Default factory setting Linear absolute home -9,999.99 to 9,999.99 In accordance with actuator preset value 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): Caution...
  • Page 346 6.1 Parameter 2. Setting on Slider 2 for Multi Slider Type (Refer to 1) for Slider): Parameter setting value = [Initial parameter at delivery from factory (Parameter No.150) + Stroke (value indicated when purchased) + Slider length (value shown in catalog) + Min. distance between Sliders (value shown in catalog)] –...
  • Page 347 6.1 Parameter [98] Nominal rigidity (Parameter No.163) Name Unit Input Range Default factory setting Nominal rigidity N/mm 1 to 99,999 In accordance with actuator It is the value of rigidity for actuator. Do not change the setting from the initial setting. [99] Force control band (Parameter No.164) Name Unit...
  • Page 348 6.1 Parameter [101] Pulse train datum position (Parameter No.167) …Pulse train only Name Unit Input Range Default factory setting Pulse train datum -9,999.99 to 9,999.99 0.00 position When Pulse Train Control Mode (PIO Pattern 1) is selected in the absolute type, operation is made with the position set in this parameter as the datum position.
  • Page 349 6.1 Parameter [104] Load data output (Parameter No.180) Name Unit Input Range Default factory setting Load data output ― 0: Enabled, 1: Disabled Set if outputting in analog the load data from the multi-function connector. [105] Network Number (Parameter No.188) Name Unit Input Range...
  • Page 350 6.1 Parameter [107] Actuator identification system (Parameter No.192) Name Unit Input Range Default factory setting Actuator identification 0: Not Applicable ― In accordance with actuator system 1: Use The following information saved in the actuator side should be read out. It can also be checked in the PC teaching software and a teaching pendant.
  • Page 351 6.1 Parameter [111] Select enable/disable safety unit (Parameter No.199) Name Unit Input Range Default factory setting Select enable/disable ― 0: Disabled, 1: Enabled safety unit Set whether to use / not to use the functional safety unit. If the setting in this parameter and the status of hardware do not match, Alarm 08B "Safety Unit Initialization Error"...
  • Page 352 6.1 Parameter [115] Velocity drop ratio at SLS (Parameter No.203) Name Unit Input Range Default factory setting Velocity drop ratio at SLS ％ 1 to 100 It is a parameter related to the SLS feature. The command velocity when there is a velocity limit demand from the safety unit should be the value with the value indicated in Safety Parameter No.
  • Page 353 6.1 Parameter [119] Position data unit (Parameter No.207) Name Unit Input Range Default factory setting 0: 0.01mm ― Position data unit In accordance with actuator 1: 0.001mｍ Input unit of the position data to be registered to the position data or direct command data (fieldbus / Modbus) should be set up.
  • Page 354 6.1 Parameter [123] Drive recorder save history select (Parameter No.211) Name Unit Input Range Default factory setting 0: 3 History, Drive recorder save ― 1: 6 History, history select 2: 12 History The count of alarm history available to save in the drive recorder can be set up. For details, refer to [8.4 Drive Recorder Feature] [124] Drive recorder sampling frequency (Parameter No.212) Name...
  • Page 355 6.1 Parameter [127] Collision judgment time 1, ２, 3 (Parameter No.215, 219, 223) Name Unit Input Range Default factory setting Collision judgment time 1 Collision judgment time 2 1 to 65535 Collision judgment time 3 Time counting should start since it exceeds the setting in Parameter No. 213, 217 and 221 "Collision Judgment Current Value 1 to 3"...

  • Page 356: Servo Adjustment

    Also, make sure to keep a record as you work so that it can be restored at any time.  If you face problems which cannot be resolved, contact IAI. Adjustment method...

  • Page 357: Adjustment Method

    6.2 Servo Adjustment Problems Adjustment method • Speed irregularity occurs • Increase Parameter No. 31 “Velocity loop proportional during travel gain”. The increased set value improves tracking of speed • Speed accuracy is command. If it is too large, mechanical system vibration insufficient may occur.
  • Page 358 6.2 Servo Adjustment Problems Adjustment method • The static friction of the • Set Parameter No. 71 “Positional feedforward gain”. load is large and travel start Estimated setting is from 10 to 50. As the set value is slow increases, the deviation amount is reduced and •...
  • Page 359 SCON2-CG Chapter Maintenance and Inspection 7.1 Periodic Inspection ························································ 7-1 7.1.1 Periodic Inspection Items ··························································· 7-2 7.2 Requests When Replacing Units ······································ 7-4 7.3 Consumable Parts ························································ 7-5 7.4 Component Replacement ··············································· 7-6 7.4.1 Replacement of Absolute Battery ················································· 7-6 7.4.2 Fan Unit Replacing Procedure ·····················································...

  • Page 361: Periodic Inspection

    7.1 Periodic Inspection 7.1 Periodic Inspection In order to use the Controller functions in the best possible condition, it is necessary to perform daily or periodic inspections. Refer to an instruction manual for each Actuator for the maintenance for Actuator. Danger ...

  • Page 362: Periodic Inspection Items

    7.1 Periodic Inspection 7.1.1 Periodic Inspection Items This product contain electronic components that may degrade due to the operating environment and require periodic inspection. It is standard to conduct periodic inspection once every 6 months to one year, but the interval should be shortened in accordance with operating environment.
  • Page 363 7.1 Periodic Inspection Inspection Judgment Inspection details Countermeasures items criteria Connection Wiring connectors loose? status (Motor encoder cable, field network cable, stop No looseness Insert until the lock engages. circuit and absolute battery, etc.) No visual Check visually and replace the Wiring cable frayed? abnormalities cable.

