IAI SCON2 First Step Manual

SCON2
First Step Guide
First Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual as well as this First Step Guide to ensure correct use.
This Instruction Manual is original.
Warning : Read the instruction manual carefully and follow the instruction manual when handling this equipment.
Please downloaded the user's manual from our website.
You can download it free of change. User registration is required for first time users.
URL:www.iai-robot.co.jp/data_dl/CAD_MANUAL/
Keep a printout of the introduction manual near the equipment in which this product is installed so
that it can be checked at all times, or display it on your computer, tablet terminal, etc. so that you
can check it immediately.
If you need a bound copy of the instruction manual, order it from the nearest sales office listed in
the First Step Guide or at the end of the instruction manual. It will be provided for a fee.
•
Using or copying all or part of this Instruction Manual without permission is prohibited.
•
The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
Installation Environment, Storage Environment
*1
This product is capable for use in the environment of pollution degree 2
*1 Pollution Degree 2: Environment that may cause non-conductive pollution or transient conductive
pollution by frost (IEC60664-1)
1. Installation Environment
Do not use this product in the following environment
• Location where the surrounding air temperature exceeds the range of 0 to 60°C
• Location where condensation occurs due to abrupt temperature changes
• Location where relative humidity is out of the range between 5%RH and 85%RH
• Location exposed to corrosive gases or combustible gases
• Location exposed to significant amount of dust, salt or iron powder
• Location subject to direct vibration or impact
• Location exposed to direct sunlight
• Location where the product may come in contact with water, oil or chemical droplets
• Environment that blocks the air vent Refer to [Installation and Noise Elimination]
When using the product in any of the locations specified below, provide a sufficient shield.
• Location subject to electrostatic noise • Location where high electrical or magnetic field is present
• Location with the mains or power lines passing nearby
2. Storage Environment
Storage environment follows the installation environment. Especially in a long-term storage,
consider to avoid condensation of surrounding air.
Unless specially specified, moisture absorbency protection is not included in the package when the
machine is delivered. In the case that the machine is to be stored in an environment where dew
condensation is anticipated, take the condensation preventive measures from outside of the entire
package, or directly after opening the package.
Product Check
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts
No. Part Name Model
Refer to "How to read the model plate",
1 Controller Main Body
"How to read the model"
Accessories
2 I/O Flat Cable CB-PAC-PIO***
B2CF 3.50/08/180 SN BK BX
3 System I/O Plug
(Supplier: Weidmüller)
MPS 7S/05 S F3 TN B B
4 AC Power Supply plug
(Supplier: Weidmüller)
5 Absolute Battery AB-5
6 Dummy plug DP-5
7 Dummy plug DP-6
MSTB2.5/5-STF-5.08 AU
8 CC-Link Connector
(Manufactured by PHOENIX CONTACT)
MSTB2.5/5-STF-5.08 AU M
9 DeviceNet Connector
(Manufactured by PHOENIX CONTACT)
Connection Cable
10 (Between R-Unit and SCON, CB-RE-CTL002
Between SCON and SCON)
11 First Step Guide ME0468
12 Safety Guide M0194
Option (To be prepared separately)
13 Multi Function Connector Cable CB-SC2-MFC***
(2) I/O Flat Cable
(4) AC Power Supply plug (5) Absolute Battery (6) Dummy plug
(DP-5)
1C
(8) CC-Link Connector
1. List of Specifications
Item
Corresponding Motor Capacity
Power-supply Voltage
Power-supply
Rush Voltage 100V AC
Current
Power-supply
Voltage 200V AC
*2
Leak Current
Load Capacity, Heat Generation
Power Supply Frequency
PIO Power Supply *3
Power Supply for
Electromagnetic Brake
(For actuator equipped with brake)
or equivalent.
Transient Power Cutoff
Durability
Motor Control System
Corresponding Encoder
Encoder Resolution
Actuator Cable Length
Serial
RS-485
Communicati
on Interface USB port
PIO
External
Specifications
Interface
(Each the Field network
dedicated Specifications
controller)
Other
PIO
Specifications
Cable
RS485
Length
Field network
Other
Data Setting and Input
Data Retention Memory
Operation Mode
Number of Positioner Mode
Positions
(Excluding Servo Press Specifications)
Reference
Pulse Train Control Mode Input
Pulse Frequency
Feedback Pulse
*** shows the cable length
(Dedicated for PIO Specifications)
Applicable Cable Size
1.25mm 2 to 0.5mm 2
Analog Output
(AWG16 to 20)
Applicable Cable Size
LED Display
Controller: 0.75mm 2 (AWG18)
(Mounted on Front Panel)
2
Motor: 2.0mm (AWG14)
Electromagnetic Brake
Enclosed in Absolute Type
Compulsory Release Switch
(Excluded for battery-less
(mounted on Front Panel)
absolute)
Insulation Resistance
Insulation Durability
Environment of Use
Enclosed in CC-Link Type
Surrounding Air
Enclosed with Terminal Register
Temperature
(1pc each of 130Ω/110Ω)
Recommended cable size Surrounding Humidity
0.3mm 2 (AWG22)
Surrounding Environment
Enclosed in DeviceNet Type Environ
Surrounding Storage
Recommended cable size
ment
Temperature
0.3mm 2 (AWG22)
Surrounding Storage
Enclosed for R-Unit Connection
Humidity
Type
Vibration Durability
This Manual
Mass
Cooling Method
*** shows the cable length
External Dimensions (mm)
(3) System I/O Plug
*1 In-rush current will flow for approximately 20ms after the power is turned on (at 60°C).
