Page 1 ACON DCON ACON-CYB/PLB/POB Controller DCON-CYB/PLB/POB Instruction Manual Third Edition ME0354-3C Specifications Check Wiring Operation of Type Operation of PLB/POB Type Vibration Suppress Control Function Parameter Troubleshooting Appendix 1 1 0 0 Warranty 1 1 1 1...
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 ME0354-3C...
Page 5 Construction of Instruction Manual for ACON-CYB/PLB/POB Product Name Instruction Manual Name Manual No. ACON-CYB/PLB/POB This manual ME0354 DCON-CYB/PLB/POB Teaching Software for PCs Teaching Software for PCs ME0391 IA-OS IA-OS First Step Guide Teaching Software for PCs RCM-101-MW/ RCM-101-USB ME0155 Instruction Manual...
Page 6 Table of Contents Safety Guide ·································································································· 1 Precautions in Operation ·················································································· 8 International Standards Compliances ································································· 10 Name for Each Parts and Their Functions ··························································· 11 Actuator Axes ································································································ 13 Chapter 1 Specifications Check ................... 15 Product Check ......................15 1.1.1 Part ........................
Page 7 Settings of Parameters for Vibration Suppress Control..........146 Setting of Position Data ....................148 Chapter 6 Power-saving Function (Automatic Servo-OFF) ......... 149 Chapter 7 Absolute Specification (ACON-CYB Dedicated function) ......151 Absolute Reset ......................151 Chapter 8 Parameter ....................155 I/O Parameter List ...................... 156 Detail Explanation of Parameters ................
Page 8 Chapter 11 Warranty ....................227 11.1 Warranty Period ......................227 11.2 Scope of the Warranty ....................227 11.3 Honoring the Warranty....................227 11.4 Limited Liability ......................227 11.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ........................ 228 11.6 Other Items Excluded from Warranty ................. 228 Change History ......................
Page 9: Starting Procedures
Confirm All the Necessary Things are Prepared (Contact us or our sales agency in case of any missing) Refer to the section this manual “1.1 Product Check” for more detail. ☆ ☆ Controller (ACON-CYB/PLB/POB ☆ ☆ Actuator and Connecting Cable DCON-CYB/PLB/POB) (The cable differs depending on the actuator type.
Page 10 Step 3 Installation “Refer to 1.5 Installation and Storage Environment” “1.6 Noise Elimination and Mounting Method” ● External Dimensions *Refer to 1.3 External Dimensions Controller unit Screw fixed-type DIN rail fixed-type (73.8 from DIN rail surface) (0.5) ● Noise Elimination Grounding (Frame Ground) Connect the ground line together to the main unit using the fixing screw.
Page 11 Step 4 Wiring Refer to Chapter 2 “Wiring” [Positioner Operation] Refer to section 2.1 and 2.3 [Pulse Train Control] Refer to section 2.2 and 2.3 * Refer to 2.1.3 [3] for wiring Example for Basic Wiring layout as the signals/features Host System differ for each PIO pattern Touch Panel Teaching...
Page 12 ME0354-3C...
Page 13: 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 14: Operation Description
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 15 Operation Description Description Installation (2) Cable Wiring and Start ● Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. ● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
Page 16: Installation And Start
Operation Description Description Installation (4) Safety Measures and Start ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers. ●...
Page 17 Operation Description Description Trial ● When the work is carried out with 2 or more persons, make it clear who Operation is to be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers. ●...
Page 18 Operation Description Description Maintenance ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader” and who to be the “follower(s)” and communicate Inspection well with each other to ensure the safety of the workers. ●...
Page 19: Alert Indication
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the instruction manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger Danger product is not handled correctly, will result in death or serious...
Page 20: Precautions In Operation
Precautions in Operation 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. Refer to the actuator instruction manual for each type together with this manual.
Page 21 7. Actuator would not operate without pause signals. ● Pause Signal (*STP) The input signal of the pause signal (*STP) is always on considering the safety. Therefore, in general, the actuator would not operate if this signal is not ON. It is available to make this signal to “Disable”, if this signal is undesirable.