  • Page 364: Requests When Replacing Units

    7.2 Requests When Replacing Units 7.2 Requests When Replacing Units Pay attention to the following precautions when replacing units after discovering a fault during inspection. • Unit replacement should be conducted with the power off. • After replacement, check that the new unit does not have any errors. •...

  • Page 365: Consumable Parts

    7.3 Consumable Parts 7.3 Consumable Parts The life of components used in this product system is as follows. Refer to [7.5 Preventive Maintenance Function] and [7.6 Predictive Maintenance Function] for information about preventive and predictive maintenance. Preventative Predictive Guidelines Item maintenance maintenance Condition...

  • Page 366: Component Replacement

    7.4 Component Replacement 7.4 Component Replacement 7.4.1 Replacement of Absolute Battery When replacing the battery, leave the power to the controller ON, remove the battery connector and replace with a new battery. 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 367: Fan Unit Replacing Procedure

    7.4 Component Replacement 7.4.2 Fan Unit Replacing Procedure Fan Unit for Replacement: SCON2-FU Take off the Fan unit Release the lock feature by pressing the snap feature on the fan unit with a tool such as a flathead screwdriver. Once the locking feature is released, pull the unit upwards.

  • Page 368: Preventive Maintenance Function

    7.5 Preventive Maintenance Function 7.5 Preventive Maintenance Function 7.5.1 Maintenance Information The times of actuator run and distance of operation can be summed up and recorded in the controller. The contents recorded by PC Software, Modbus and Field Network can be checked. •...
  • Page 369 7.5 Preventive Maintenance Function Note 1: Setting should be established in the following parameters or the maintenance information screen in the teaching tool. • Parameter No. 147 “Total travel count threshold” • Parameter No. 148 “Total travel distance threshold” Note 2: Outputs a message level alarm 04E “Exceeded movement count threshold” or alarm 04F “Exceeded operated distance threshold”.
  • Page 370 7.5 Preventive Maintenance Function [Maintenance Information Setting in Teaching Tool] Maintenance information can be checked and set with the following procedures. • TB-02/TB-03 Information → Maintenance information • PC software Monitor → Maintenance information → Axis selection As a reference, shown below is how to operate using a teaching pendant TB-03 (TB-02). Refer to an instruction manual for each teaching tool for detail.
  • Page 371 7.5 Preventive Maintenance Function ● Basic Operation in Maintenance Information Screen Using TB-03 (TB-02). To set the target value, touch the Edit button of the relevant item. The set value will blink and Ten Key screen will open. Enter the value with the Ten Key pad and touch the ENT key.

  • Page 372: Predictive Maintenance Function

    7.6 Predictive Maintenance Function 7.6 Predictive Maintenance Function 7.6.1 Fan SCON2 monitors the revolution of fan. A message level alarm is generated (alarm 04C “Drop in number of fan revolution”) and a light error alarm *ALML when the fan rotation speed decreases 30%. When an alarm is generated, although the fan will not have stopped completely, we recommend replacing it as soon as possible.

  • Page 373: Overload Warning

    7.6 Predictive Maintenance Function 7.6.2 Overload Warning Using this function enables monitoring of motor temperature changes caused by dried-up grease or wear and tear on parts. A warning is output when the preset value is exceeded. This enables detection of abnormalities before a breakdown or a malfunction occurs. Load Alarm Occurred Alarm Output...
  • Page 374 7.6 Predictive Maintenance Function [Light error alarm output select (Parameter No.151)] Default initial value Name Unit Input range setting 0: Battery Voltage Drop Overload Warning Light error alarm output Fan revolution drop － select 1: Output when message level alarm is generated in addition to error in 0 If “0”...
  • Page 375 SCON2-CG Chapter Troubleshooting 8.1 Action to Be Taken upon Occurrence of Problem ·················· 8-1 8.2 Fault Diagnosis ····························································· 8-3 8.2.1 Impossible Communication ························································· 8-3 8.2.2 Positioning and Speed of Poor Precision (Incorrect Operation)············ 8-6 8.2.3 Generation of Noise and/or Vibration ············································· 8-8 8.2.4 Impossible Communication ·························································...

  • Page 377: Action To Be Taken Upon Occurrence Of Problem

    8.1 Action to Be Taken upon Occurrence of Problem 8.1 Action to Be Taken upon Occurrence of Problem If a problem occurs, check the following points first in order to ensure quick recovery and prevent recurrence of the problem. (1) Status Display LED on Controller and PIO Check Indication Status Green Light is turned ON.
  • Page 378 8.1 Action to Be Taken upon Occurrence of Problem Note 1 If parameter No.111 (Calendar function) is set to “1” (use), it is possible to know the date and time at which the alarm occurred. Set the date and time from the teaching tool such as PC software at the first power-on of the controller.

