IAI SCON-CA First Step Manual

SCON-CA/CAL/CGAL/CB/CGB
First Step Guide
Eighth 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.
• EtherCAT® is a registered mark of Beckoff Automation GmbH.
• EtherNet/IP is a trademark used under the license of ODVA.
Product Check
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts
No. Part Name Model
Refer to "How to read the model plate",
1 Controller Main Body
"How to read the model of the controller".
Accessories
System I/O ~750W Motor FMC1.5/4-ST-3.5 (Supplier : Phoenix Contact)
2
Plug 3000W~Motor FMC1.5/6-ST-3.5 (Supplier : Phoenix Contact)
3 Power Supply Plug for Brake MC1.5/2-ST-3.5 (Supplier : Phoenix Contact)
~750W Motor MSTB2.5/6-STF-5.08 (Supplier : Phoenix Contact)
AC Power
4
Supply plug
3000W~Motor PC5/6-STF-7.62 (Supplier : Phoenix Contact)
5 Absolute Battery AB-5
6 Dummy plug DP-5
External Regenerative Resistor
7 GIC2,5/2-STF-7.62 (Supplier : Phoenix Contact)
Unit Connecting Plug
8 Connector for Multi Function Plug: 10114-3000PE, Shell: 10314-52F0 (Supplier : 3M)
9 First Step Guide ME0277
10 Safety Guide M0194
AC Power Supply Plug Brake Power Supply Plug System I/O Plug Dummy Plug
~750W Motor 3000W~Motor ~750W Motor
3000W~Motor
Regenerative Resistor
Unit Connecting Plug
Connector for Multi Function CC-Link Terminal resistor
3000W~Motor
2. Teaching Tool (to be purchased separately)
A teaching tool such as PC software is necessary when performing the setup for position setting, parameter setting, etc. that
can only be done on the teaching tool. Please prepare either of the following teaching tools such as PC software.
No. Part Name
1 PC Software (RCS232C converter adapter + external equipment communication cable are included)
PC Software (USB converter adapter + USB cable + external equipment communication cable are
2
included)
3 Touch Panel Teaching Pendant TB-02
4 Touch Panel Teaching Pendant TB-02 (Dead-man switch Type)
5 Touch Panel Teaching Pendant TB-03
3. Instruction Manuals Related to this Product
No. Name
1 SCON-CA Controller Instruction Manual
2
SCON-CB/CGB Controller Instruction Manual
3 SCON-CB/CGB Controller Servo Press Function Instruction Manual
4 EtherCAT® Instruction Manual
5 EtherNet/IP Instruction Manual
6 CC-Link Instruction Manual
7 DeviceNet Instruction Manual
8 PROFIBUS-DP Instruction Manual
9 CompoNet Instruction Manual
10 MECHATROLINK Instruction Manual
11 MECHATROLINKⅢ Instruction Manual
12 EtherCAT Motion Instruction Manual
13 PROFINET-IO Instruction Manual
14 PC Software RCM-101-MW/ RCM-101-USB Instruction Manual
15 Touch Panel Teaching Pendant TB-02 Position Controller Instruction Manual
16 Touch Panel Teaching Pendant TB-03 Position Controller Instruction Manual
8B
4. How to Read the Model Plate
Model
Serial number
5. How to Read the Model of the Controller
S C O N - C A - 2 0 I H A - N P - 3 - 1 - STO - DN - * *
<Series>
<Type>
C : Standard Type CA : High Performance Type
CB : High Performance Type
CGB : Safety Category Compliant Type
CAL : Small Type CGAL: Safety Category Compliant Type
<Actuator Characteristics>
[Motor Type] * For SCON- CAL/CGAL, 200W or Less
12 : 12W 200S : 200W (LSA)
20 : 20W 300S : 300W (LSA)
30D : 30W (Excluding RS) 400 : 400W
30R : 30W (for RS) 600 : 600W
60 : 60W 750 : 750W
100 : 100W 750S : Equipped with loadcel
100S : 100W (LSA) RCS2-RA13R l
150 : 150W 3000 : 3000W
200 : 200W 3300 : 3300W
<Encoder Type>
I : Incremental A : Absolute G : Spurious Absolute
WAI : Battery-less Absolute (Incremental)
(Note 3)
<Option>
No Indication : Standard Type I : Index Absolute Type (DD)
HA : High Acceleration/Deceleration Type
M : Multi-Rotation Absolute Type (DD)