Page 22: International Standards Compliances
9. Regarding battery-less absolute type actuator Make sure to have a home-return operation (absolute reset) after detaching the motor unit from the actuator for motor replacement purpose and so on. There is the manufacturing number of the connectable actuator printed on the controller. Make sure to connect without mistake.
Page 23: Name For Each Parts And Their Functions
Name for Each Parts and Their Functions A A C C O O N N *Appearance is the same for CYB Type and PLB/POB Type. 1) Controller Status Indicator LED 2) PIO Connector 3) SIO Connector 4) Power Supply Connector 5) Motor •...
Page 24 1) Controller Status Indicator LED It shows the controller operation status. : Illuminating ×: OFF ☆: Flashing Operation Status SV (Green) ALM (Red) Control power OFF × × Servo OFF Alarm (Operation cancellation level or more) ×  Motor drive power supply OFF In the emergency stop Servo ON ×...
Page 25: Actuator Axes
■Actuator Axes■ Refer to the pictures below for the actuator axes that can be controlled. 0 defines the home position, and items in ( ) are for the home-reversed type (option). Caution: There are some actuators that are not applicable to the origin reversed type. Check further on the catalog or the Instruction Manual of the actuator.
Page 26 ME0354-3C...
Page 27: Chapter 1 Specifications Check
ACON/DCON- 1.1.1 CYB/PLB/POB Chapter 1 Specifications Check Product Check 1.1.1 Part 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. Part Name Model Quantity...
Page 28: How To Read The Model Plate
A C O N – C Y B – 2 0 P W A I – N P - 2 - 0 – D N - * * <Series> <Type> <Identification for IAI use only> CYB : Positioner/Solenoid Valve Type * There is no identification in some...
Page 29 CYB/PLB/POB [2] DCON D C O N – C Y B - 3 I - N P - 2 - 0 - D N - * * <Identification for IAI use only> <Series> * There is no identification in some cases <Type>...
Page 30: List Of Basic Specifications
ACON/DCON- CYB/PLB/POB List of Basic Specifications Item ACON DCON Number of Controlled Axes 1 axis Power-supply Voltage 24V DC 10% Low Power Motor Type Series Rated Consumption Max. Rated Max. Type 0.8A 4.6A 1.0A 6.4A 5W (5S) 1.0A 3.3A 1.3A 6.4A (RCL series) RCA/...
Page 31 ACON/DCON- CYB/PLB/POB Item ACON DCON Differential system (Line Driver System) : max. 200kpps Cable length max. 10m Open collector system: Max. 60kpps Cable length Max. 2m Input Pulse Open Collector System : Not applicable. * If the host applies the open collector output, prepare AK-04 (option) separately to convert to the differential type.
Page 32: External Dimensions
ACON/DCON- CYB/PLB/POB External Dimensions   Screw-fixed Type (0.5)  DIN Rail-fixed Type (73.8 from DIN rail surface) (0.5) 77.5 ME0354-3C...
Page 33: Pio Input And Output Interface
ACON/DCON- 1.4.1 CYB/PLB/POB I/O Specifications 1.4.1 PIO Input and Output Interface Input Section Output Section Input Voltage 24V DC 10% Load Voltage 24V DC 10% Peak Load Input Current 5mA 1circuit 50mA 1circuit Electric Current Spec. ON/OFF ON Voltage Min. 18V DC Voltage OFF Voltage Max.
Page 34: Pulse Train Input Output Interface
ACON/DCON- 1.4.2 CYB/PLB/POB 1.4.2 Pulse Train Input Output Interface Sends input pulse (differential voltage: approx. 4V) from the host Description unit that is installed with a line driver 26C31 or equivalent (Max. 200kpps) Host Unit ACON-PLB/DCON-PLB Positioning Unit PIO Connector Line Driver Input Line Driver: 26C31 or equiv.
Page 35: Installation And Storage Environment
ACON/DCON- CYB/PLB/POB Installation and Storage Environment This product is capable for use in the environment of pollution degree 2 or equivalent. *1 Pollution Degree 2 : Environment that may cause non-conductive pollution or transient conductive pollution by frost (IEC60664-1) [1] Installation Environment Do not use this product in the following environment.