  • Page 379: Fault Diagnosis

    LEDs does If the PWR LED does not go on despite not go ON. normal power voltage and correct wiring, Please contact IAI. Refer to [3.3.1 Wiring of Power Circuit]. STOP on the status indicator During emergency-stop. 1. Release the emergency stop switch.
  • Page 380 8.2 Fault Diagnosis Situation Possible cause Check/Treatment SAFE on the status indicator 1. The dummy plug for I/O connector 1. Check the dummy plug. LEDs lights. for safety function is not connected. 2. Check the SS1-t circuit. 2. In the condition of SS1-t Signal being input and between /SRT1+/- or /SRT2+/- released [1] In the case of Positioner Mode...
  • Page 381 8.2 Fault Diagnosis [3] Startup Adjustment with Teaching Tool when Control Circuit Incomplete Situation Possible cause Check/Treatment Operation is not performed Cable treatment or mode selection. Supply 24V DC to STOP terminal of the even though the teaching 1. Emergency stop condition power connector.

  • Page 382: Positioning And Speed Of Poor Precision (Incorrect Operation)

    8.2 Fault Diagnosis 8.2.2 Positioning and Speed of Poor Precision (Incorrect Operation) Situation Possible cause Check/Treatment Positioning and Speed of In the home return of our standard 1. Reduce the load. Poor Precision (Incorrect specification, the actuator is first 2. Remove the interference. Operation) pressed to the mechanical end, 3.
  • Page 383 8.2 Fault Diagnosis [2] In the case of Pulse String Control Mode Situation Possible cause Check/Treatment The actuator does not stop PIO signal processing or parameter 1. Check the setting of electronic gear ratio. at the command position. setting is incorrect. The host controller also has the electronic 1.

  • Page 384: Generation Of Noise And/Or Vibration

    8.2 Fault Diagnosis 8.2.3 Generation of Noise and/or Vibration Situation Possible cause Check/Treatment Generation of noise and/or Condition of load, condition actuator Servo adjustment may improve the situation. vibration from actuator. installation, stiffness of device for the Refer to [6.2 Servo Adjustment.] actuator to be mounted to, etc.

  • Page 385: Impossible Communication

    8.2 Fault Diagnosis 8.2.4 Impossible Communication Situation Possible cause Check/Treatment • Not connectable with host 1. Communication rates do not match. 1. Set the communication rate to match that machine 2. The machine number (station of the host machine. Refer to the number) is set to be duplicate with [Instruction Manual of the host unit.] that of another unit or out of the...

  • Page 386: About Alarms

     If the same error occurs again after resetting the alarm, it means that the cause of the alarm has not been removed.  If a controller or actuator is found malfunctioned, consider to repair or replace it. You will be able to apply for a repair in the IAI homepage. https://www.iai-robot.co.jp/support/repair/index.html 8-10...

  • Page 387: Alarm Details

    2. When the calendar function is not used, set parameter error No.111 “Calendar function” to “0”. 3. If the operation is not improved in use of the calendar function in spite of measures against noise, Please contact IAI. 8-11 ME0458-1E...
  • Page 388 Cause : The maintenance information (total movement count, total Maintenance information operated distance) is lost. data error Treatment : Please contact IAI. 100 to Alarm on teaching tool Refer to the [Instruction Manual of teaching tool.] [2] Operation cancel level...
  • Page 389 8.3 About Alarms Alarm Alarm Name Cause/Treatment Code Cause : The current position write signal (PWRT) was input in the PWRT signal detection teaching mode of PIO pattern 1 while the actuator was jogging. during movement Treatment : Confirm the status of stop (the movement in process signal MOVE is off) before inputting.
  • Page 390 3. Installation failure, breakdown or disconnection of the home sensor 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. Cause : Home return does not complete after elapse of a certain period after the start of home return.
  • Page 391 8.3 About Alarms Alarm Alarm Name Cause/Treatment Code Cause : The actuator detected the creep sensor (option) before detecting the origin sensor (option except for rotary actuator), or the actuator reached the mechanical end (or the actuator cannot move anymore because the load is too large). 1.
  • Page 392 3., 4., or 5. is a likely cause. 3. Check the home position. Conduct the absolute reset again if it is the absolute type. 4., 5. is suspected, please contact IAI. Cause : 1. Change the operation from the vibration suppress control operation to the normal position control operation.
  • Page 393 8.3 About Alarms Alarm Alarm Name Cause/Treatment Code Cause : The current position of the actuator exceeds the software Software stroke limit over stroke limit. Treatment : Return the actuator to be within the range of the software error stroke limit. Cause : Feedback pulse data cannot be output within the cycle.
  • Page 394 8.3 About Alarms [3] Cold start level Alarm Alarm Name Cause/Treatment Code Safety Unit Initializing Cause : 1. The connection status and the settings in the parameters in Error a controller and the safety unit do not match with each other.
  • Page 395 Treatment : 1., 2. Confirm that the units are firmly linked with each other. Release the link of the units once and link them back. In case the phenomenon occurs again, consult with IAI. 3. Attach the terminal unit or terminal connector.
  • Page 396 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. 8-20...
  • Page 397 4. If the loaded weight is within the allowable range, cut off the power to check the slide resistance manually by moving with hand. If the actuator itself is suspected to be the cause, please contact IAI. Exceeded allowable time Cause...
  • Page 398 : A breakdown of the part inside the controller is considered. voltage excessive Treatment : If this error occurs frequently, the controller may be faulty at high probability. Please contact IAI. Motor power supply Cause : 1. If the power source is shut off in the controller external...
  • Page 399 Belt breaking sensor Cause : The belt of the ultra-high thrust RCS2-RA13R is broken. detected Treatment : Belt must be replaced. Please contact IAI. Drive mode error Cause : 1. Linear ABS Actuator was used in Pulse Train Control Mode.
  • Page 400 2., 3., 4. It is necessary either to clean the code wheel, adjust the installation position, replace the motor unit or replace the actuator. In any case, please contact IAI. A-, B- and Z-phase wire Cause : Encoder signals cannot be detected correctly.
  • Page 401 Driver logic error Cause : Exceeded load, parameter (motor type) mismatched, noise, malfunction of controller, etc. Treatment : Please contact IAI. Field bus module error Cause : Error detected in field network circuit board. Treatment : Check the parameter settings.
  • Page 402 (Note) Error will not be detected when Parameter No. 180 “DAC Output” is set invalid. Treatment : Check in wiring for analog output. Contact IAI if no failure is found in wiring. 300 to Alarm on teaching tool Refer to [teaching tool instruction manual]...