The value of in-rush current differs depending on the impedance of the power supply line.
*2 Leak current varies depending on the capacity of connected motor, cable length and the surrounding environment. Measure the
leak current at the point where a ground fault circuit interrupter is to be installed when leakage protection is conducted. A ground
fault circuit interrupter needs to be selected carefully considering the purposes of prevention of fire and protection of human.
(7) Dummy plug Use the harmonic type (for inverter) for the ground fault circuit interrupter.
*3 It is not necessary to supply power to PIO when operating with using Gateway Unit or SIO Converter without using PIO. In this
(DP-6)
case, set the parameter No. 74 (PIO Power Supply Monitor) to "1" (Invalid). It will generate the error code No. 0CF (I/O 24V Power
Supply Error) if the setting is not done.
(10) Connection Cable
(9) DeviceNet Connector
Basic Specifications
SCON2-CG
Power Supply Voltage 100V AC: 60 to 200W, 200V AC: 60 to 750W
Single-Phase 100 to 115V AC
Single-Phase 200 to 230V AC
(Power-supply Fluctuation±10% or less)
Controller side: 30A (to 25°C), 70A (to 60°C) (*1)
Drive side: 30A (to 25°C), 80A (to 60°C) (*1)
3.5mA
Primary side when noise filter is connected to power supply line
Refer to Power Capacity and Heat Generation
50/60Hz
24V DC±10%
24V DC±10% 1A (MAX.)
(Supplied from external equipment)
20ms (50Hz), 16ms (60Hz)
Sine Wave PWM Vector Current Control
• Incremental Serial • Absolute Serial
• ABZ (UVW) Parallel • Battery-less Absolute
• Battery-less Absolute (ISB): 131072 pulse/rev
• Battery-less Absolute (RCS2/3): 16384 pulse/rev
* In any models other than above, refer to instruction manual of each actuator.
MAX. 20m
1CH ... based on Modbus Protocol RTU/ASCII Speed : 9.6 to 230.4Kbps
Control available with serial communication in the modes other than the pulse train
Communication System: USB2.0 Baud Rate: 12Mbps
Signal I/O dedicated for 24V DC (selected from NPN/PNP) ... Input 16 ports max.,
output 16 ports max.
CC-Link, CC-Link IE Field, DeviceNet, EtherCAT, EtherNet/IP, PROFINET IO,
MECHATROLINK-Ⅲ
R-Unit Connection Type
MAX. 10m
Total cable length 100m or less.
Refer to each Field network specification
R-Unit Connection Type: 3m Max. Between Devices, Total Cable Length 10m Max.
PC Teaching Software, Touch Panel Teaching Pendant
Saves position data and parameters to non-volatile memory (There is no limitation in
number of writing)
Positioner Mode/Pulse Train Control Mode/Press Program/Motion
Standard 64 points, MAX. 384 points (PIO Type, Field network Type)
(Note) Number of positions differs depending on the selection in PIO pattern and Field
network operation mode.
Differential System (Line Driver System): MAX. 2.5Mpps
Open Collector Type: MAX. 200Kpps (under condition AK-04 is used)
Command Pulse Multiplying Factor (Electronic Gear: A/B)
Setting Range for A and B (Set to Parameter): 1 to 99999999
Differential System (Line Driver System): MAX. 2.5Mpps
Open Collector Type: MAX. 500Kpps (under condition JM-08 is used)
1system (load data)
4 to 20mA Current Output (±1%)
Load resistance 10 to 600Ω
PWR (Green): Controller in normal condition, SV (Green): Servo ON,
ALM (Orange): Alarm generated, STOP (Red): During Stop,
SAFE (Red): During Safety Stop, WRG (Orange): Warning generated
Switching NOM (standard)/BK RLS (compulsory release)
500V DC 10MΩ or more
1,500V AC for 1 min. (Note) Withstand voltage of force control loadcell is 50V DC
Pollution Degree 2
0 to 60°C (0 to 55°C when absolute battery to be connected)
5%RH to 85%RH (Should be no-condensing or freezing)
Refer to [Installation Environment]
-20 to 70°C (Should be no-condensing or freezing)
5%RH to 85%RH (Should be no-condensing or freezing)
Frequency 10 to 57Hz / Swing width: 0.035mm (continuous), 0.075mm (intermittent)
Frequency 57 to 150Hz / Acceleration: 4.9m/s 2 (continuous), 9.8m/s 2 (intermittent)
XYZ directions Sweep time: 10 minutes Number of sweep: 10 times
Approx. 800g
Forced Air Cooling
40W×160H×143D
2. Teaching Tool (to be purchased separately)
A teaching tool is necessary when performing the setup such as the position setting and parameter setting
that requires teaching. Prepare either of the following teaching tools.