(Note 1)
F : Servo Pressing Type (dedicated for servo press actuators)
List of Specifications
Reference
Item
Corresponding Motor Capacity
Applicable Cable Size Power-supply Voltage
(Power-supply Fluctuation±10% or
0.5mm 2 (AWG20)
less)
Applicable Cable Size
2.0mm 2 (AWG14)
Rush Power-supply Voltage 100V
Applicable Cable Size Curre AC
3.3mm 2 (AWG12)
nt *1
Power-supply Voltage 200V
Enclosed in Absolute
AC
Type (Excluded for
battery-less absolute) Leak Current *2
Enclosed in
SCON-CGAL/CGB
Load Capacity, Heat Generation
Recommended cable
Power Supply Frequency
2
size 0.75mm (AWG18)
PIO Power Supply *3
Enclosed for Servo
Power Supply for Electromagnetic
Press Type
Brake
(for actuator equipped with brake)
Absolute Battery
Transient Power Cutoff Durability
Motor Control System
Corresponding Encoder
Encoder Resolution
Actuator Cable Length
Serial Communication Interface
External Interface Field Network
Specification DeviceNet, CC-Link, PROFIBUS, CompoNet*, MECHATROLINK-Ⅰ/Ⅱ*, EtherCAT*,
(Each dedicated
controller)
Cable Length PIO
RS485
Field Network Refer to each Field Network specification
Data Setting and Input
Data Retention Memory
Model
RCM-101-MW
RCM-101-USB
TB-02
Number of Positions
TB-02D
TB-03 Feedback Pulse
(Dedicated for Servo Press
Specifications)
Manual No.
ME0243
LED Display
ME0340
(mounted on Front Panel)
ME0345
ME0273
ME0278
Electromagnetic Brake Compulsory
ME0254
Release Switch (mounted on Front Panel)
ME0256
Insulation Resistance
ME0258
Insulation Strength
ME0220
Surrounding Air Temperature
ME0221
Surrounding Humidity
ME0317
Surrounding Environment
ME0367
Surrounding Storage Temperature -20 to 70°C (non-condensing)
ME0333
Surrounding Storage Humidity
ME0155
Vibration Durability
ME0355
ME0376
MODEL SCON-CA-60A-EC-2-1
SERIAL No. 800056144 L11
MADE IN JAPAN
<Identification for IAI use only>
* There is no identification in some cases.
<Type of Installation
(dedicated for SCON-CAL/CGAL)>
Not Specified : Screw Attachment Type
DN : DIN Rail Mounting Type
<Safety Type>
Not Specified : Standard Type
STO : STO Type (Note 3)
SS : SS1-t Type (Note 3)
<Power-supply Voltage>
1 : Single-Phase 100V AC
2 : Single-Phase 200V AC
3 : Three-Phase 200V AC
<I/O Cable Length>
0 : Equipped with no cable 2 : 2m
3 : 3m (Standard) 5 : 5m
<I/O Type>
NP : NPN Specification (Sink Type) (Standard) ML : MECHATROLINK-Ⅰ/Ⅱ Connection Type
(Note 1)
PN : PNP Specification (Source Type) ML3 : MECHATROLINK Connection-Ⅲ(Motion) Type
DV : DeviceNet Connection Type EC : EtherCAT Connection Type
CC : CC-Link Connection Type EP : EtherNet/IP Connection Type
PR : PROFIBUS-DP Connection Type PRT : PROFINET IO Connection Type
(Note 1)
CN : CompoNet Connection Type (Note 2) ECM : EtherCAT Motion Connection Type
CIE: CC-Link IE Field Connection Type (Note 3) RC : RCON Connection Type (Note 3)
(Note 1) Specified only for SCON-CA/CB/CGB (Note 2) Except for SCON-C
(Note 3) Specified only for SCON-CB/CGB
Basic Specifications
SCON-C/CA/CB/CGB
SCON-CAL/CGAL
Less than 400W 400 to 750W 3000 to 3300W
12W to 399W 400W to 750W 3000 to 3300W 12W to 200W
Single-Phase Single-Phase
100 to 115V AC Single-Phase Three-Phase 100 to 115V AC
Single-Phase 200 to 230V AC 200 to 230V AC Single-Phase
200 to 230V AC 200 to 230V AC
20A (Controller side), 30A (Controller side),
70A (Drive side) 80A (Drive side)
30A (Controller side), 40A (Controller side),
80A (Drive side) 40A (Drive side)
3.0mA 3.5mA 3.0mA
Primary side when noise filter is connected to power supply line
Refer to Power Capacity and Heat Generation
50/60Hz
24V DC±10%
24V DC±10%
0.1A (MAX.)
(Note) Necessary 24V DC±10%
24V DC±10% 1A (MAX.)
to supply 1.5A 1A (MAX.)