  • Page 403: Drive Recorder Feature

    8.4 Drive Recorder Feature 8.4 Drive Recorder Feature The drive recorder feature is a feature to support cause analysis and early recovery of machinery by recording behavior of an actuator when an alarm is generated. This feature should be categorized into the following two features. 1) Graph Display Feature It is a feature to save the operation data for a few tens of seconds before an alarm is generated and show it in a graph.

  • Page 404: How To Display Graph

    8.4 Drive Recorder Feature 8.4.2 How to Display Graph Select Display in “Alarm Monitor” in the teaching tool, and a graph should appear. 8-28 ME0458-1E...

  • Page 405: Parameter

    8.4 Drive Recorder Feature 8.4.3 Parameter The parameters related to the drive recorder feature should be as follows. [1] Drive recorder mode select (Parameter No.210) Name Unit Input Range Default factory setting Drive recorder mode 0: Disabled, 1: 4CH ― select 2: 8CH, 3: 2CH The number of data to be acquired in the drive recorder feature should be selected.

  • Page 406: Data Display At Alarm Generation Feature

    8.4 Drive Recorder Feature The time available for saving to a controller may differ depending on number of channels and number of histories. Number of Channels Number of Histories 3 history ← Default 6 history 12 history 2.5s * When data acquirement frequency is set to 10ms [3] Drive recorder save history select (Parameter No.212) Name Unit...

  • Page 407: Caution

    8.4 Drive Recorder Feature 8.4.5 Caution The data saved in the drive recorder should deleted when a certain sorts of operation is made. The deleted data could be both the graph displayed data and data at alarm generation, or it could be the graph displayed data only, depending on what operation has been made.
  • Page 408 8.4 Drive Recorder Feature ● When Firmware Version Changed When the internal structure of the graph display data is changed due to the change in the firmware version, the graph display data should be deleted. * The data at alarm generation should not be deleted. If a tool gets disconnected while the servo monitoring window is in display, the controller should get remained in the servo monitoring mode, and the record data gets unable to be recorded when an alarm is generated.
  • Page 409 SCON2-CG Chapter Construction of Safety Circuit 9.1 Conformity to Safety Category ········································· 9-1 9.1.1 System Configuration ································································ 9-1 9.1.2 Wiring and Setting of Safety Circuit ·············································· 9-2 9.1.3 Examples of Safety Circuits ························································ 9-4 9.1.4 TP Adapter and Related Components ··········································· 9-10 9.2 Specifications for Safety Function SS1-t ····························...

  • Page 411: Conformity To Safety Category

    9.1 Conformity to Safety Category 9.1 Conformity to Safety Category In this section shows an example of a circuit using the dedicated teaching pendant. However, it is not possible for us to check the conformity of our product to the condition of your system. Therefore, it is necessary that the user construct the circuit considering the condition of use and the categories to be applied.

  • Page 412: Wiring And Setting Of Safety Circuit

    9.1 Conformity to Safety Category 9.1.2 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 413 9.1 Conformity to Safety Category Insertion Error Prevention Key Insertion Error Prevention Key TP Adaper Siede View [3] Connection of dummy plug of TP adapter When operating the controller with AUTO Mode, make sure to connect the enclosed dummy plug (DP-4S). [4] Enable function* If you are using the enable function, set it to Enable using the controller parameter.

  • Page 414: Examples Of Safety Circuits

    9.1 Conformity to Safety Category 9.1.3 Examples of Safety Circuits [1] In case of category 1 TB-02D or TB-01D(R) TB-02D (or Dummy plug : DP-4S) (or Dummy plug: DP-4S) Controller Controller SCON2-CG SCON-CGB Connection Cable CB-CON-LB*** RCB-LB-TGS Solenoid Contactor Motor Power Supply Motor Power Supply SCON2: 100V AC/200V AC SCON : 100V AC/200V AC...
  • Page 415 9.1 Conformity to Safety Category • Detailed category 1 circuit example RCB-LB-TGS Controller ） ） ） ） （ （ ） ） ） ） ） ） （ （ ） ） ） ） （ （ ENBSTR ） ） （ （ ） ） Emergency Stop SW EMGA...
  • Page 416 9.1 Conformity to Safety Category [2] In case of category 2 TB-02D or TB-01D(R) TB-02D (or Dummy plug: DP-4S) (or Dummy plug: DP-4S) Controller Controller SCON2-CG SCON-CGB Connection Cable CB-CON-LB*** RCB-LB-TGS Enable SW Emergency stop SW Reset SW G9SA-301 (OMRON) T11 A2 A1 41 33 23 13 42 34 24 14...
  • Page 417 9.1 Conformity to Safety Category • Detailed category 2 circuit example RCB-LB-TGS Controller ） ） ） ） （ （ ） ） ） ） ） ） （ （ ） ） ） ） （ （ ENBSTR ） ） （ （ ） ） Emergency Stop SW EMGA...
  • Page 418 9.1 Conformity to Safety Category [3] In case of category 3 or 4 TB-02D TB-02D or TB-01D(R) (or Dummy plug: DP-4S) (or Dummy plug: DP-4S) Controller Controller SCON2-CG SCON-CGB Connection Cable CB-CON-LB*** RCB-LB-TGS For Category 4, insert Reset Switch as shown in the diagram.
  • Page 419 9.1 Conformity to Safety Category • Detailed category 3 or 4 circuit example RCB-LB-TGS Controller ） ） ） ） （ （ ） ） ） ） ） ） （ （ ） ） ） ） （ （ ENBSTR ） ） （ （ ）...