Page 36: Noise Elimination And Mounting Method
ACON/DCON- CYB/PLB/POB Noise Elimination and Mounting Method (1) Noise Elimination Grounding (Frame Ground) As there is a cutout for the screw fixing type of the main unit fixing method, jointly fasten with a FG line. There is a tapped hole to connect a FG line for DIN rail fixing type (Jointly fasten it with the enclosed M4 screw.) Copper Wire:...
Page 37 ACON/DCON- CYB/PLB/POB (4) Heat Radiation and Installation Design and Build the system Location of the controller to keep the surrounding temperature around the controller below 40°C. To fix the units in the control box, use the attachment holes on top and bottom of the unit for the screw-fixed type, and use the DIN rails for the DIN rail-fixed type.
Page 38 ACON/DCON- CYB/PLB/POB ME0354-3C...
Page 39: Chapter 2 Wiring
ACON/DCON- 2.1.1 CYB/PLB/POB Chapter 2 Wiring * Refer to Section 2.2 and 2.3 for PLB/POB type. Positioner Mode (PIO Control) • • • CYB Type 2.1.1 Wiring Diagram (Connection of Devices) Host System Teaching Pendant (PLC, etc.…Please prepare separately) (Sold separately) Power Source I/O Control (24V DC ···...
Page 40: Pio Pattern Selection And Pio Signal
ACON/DCON- 2.1.2 CYB/PLB/POB 2.1.2 PIO Pattern Selection and PIO Signal (1) PIO Pattern (Control Pattern) Selection The controller provides seven PIO patterns (control patterns). Set the most suitable PIO pattern with the actual use to Parameter No. 25 [PIO Pattern Selection]. Refer to 3.2 Operation in “Positioner Mode”...
Page 41 ACON/DCON- 2.1.2 CYB/PLB/POB (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 host controller). Parameter No.25 [PIO Pattern Selection] Category PIO Functions Solenoid Valve...
Page 42 ACON/DCON- 2.1.2 CYB/PLB/POB Parameter No.25 [PIO Pattern Selection] Category PIO Functions Double Solenoid Mode User Select Mode Serial Communication Number of positioning Either of 4, 8, 16, 32 7 points 768 points points and 64 points (select) Input Home return signal ...
Page 43 ACON/DCON- 2.1.2 CYB/PLB/POB (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 The actuator will start to move to the position set by the...
Page 44 ACON/DCON- 2.1.2 CYB/PLB/POB Signal Relevant Category Signal Name Function Description Abbreviation Sections It turns on when reached the positioning band range after 3.2.3 PEND Position complete moving. PEND will not turn off even if exceeded the 3.2.4 positioning band. 3.2.3 PM1 to The position No.
Page 45 ACON/DCON- 2.1.3 CYB/PLB/POB 2.1.3 Wiring [1] Power Supply Connector (for Power Supply and Emergency Stop) As an example of a circuit, cases of 4 conditions are shown. Select one suitable for use. 1) Move the actuator without using external emergency input 2) Move the actuator with having external emergency input valid 3) Stop supplying external motor power at emergency stop input 4) Shut off the motor power externally by inputting the emergency stop with using two units of...
Page 46 ACON/DCON- 2.1.3 CYB/PLB/POB Example for wiring to operate an actuator with having external emergency input valid Emergency Stop Switch of Teaching Pendant ACON, PCON DCON Power SIO Connector Teaching Tool Supply Connection Connector Detection Circuit External Emergency Drive Cutoff Circuit (Contact opens Stop Switch when connected)
Page 47 ACON/DCON- 2.1.3 CYB/PLB/POB Example for shutting off motor power supply externally at emergency stop input 24V DC Power Supply External Emergency Emergency Stop Stop Switch Switch Emergency Stop Switch of Teaching Pendant ACON, Teaching Tool Connection PCON DCON Detection Circuit SIO Connector Power (Contact opens when...
Page 48 ACON/DCON- 2.1.3 CYB/PLB/POB Refer to below when shutting the motor power off externally by the emergency stop input when using two or more units of controllers. 24V DC Power Supply External Emergency Emergency Stop Stop Switch Switch Emergency Stop Switch of Teaching Pendant PCON ACON, DCON...