(max.) to actuator
separately
SCON-C: 10ms (50Hz), 8ms (60Hz) 20ms (50Hz),
SCON-CA/CB/CGB: 20ms (50Hz), 16ms (60Hz) 16ms (60Hz)
Sine Wave PWM Vector Current Control
• Incremental Serial • Absolute Serial • Incremental Serial
• ABZ (UVW) Parallel • Battery-less Absolute • Absolute Serial
• 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
RS485 : 1CH ... based on Modbus Protocol RTU/ASCII
Speed : 9.6 to 230.4Kbps
Control available with serial communication in the modes other than the pulse train
EtherNET/IP*, PROFINET IO*, MECHATROLINK-Ⅲ *, ECM* (*Some types cannot connect it.)
MAX. 10m
Total cable length 100m or less.
PC Software, Touch Panel Teaching, Teaching Pendant
C : Saves position data and parameters to
Saves position data
non-volatile memory
and parameters to
(There is 100,000 times in number of writing)
non-volatile memory
CA/CB/CGB: Saves position data and parameters to
(There is no limitation
non-volatile memory
in number of writing)
(There is no limitation in number of writing)
768 points (Changing on the selection in operation mode)
CB/CGB Type: Differential System (Line Driver System)
MAX. 2.5Mpps
Common : Open Collector Type 500Kpps max. (under
condition JM-08 is used)
PWR (green) : Controller in normal condition,
SV (green) : Servo ON,
ALM (orange) : Alarm generated,
EMG (red) : Emergency Stop,
WRG (orange): Warning generated (only CAL/CGAL Type)
Switching NOM (standard)/BK RLS (compulsory release)
500V DC 10MΩ or more
1500V AC for 1 min. (Note) Withstand voltage of force control loadcell is 50V DC
0 to 40°C
5%RH to 85%RH (non-condensing)
[Refer to Installation Environment]
5%RH to 85%RH (non-condensing)
XYZ Each direction 10 to 57Hz Pulsating amplitude 0.035mm (continuous)
0.075mm (intermittent)
57 to 150Hz 4.9m/s 2 (continuous) 9.8m/s 2 (intermittent)
Mass SCON-C: SCON-C:
Approx. 800g Approx. 1100g
SCON-CA/CB/CGB: SCON-CA/CB/CGB:
Approx. 900g Approx. 1200g
Cooling Method Natural air-cooling Forced Air Cooling
External Dimensions [mm]
58W × 194H × 121D 72W × 194H × 121D
*1 In-rush current will flow for approximately 20msec after the power is turned on (at 40°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.
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 Field Network, ROBONET, Gateway Unit or SIO
Converter without using PIO. In this case, set the parameter No. 74 (PIO Power Supply Monitor) to "1" (Invalid). It will
generate the error code No. 0CF (I/O 24V Power Supply Error) if the setting is not done.
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
(Note 2)
Motor Power Peek Max. Control Power
(Note 1)
Actuator Motor Type Capacity Motor Power
(Note 2)
[VA] Capacity [VA]
(Note 2)
12 41 123
(Note 2)
(Note 3) 20 26 78
30D (Excluding RS) 46 138
30R (for RS) 138 414
60 138 414
60 (RCS3-CTZ5) 197 591
100 234 702
100S (LSA) 283 851
150 328 984
200 421 1263
200 (DD) 503 1509
200S
486 1458
(LSA excluding LSA-N15H)
200S (LSA-N15H) 773 2319
300S (LSA) 662 1986
400 920 2760
400 (RCS3-CT8) 1230 3690
600 1164 2328
600 (DD) 1462 4386
750 3042
1521
750S 4563
3000 5657 16970
3300 6014 18041
RS : Rotary Shaft LSA : Linear Actuator DD : Direct Drive Motor
Selection of Circuit Interrupter
• 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.
● For ~750W Motor
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)
● For 3000~3300W Motor
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) / √3
External Dimensions
SCON-CA/CB/CGB
Less than 400W 400 to 750W
Approx. 2800g Approx. 560g
Forced Air Cooling Forced Air Cooling
92.7W × 300H ×
49W × 158H × 116D
187.7D
Rated Power Peek Max. Heat
Capacity Capacity Power Capacity Generation
[VA] [VA] [VA] [W]
89 171 30
74 126 30
94 186 31
186 462 33
186 462 33
245 639 32
282 750 35
331 899 36
376 1032 37
469 1311 38
551 1557 7.5
48
534 1506 38
821 2367 56
710 2034 40
968 2808 45
1278 3738 47
1212 2376 56
1510 4434 20.8
3090
1569 58
4611
5705 17018 180
6062 18099 182