  • Page 420: Tp Adapter And Related Components

    9.1 Conformity to Safety Category 9.1.4 TP Adapter and Related Components [1] TP adapter external dimensions 9-10 ME0458-1E...
  • Page 421 9.1 Conformity to Safety Category [2] Connection Cable • Controller/TP Adaptor Connection Cable Use this cable to connect the controller and TP adapter (RCB-LB-TG). Model : CB-CON-LB005 (standard cable length : 0.5m) • Teaching pendant/TP Adaptor Connection Cable Use this cable to connect the teaching pendant and TP adapter. Model : CB-TB1-GC□□□...
  • Page 422 9.1 Conformity to Safety Category [3] 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 DP-4S Signal...

  • Page 423: Specifications For Safety Function Ss1-T

    9.2 Specifications for Safety Function SS1-t 9.2 Specifications for Safety Function SS1-t 9.2.1 About SS1-t Function SS1-t feature is a feature that turns OFF (shuts off) the motor energy supply on the electronic circuit inside the controller. In purpose of such as vertical axis, use SS1-t type which has long reaction time, and a workpiece can be prevented from dropping due to delay of retaining brake operation during the safety torque cutoff feature operation.

  • Page 424: Caution

    The equipment organizer should take all the responsibility for the risk evaluation and the related residual risks. Below shows the residual risks related to SS1-t function. IAI will not take any responsibility on damage or injury caused by the residual risks.
  • Page 425 9.2 Specifications for Safety Function SS1-t SS1-t function is the functions to disable the performance to supply energy to the servomotor electrically, but not to guarantee the process of stopping control or speed reducing control of the servomotor. SS1-t function would not guarantee that the motor should not be moved by an external force or other influences.

  • Page 426: Specifications

    9.2 Specifications for Safety Function SS1-t 9.2.5 Specifications [1] Safety Parameters As our product will be a part of the constructions in an equipment, calculation of SIL/PL of the whole equipment should consider the values stated in this section. Item Standard Performance Level IEC 61508...
  • Page 427 9.2 Specifications for Safety Function SS1-t [2] Functional Block Diagram 9-17 ME0458-1E...

  • Page 428: Operating Sequence

    9.2 Specifications for Safety Function SS1-t 9.2.6 Operating Sequence [1] SS1-t Type Operating Sequence [Normal Operation] [Operation in Fault] * As SS1-t type activates the retaining brake during the reaction time, it is capable to prevent workpiece from dropping. 9-18 ME0458-1E...

  • Page 429: I/O Connector For Safety Function

    9.2 Specifications for Safety Function SS1-t 9.2.7 I/O Connector for Safety Function [1] Name for Each Parts and Their Functions I/O Connector for Safety Function It is a connector that realizes SS1-t function. By joining in external safety related devices to this connector, energy supply to the servomotor can be shut off safely.
  • Page 430 9.2 Specifications for Safety Function SS1-t [2] Electric Specifications Item Type Remarks Safety Requirement Input Signal (SRI) ON-Input Voltage Range 24V±10% OFF-Input Voltage Range 0-2V Input Current 7.6mA (Typ) It is a value for 1ch. Reaction Time 500ms or less SS1-t Type External Device Monitor Output Signal (EDM) Voltage Range...
  • Page 431 9.2 Specifications for Safety Function SS1-t [5] I/O Connector for Safety Function Dummy Plug (Enclosed) It is a short plug in order to inactivate the feature by plugging into the safety feature I/O connector when SS1-t feature is not to be in use. Model: DP-6 DP-6 [6] I/O Connector for Safety Function (Cable Side) (To be Prepared by User)

  • Page 432: Example For Connection

    9.2 Specifications for Safety Function SS1-t 9.2.8 Example for Connection (Note) In order to satisfy PL e in EN ISO 13849-1 and SIL3 in IEC 61508, it is necessary to have the host device monitor EDM signals. It should be categorized as PL c and SIL1 if EDM signals are not monitored by the host device.