Page 49 ACON/DCON- 2.1.3 CYB/PLB/POB [2] Motor • Encoder Circuit Connection to the RCA, RCL Series (Incremental type) ACON Motor Connection /Encoder Cable (Note 1) Connector Connection to the RCA2 Series ACON Motor Connection /Encoder Cable (Note 1) Connector Connection to the RCD Series DCON Motor Connection...
Page 50: Pio Circuit
ACON/DCON- 2.1.3 CYB/PLB/POB [3] PIO Circuit PIO Pattern 0 ··········· Standard Mode 0V(NPN Spec.) 24V DC (NPN Spec.) 24V DC(PNP Spec.) 0V (PNP Spec.) Input Side Output Side Command Position No.1 Completed Position No.1 Command Position No.2 Completed Position No.2 Command Position No.4 Completed Position No.4 Command Position No.8...
Page 51 ACON/DCON- 2.1.3 CYB/PLB/POB PIO Pattern 3 ············ Single Solenoid Mode 0V(NPN Spec.) 24V DC (NPN Spec.) 24V DC(PNP Spec.) 0V (PNP Spec.) Input Side Output Side Start Signal 0 Miss-Pressing Home Return Completion Servo ON Servo ON Status Pause Position Zone/Zone 1 Light Error Alarm Reset Alarm...
Page 52: Wiring Diagram (Connection Of Devices)
ACON/DCON- 2.2.1 CYB/PLB/POB Pulse Train Control Mode • • • PLB/POB Type *Refer to Section 2.1 and 2.3 for CYB type. 2.2.1 Wiring Diagram (Connection of Devices) Host System Teaching Pendant (PLC, etc.…Please prepare separately) (Sold separately) Power Source I/O Control (24V DC ···...
Page 53: I/O Signals In Pulse Train Control Mode
ACON/DCON- 2.2.2 CYB/PLB/POB 2.2.2 I/O Signals in Pulse Train Control Mode [1] PIO Pattern 0 (for Incremental type actuators) See the table below for the signal assignment of the flat cable in PIO pattern 0 [Pulse Train Control Mode]. Follow the following table to connect the external equipment (such as host unit). Signal Relevant Category...
Page 54 ACON/DCON- 2.2.2 CYB/PLB/POB [2] PIO Pattern 1 (for Battery-less Absolute Type Actuators) See the table below for the signal assignment of the flat cable in PIO pattern 1 [Pulse Train Control Mode]. Follow the following table to connect the external equipment (such as host unit).
Page 55 ACON/DCON- 2.2.3 CYB/PLB/POB 2.2.3 Wiring [1] Power Supply Connector (for Power Supply and Emergency Stop) As an example of a circuit, cases of 4 conditions are shown. Select one suitable for use. 1) Operate actuator without using the emergency stop input (EMG-) 2) Operate actuator with the emergency stop input (EMG-) activated 3) Stop supplying external motor power at emergency stop input 4) Shut off the motor power externally by inputting the emergency stop with using two units of...
Page 56 ACON/DCON- 2.2.3 CYB/PLB/POB 2) Example for wiring to operate an actuator with having external emergency input valid Emergency Stop Switch of Teaching Pendant PCON ACON, DCON Power SIO Connector Teaching Tool Supply Connection Connector Detection Circuit External Emergency Drive Cutoff Circuit (Contact opens Stop Switch Motor Power...
Page 57 ACON/DCON- 2.2.3 CYB/PLB/POB 3) Example for shutting off motor power supply externally at emergency stop input 24V DC Power Supply External Emergency Emergency Stop Stop Switch Switch Emergency Stop Switch of Teaching Pendant Teaching Tool Connection PCON ACON, DCON Detection Circuit SIO Connector Power (Contact opens when...
Page 58 ACON/DCON- 2.2.3 CYB/PLB/POB 4) Refer to below when shutting the motor power off externally by the emergency stop input when using two or more units of controllers. 24V DC Power Supply External Emergency Emergency Stop Stop Switch Switch Emergency Stop Switch of Teaching Pendant PCON ACON, DCON...