No. Part Name
1 PC Teaching Software (software only)
PC Teaching Software (USB converter adapter, USB cable and external equipment
2
communication cable are included)
3 Touch Panel Teaching Pendant TB-02 (Standard/with dead-man switch)
4 Touch Panel Teaching Pendant TB-03
3. Instruction manuals related to this product
No. Name
1 SCON2 Controller Instruction Manual
2 SCON2 Controller Servo Pressing Function Instruction Manual
3 SCON2 Field Network Instruction Manual Remote I/O Edit
4 SCON2 Motion Field Network Instruction Manual MECHATROLINK-Ⅲ Edit
5 SCON2 Motion Field Network Instruction Manual EtherCAT Edit
6 R-Unit System Instruction Manual
7 PC Teaching Software IA-OS First Step Guide
Touch Panel Teaching Pendant TB-02 Applicable for Position Controller Instruction
8
Manual
Touch Panel Teaching Pendant TB-03 Wired Link Applicable for Position Controller
9
Instruction Manual
4. How to read the model plate
Model
Serial number
Connected Axis
Model
5. How to read controller model
S C O N 2 - C G - S - N P - 0 - 2 -
<Series>
<Type>
CG : Safety Category Compliant Type (Note 1)
<Motor Type>
S : 200V AC servo motor (Note 2)
<Hardware Option>
No Indication : With no option
C (Note 3) : Equipped with multi function connector
<Feature Option>
No Indication : With no option
F : Press Program <I/O Type>
M (Note 4) : Motion NP : NPN Specification (Sink Type) (Standard)
PN : PNP Specification (Source Type)
Note 1 For Safety Category complied types only
CC : CC-Link Connection Type
Note 2 The wattage of the applicable motor should be 60W to 750W
DV : DeviceNet Connection Type EC
Note 3 Select this when necessary to conduct pulse train control
EP : EtherCAT Connection Type
Note 4 Selectable when I/O type is either "EC" or "ML3"
ML3 : MECHATROLINK-
Note 5 It should be the remote I/O type when "no description"
PRT : PROFINET IO Connection Type
or the pressing program "F" is selected in the feature option,
RC : R-Unit Connection Type
and should be the motion type when the motion "M" is
selected
6. Power Capacity and Heat Generation
Rated Power Capacity = Motor Power Capacity + Control Power Capacity
Peek Max. Power Capacity = Peek Max. Motor Power Capacity + Control Power Capacity
Motor Power Peek Max. Control Power Rated Power
Actuator Motor
Capacity Motor Power Capacity Capacity
Type
(VA) Capacity (VA) (VA) (VA)
30R (for RS) 138 414 186
60 138 414 186
60 (RCS3-CTZ5) 197 591 245
100 234 702 282
100S (LSA) 283 851 331
150 328 984 376
200 421 1263 469
200 (DD/DDA) 503 1509 551
200S
(LSA excluding 486 1458 48 534
LSA-N15H)
200S (LSA-N15H) 773 2319 821
300S (LSA) 662 1986 710
400 920 2760 968
400 (RCS3-CT8) 1230 3690 1278
600 1164 2328 1212
600 (DD/DDA) 1462 4386 1510
750 3042
1521 1569
750S 4563
RS: Rotary Shaft LSA: Linear Actuator DD: Direct Drive Motor
Selection of Circuit Breaker
• 3 times of the rated current may flow to the controller during the acceleration/deceleration. Select an interrupter that does not
trip with this value of current. If a trip occurs, select an interrupter that possesses the rated current of one grade higher. (Refer
to the [operation characteristics curves in the product catalog]).
• Select an interrupter that does not trip with the in-rush current. (Refer to the [operation characteristics curves in the product
catalog]).
• Consider the current that enables to cutoff the current even when a short circuit current is flown for the rated cutoff current.
Rated Interrupting Current > Short Circuit Current = Primary Power Capacity / Power Voltage
Consider margin for the rated current on the circuit breaker.
Rated Current for Circuit Interrupter > (Rated Motor Power Capacity (VA) + Control Power Capacity (VA)) / AC Input Voltage
× Safety Margin (reference 1.2 to 1.4 times)
Model
IA-OS
IA-OS-C
TB-02/TB-02D
TB-03
Manual No.
ME0458
ME0470
ME0469
ME0471
ME0472
ME0384
ME0391
ME0355
ME0376
<Absolute Battery>
No Indication : None
AB : Enclosed with
absolute battery
<Power-supply Voltage>
1 : Single-Phase 100V AC
2 : Single-Phase 200V AC
<I/O Cable Length>
0 : Equipped with no cable
2 : 2m (Standard)
3 : 3m
5 : 5m
CIE : CC-Link Field Connection Type
: EtherCAT Connection Type (Note 5)
Connection Type (Note 5)
Peek Max. Heat
Power Generation
Capacity (VA) (W)
462 33
462 33
639 32
750 35
899 36
1032 37
1311 38
1557 36
1506 38
2367 56
2034 40
2808 45
3738 47
2376 56
4434 49
3090
58
4611