  • Page 433: Maintenance And Preservation

    9.2 Specifications for Safety Function SS1-t 9.2.9 Maintenance and Preservation When the controller is replaced in the startup, maintenance or inspection of the equipment, make sure to check the following operations after wiring is finished. In case of use in wrong way may cause injury or damage on devices.
  • Page 434 9.2 Specifications for Safety Function SS1-t 9-24 ME0458-1E...
  • Page 435 SCON2-CG Chapter Appendix 10.1 Way to Set Multiple Controllers with 1 Teaching Tool ··········· 10-1 10.1.1 Connecting Example ······························································· 10-2 10.1.2 Detailed Connection Diagram of Communication Lines ··················· 10-3 10.1.3 Axis No. Setting ······································································ 10-4 10.1.4 Handling of e-CON Connector (How to Connect) ··························· 10-6 10.1.5 SIO Converter ········································································...

  • Page 437: Way To Set Multiple Controllers With 1 Teaching Tool

    10.1 Way to Set Multiple Controllers with 1 Teaching Tool 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 438: Connecting Example

    10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.1 Connecting Example Caution  Supply 0V to the SIO converter and each controller from the same power source. PC Software IA-OS（PC Software only） IA-OS-C（Cable included） Teaching Pendant Cable Included in PC software <CB-SEL-USB030, RCB-CV-USB, CB-RCA-SIO□□□>...

  • Page 439: Detailed Connection Diagram Of Communication Lines

    10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.2 Detailed Connection Diagram of Communication Lines SCON2 1st Unit SCON2 2nd Unit Note 1 Apply a 2-pair shielded cable. When connecting a cable other than recommended to (A) and (B), make sure to use a hard-cored cable equivalent to the vinyl cable (KIV) dedicated for control devices with the sheath outer diameter from 1.35 to 1.60mm.

  • Page 440: Axis No. Setting

    10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.3 Axis No. Setting Setup should be conducted in the PC teaching software or teaching pendant. Possible axis numbers range from 0 to 15 by 16 axes. After the setting, turn off the power of SCON2 and then on it again. Caution ...
  • Page 441 10.1 Way to Set Multiple Controllers with 1 Teaching Tool [For teaching pendant (TB-02/TB-03)] Refer to [an instruction manual of a teaching pendant]. 10-5 ME0458-1E...

  • Page 442: Handling Of E-Con Connector (How To Connect)

    10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.4 Handling of e-CON Connector (How to Connect) Clamp Lever Pin No. 1) Check the applicable cable size. Check the applicable cable. If it is not applicable, it may cause a connection failure or a breakage of the connector.

  • Page 443: Sio Converter

    10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.5 SIO Converter The SIO converter converts the communication mode from RS-232C to RS-485 or vice versa. 1) Power/Emergency Stop Terminal Board (TB2) Symbol Description Turn the PORT switch ON to output the emergency stop switch signal, OFF to short-circuit EMG1 and EMG2.
  • Page 444 10.1 Way to Set Multiple Controllers with 1 Teaching Tool 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 445: Communications Cable

    10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.6 Communications Cable 10.1.7 External Dimension (Leg Element Bottom Side) (Leg Element Top Side) 10-9 ME0458-1E...

  • Page 446: Example Of Basic Positioning Sequence (Pio Pattern 0 To 3)

    10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) This section shows an example in which a simple operation box directs SCON2 to move the actuator successively to three positions on an axis. 10.2.1 I/O Assignment * in codes above shows the signal of the active low.

  • Page 447: Ladder Sequence

    10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) 10.2.2 Ladder Sequence [1] Servo ON (Emergency Stop) Circuit 1) It is presumed that the emergency stop release circuit installed in the operation box possesses the self-retaining circuit as shown in [3.1.3 [3] Actuator emergency stop circuit]. When it comes to the emergency stop release condition, “Servo-on”...
  • Page 448 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [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”...
  • Page 449 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [4] Reset Circuit If the Stop button on the operation box is pushed during pause, the Reset signal sent from PLC to SCON2 is turned ON and the remaining moving distance is cancelled. In addition, this operation releases the pause.
  • Page 450 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [6] Decode Circuit of Positioning Complete Position No. The decode circuit converts the binary data of positioning complete position No. sent from SCON2 to PLC into the corresponding bit data. [7] Actuator Start Circuit If the “Operation”...
  • Page 451 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [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. Complement ...
  • Page 452 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [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.
  • Page 453 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [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.
  • Page 454 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [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. Point！...
  • Page 455 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [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 SCON2. [13] Start Signal Output Circuit After 20ms from the output of position No., this circuit outputs the start signal from PLC to SCON2.
  • Page 456 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [14] Other Display Circuits (Zone 1, Position Zone, and Manual Mode) Reference  Programs and functions of PLC are expressed differently depending on manufacturers. However, the contents of sequence designs do not vary fundamentally. Though arithmetic and data processing commands seem differently, any manufacturer defines command words executing the same functions as those of other manufacturers.