Page 59 ACON/DCON- 2.2.3 CYB/PLB/POB [2] Motor • Encoder Circuit Connection to the RCA, RCL Series (Incremental type) ACON Motor Connection /Encoder Cable (Note 1) Connector Connection to the RCA2 Series ACON Motor Connection /Encoder Cable (Note 1) Connector Connection to the RCD Series DCON Motor Connection...
Page 60 ACON/DCON- 2.2.3 CYB/PLB/POB [3] PIO Circuit 1) PIO Pattern 0 ·············· For incremental specification actuators 0V(NPN Spec.) 24V DC (NPN Spec.) 24V DC(PNP Spec.) 0V (PNP Spec.) Input Side Output Side Pulse Train Input Servo ON System Ready Reset Servo ON Status Home Return Position Completion Torque Limit Select...
Page 61 ACON/DCON- 2.2.3 CYB/PLB/POB [4] Circuits for Pulse Train Control ●When the host unit adopts the differential system, use ACON-PLB/DCON-PLB type. Host Unit ACON-PLB/DCON-PLB type PIO Connector Positioning Unit 180Ω 180Ω Line Driver: 26C31 or equiv. Connected to Frame Ground (FG connection portion on a device or ACON/DCON) Power Supply Connector Caution: Make short-circuit between the host (positioning unit) and the 0V on power supply connector.
Page 62: Wiring Method
ACON/DCON- 2.3.1 CYB/PLB/POB Wiring Method 2.3.1 Wiring Layout of Power Supply Connector The wires of the power supply and the emergency stop circuit are to be connected to the controller enclosed connector. Strip the sheath of the applicable wires for 10mm and insert them to the connector. 1) Push a protrusion beside the cable inlet with a small slotted flathead screwdriver to open the inlet.
Page 63: Connection To Actuator
Encoder negative A-phase (*1) /ENA differential input Encoder positive B-phase Cable (*1) differential input dedicated for IAI products Encoder negative B-phase (*1) /ENB differential input SRD+ : Serial communication + SRD+ ENZ : Encoder Z-phase differential input SRD- : Serial communication -...
Page 64 Encoder positive A-phase differential input Encoder negative A-phase /ENA Cable differential input dedicated for Encoder positive B-phase IAI products differential input Encoder negative B-phase /ENB differential input Hall IC Input Hall IC Input Encoder power Encoder line driver enable output...
Page 65: Connection Of Pio
ACON/DCON- 2.3.3 CYB/PLB/POB 2.3.3 Connection of PIO Conduct the connection of I/O to the controller is to be carried out using the dedicated I/O cable. The cable length is shown in the model code of the controller. Please check the controller model code.
Page 66 ACON/DCON- 2.3.4 CYB/PLB/POB 2.3.4 Connection of Pulse Train Signal (PLB or POB Types) Pulse train is input to PIO connector. Insert the wires to the indicated pin numbers. When the host unit adopts the differential system, use ACON-PLB/DCON-PLB type. When the host unit adopts the open collector system, use ACON-POB/DCON-POB type. Refer to [2.2.3 [4] Circuits for Pulse Train Control] Shield Cable Model: CB-PAD-PIOS□□□...
Page 67: Sio Connector Connection
ACON/DCON- 2.3.5 CYB/PLB/POB 2.3.5 SIO Connector Connection SIO connectors can be used not only for the connection of teaching tool, but also for the connection of the host controller (PLC, touch panel and PC). For the operation, refer to the instruction manual of each module. Refer to [1.1.3, “Instruction Manuals Related to This Product, which are Contained in the Instruction Manual (DVD)”.] Teaching...
Page 68 ACON/DCON- CYB/PLB/POB ME0354-3C...
Page 69: Chapter 3 Operation Of Cyb Type (Positioner Mode /Solenoid Valve Mode)
ACON/DCON- 3.1.1 CYB/PLB/POB Chapter 3 Operation of CYB Type (Positioner Mode /Solenoid Valve Mode) Basic Operation 3.1.1 Basic Operation Methods CYB Type is a positioner / solenoid valve type controller. There are various types of actuators including slider, rod. The same operation control method is applicable unless particular descriptions are contained in this manual.