  • Page 457: List Of Specifications Of Connectable Actuators

    10.3 List of Specifications of Connectable Actuators 10.3 List of Specifications of Connectable Actuators 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 458 10.3 List of Specifications of Connectable Actuators [RCS4 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 50 to 600st) 1620(at 650st) SA7C:1.2 1420(at 700st)
  • Page 459 10.3 List of Specifications of Connectable Actuators [RCS4 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1200(at 50 to 600st) 1090(at 650st) 960(at 700st) 860(at 750st)
  • Page 460 10.3 List of Specifications of Connectable Actuators [RCS4 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1200(at 50 to 600st) 1090(at 650st) 960(at 700st) 860(at 750st)
  • Page 461 10.3 List of Specifications of Connectable Actuators [RCS4 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 360(at 50 to 500st) 305(at 550st) 265(at 600st) 230(at 650st)
  • Page 462 10.3 List of Specifications of Connectable Actuators [RCS4 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 600(at 50 to 600st) 540(at 650st) 480(at 700st) 430(at 750st)
  • Page 463 10.3 List of Specifications of Connectable Actuators [RCS4 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 600(at 50 to 600st) 540(at 650st) 480(at 700st) 430(at 750st)
  • Page 464 10.3 List of Specifications of Connectable Actuators [RCS4 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 720(at 50 to 450st) 610(at 500st) 535(at 550st) 465(at 600st)
  • Page 465 10.3 List of Specifications of Connectable Actuators [RCS4 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1440(at 50 to 450st) 1420(at 500st) 1220(at 550st) 1060(at 600st)
  • Page 466 10.3 List of Specifications of Connectable Actuators [RCS4 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 300(at 50 to 550st) 280(at 600st) 240(at 650st) 220(at 700st)
  • Page 467 10.3 List of Specifications of Connectable Actuators [RCS4 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1440(at 50 to 450st) 1420(at 500st) 1220(at 550st) 1060(at 600st)
  • Page 468 10.3 List of Specifications of Connectable Actuators [RCS4 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 300(at 50 to 550st) 280(at 600st) 240(at 650st) 220(at 700st)
  • Page 469 10.3 List of Specifications of Connectable Actuators [RCS4 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1500(at 50 to 300st) 1230(at 350st) 970(at 400st) 790(at 450st)
  • Page 470 10.3 List of Specifications of Connectable Actuators [RCS4 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 550(at 50 to 250st) 520(at 300st) 400(at 350st) 310(at 400st)
  • Page 471 10.3 List of Specifications of Connectable Actuators [RCS4 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1000(at 50 to 250st) 880(at 300st) 700(at 350st) 570(at 400st)
  • Page 472 10.3 List of Specifications of Connectable Actuators [RCS4 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] TA4R (Single Horizontal/ 16384...
  • Page 473 10.3 List of Specifications of Connectable Actuators [RCS3 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 50 to 650st) 1610(at 700st) 1420(at 750st) 1260(at 800st)
  • Page 474 10.3 List of Specifications of Connectable Actuators [RCS3 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1200(at 50 to 600st) 1105(at 650st) 970(at 700st) 860(at 750st)
  • Page 475 10.3 List of Specifications of Connectable Actuators [RCS3 Series] Maximum Minimum Maximum Rated Motor No. of Lead Oriented Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 300(at 50 to 650st) 250(at 700st) 220(at 750st) 190(at 800st)
  • Page 476 10.3 List of Specifications of Connectable Actuators [RCS2 Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1200(at 50 to 600st) 1150(at 650st) 960(at 700st) High Accel/Decel...
  • Page 477 10.3 List of Specifications of Connectable Actuators [RCS2 Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1000(at 50 to 600st) 960(at 700st) 765(at 800st) 625(at 900st)
  • Page 478 10.3 List of Specifications of Connectable Actuators [RCS2 Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 380(at 75st) Horizontal 280(at 50st) 330(at 75st)
  • Page 479 10.3 List of Specifications of Connectable Actuators [RCS2 Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] RCS2 Gear (Gripper 16384...
  • Page 480 10.3 List of Specifications of Connectable Actuators [ISB/ISPB Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 960(at 100 to 600st) 655(at 700st) Horizontal:1.2 515(at 800st)
  • Page 481 10.3 List of Specifications of Connectable Actuators [ISB/ISPB Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 100 to 700st) 1290(at 800st) 1045(at 900st) 860(at 1000st)
  • Page 482 10.3 List of Specifications of Connectable Actuators [ISB/ISPB Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 120 to 670st) 1290(at 770st) 1045(at 870st) 860(at 970st)
  • Page 483 10.3 List of Specifications of Connectable Actuators [ISB/ISPB Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 800 to 1100st) 1650(at 1150st) 1500(at 1250st) 1425(at 1350st)
  • Page 484 10.3 List of Specifications of Connectable Actuators [ISB/ISPB Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2400(at 100 to 800st) 1840(at 900st) 1530(at 1000st) 1290(at 1100st)
  • Page 485 10.3 List of Specifications of Connectable Actuators [ISB/ISPB Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2400(at 1000 to 1200st) 2300(at 1300st) 2000(at 1400st) 1900(at 1500st)
  • Page 486 10.3 List of Specifications of Connectable Actuators [ISB/ISPB Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2500(at 100 to 900st) 2260(at 950 to 1000st) Horizontal/ Horizontal:1.5...
  • Page 487 10.3 List of Specifications of Connectable Actuators [ISDB/ISPDB Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 960(at 100 to 500st) 920(at 550st) 795(at 600st) Horizontal:1...
  • Page 488 10.3 List of Specifications of Connectable Actuators [ISDB/ISPDB Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 100 to 600st) 1630(at 650st) 1440(at 700st) 1280(at 750st)
  • Page 489 10.3 List of Specifications of Connectable Actuators [ISDB/ISPDB Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 980(at 100st) 1270(at 150st) 1520(at 200st) 1740(at 250st)
  • Page 490 10.3 List of Specifications of Connectable Actuators [ISDB/ISPDB Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 100 to 800st) 1700(at 850st) 1540(at 900st) 1410(at 950st)
  • Page 491 10.3 List of Specifications of Connectable Actuators [ISDB/ISPDB Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 1000 to 1500st) 1660(at 1600st) at 1650st and higher: For cleanroom type only...
  • Page 492 10.3 List of Specifications of Connectable Actuators [ISA/ISPA Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] Horizontal:1 Vertical:0.7 Horizontal/ Horizontal:0.6...
  • Page 493 10.3 List of Specifications of Connectable Actuators [ISA/ISPA Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 800 to 1100st) 1650(at 1200st) 1500(at 1300st) 1425(at 1400st)
  • Page 494 10.3 List of Specifications of Connectable Actuators [ISA/ISPA Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1200(at 1000 to 1200st) 1150(at 1300st) 1000(at 1400st) 950(at 1500st)
  • Page 495 10.3 List of Specifications of Connectable Actuators [ISA/ISPA Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1200(at 1000 to 1200st) 1150(at 1300st) 1000(at 1400st) 950(at 1500st)
  • Page 496 10.3 List of Specifications of Connectable Actuators [ISA/ISPA Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2400(at 100 to 800st) 1840(at 900st) 1530(at 1000st) 1290(at 1100st)
  • Page 497 10.3 List of Specifications of Connectable Actuators [ISA/ISPA Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2000(at 900 to 1700st) 1930(at 1800st) 1740(at 1900st) 1580(at 2000st)
  • Page 498 10.3 List of Specifications of Connectable Actuators [ISDA/ISPDA Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 800(at 100 to 500st) Horizontal:1 760(at 600st) Vertical:0.7...
  • Page 499 10.3 List of Specifications of Connectable Actuators [ISDA/ISPDA Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2000(at 100 to 700st) 1965(at 800st) 1605(at 900st) 1335(at 1000st)
  • Page 500 10.3 List of Specifications of Connectable Actuators [ISDA/ISPDA Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2000(at 900 to 1700st) 1930(at 1800st) 1740(at 1900st) 1580(at 2000st)
  • Page 501 10.3 List of Specifications of Connectable Actuators [ISWA/ISPWA Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 800(at 100 to 500st) 760(at 600st) 400(at 100 to 500st) 16384...
  • Page 502 10.3 List of Specifications of Connectable Actuators [SSPA/FS/RS Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 100 to 600st) 1680(at 650st) 1480(at 700st) 1320(at 750st)
  • Page 503 10.3 List of Specifications of Connectable Actuators [SSPA/FS/RS Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2400(at 100 to 700st) 2150(at 750st) 1930(at 800st) 1740(at 850st)
  • Page 504 10.3 List of Specifications of Connectable Actuators [SSPA/FS/RS Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1600(at 100 to 600st) 1450(at 650st) 1290(at 700st) 1160(at 750st)
  • Page 505 10.3 List of Specifications of Connectable Actuators [SSPA/FS/RS Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1600(at 100 to 800st) 1540(at 850st) 1410(at 900st) 1290(at 950st)
  • Page 506 10.3 List of Specifications of Connectable Actuators [SSPA/FS/RS Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 16384 Horizontal 1750 16384...
  • Page 507 10.3 List of Specifications of Connectable Actuators [NS/NSA Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] Incremental SXMS 2400 Horizontal...
  • Page 508 10.3 List of Specifications of Connectable Actuators [LSA/LSAS Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] S6SS 48000 Horizontal 2500...
  • Page 509 10.3 List of Specifications of Connectable Actuators [DD/DDA Series] Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] Gear LT18S 131072 Ratio...

  • Page 510: Push Force And Current Limit Value

    10.3 List of Specifications of Connectable Actuators 10.3.2 Push Force and Current Limit Value Caution  The correlation of the push force and the current limit value is the rated push speed (in the setting at the delivery) and is a reference value. ...
  • Page 511 10.3 List of Specifications of Connectable Actuators ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA7R Current-Limiting Value [%] ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA8R Current-Limiting Value [%] ■...
  • Page 512 10.3 List of Specifications of Connectable Actuators [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 513: Warranty

    SCON2-CG Chapter Warranty 11.1 Warranty Period ·························································· 11-1 11.2 Scope of the Warranty ·················································· 11-1 11.3 Honoring the Warranty ·················································· 11-1 11.4 Limited Liability ··························································· 11-2 11.5 Conformance with Applicable Standards/Regulations, etc., and Application Conditions ··········································· 11-2 11.6 Other Items Excluded from Warranty ······························· 11-2...

  • Page 515: Warranty Period

    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 malfunction in question pertains to our product as delivered by IAI or our authorized dealer.

  • Page 516: Limited Liability

    ● Equipment used to handle cultural assets, art or other irreplaceable items (3) Contact IAI in advance if our product is to be used in any condition or environment that differs from that specified in the catalog or instruction manual.

  • Page 517: Revision History

    Revision History Revision History Revision date Revised content 2023.06 First Edition 2023.07 1B Edition 2.3.1 Correction made to corresponding motor capacity 6.1.1, 6.1.2 Delete description of parameter No. 75 Other Correction made, Terms unified, Notation unified 2023.10 1C Edition Intro-14 Content partially deleted in “Regarding Battery-less Absolute Type Actuator”...

  • Page 518: Revision Date

    Revision History Revision date Revised content Modbus/TCP added Correction made and condition cannot be used added to caution related to collision detection feature at beginning part 6.1.1 No. 84 Fieldbus Operation Mode correction made to input range Post-2 ME0458-1E...

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