Page 70 ACON/DCON- 3.1.1 CYB/PLB/POB • Procedure 3 : Turn the servo ON, and have a home-return operation. Select Position → 1) Press the Servo 2) Turn on the Servo Lamp Edit/Teaching in Menu Open Position Table 3) Press the Home 4) Turn on the Home Lamp (after actuator is stopped) •...
Page 71: Parameter Settings
ACON/DCON- 3.1.2 CYB/PLB/POB 3.1.2 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 72 ACON/DCON- CYB/PLB/POB Operation in Positioner Mode (CYB Type) This controller is capable for selecting seven PIO patterns in the parameter. This Operational PIO pattern cannot be switched over after the system is finished to be established or during the actuator operation. Choose the optimum pattern beforehand considering the system operation specifications and prepare the cables and sequence design.
Page 73 ACON/DCON- CYB/PLB/POB [2] Overview of Major Functions Major Functions Description Number of positioning points Number of positioning points which can be set in the position table. Operation with the position no. Normal operation started by turning the start signal ON after position input no.
Page 74: Set Of Position Table
ACON/DCON- 3.2.1 CYB/PLB/POB 3.2.1 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. The speed, acceleration, and deceleration are automatically set to the data defined by the relevant parameters.
Page 75 (3) If the payload is extremely lighter than the rated payload, increase accel..., acceleration/deceleration to larger than their rated values to shorten the tact time. Please contact IAI for the settings in such situation. Inform us of the weight, shape and mounting method of the work and the installation conditions of the actuator.
Page 76 ACON/DCON- 3.2.1 CYB/PLB/POB 7) LoTh [%] ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ It cannot be used on this controller. 8) Pos. band [mm] ꞏꞏ For positioning in PIO Patterns (Note 1) 0, 1 and 5, the positioning complete signal PEND (PE*: Current position number for PIO Pattern 1) turns ON if the remaining moving distance falls into the range set in this parameter in positioning operation.
Page 77 ACON/DCON- 3.2.1 CYB/PLB/POB 11) ACC/DCL mode ꞏ Select a proper acceleration/deceleration pattern depending on the load. Acceleration/ Operation Value Deceleration Pattern Speed Trapezoid Time Speed S-shaped Motion (Refer to Caution at S-shaped Motion) Time Set the S-shaped Motion rate with parameter No.56. Speed First-Order Lag Filter...
Page 78 ACON/DCON- 3.2.1 CYB/PLB/POB 13) Gain set ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ The six parameters necessary for the servo-motor gain adjustment are put together and made as one set. Four types of sets are available to register, and the servo-motor gain can be switched at every positioning operation.
Page 79 CYB/PLB/POB 15) VibSup No. ꞏꞏꞏꞏꞏꞏꞏ It controls the vibration (resonance) of the load attached on the actuator. It can be applicable for three types of vibration. (ACON-CYB Four parameters are available to each type of vibration and they are only) gathered as one set.
Page 80: Control Of Input Signal
The positioning complete signal PEND (Patterns 0 and 5 (when PEND signal selected)) is turned OFF during the home-return operation. Home Return Signal HOME (PLC→IAI Controller) Homing Completion Signal HEND (IAI Controller→PLC) Positioning Completion Signal PEND (IAI Controller→PLC)
Page 81 ACON/DCON- 3.2.3 CYB/PLB/POB [Home-return Operation of Slider Type/Rod Type/Table Type Actuators] Mechanical end Home Once the home-return command is issued, the actuator moves towards the mechanical end in the home-return speed. The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators.
Page 82 ACON/DCON- 3.2.3 CYB/PLB/POB [2] Zone Signal and Position Zone Signal (ZONE1, ZONE2, PZONE) Output PIO signal ZONE1 (Note 2) ZONE2 (Note 3) PZONE (Note 2) Pattern 0 ×   Pattern 1 (Note 1) × × × Pattern 2 × ...
Page 83 ACON/DCON- 3.2.3 CYB/PLB/POB (2) Position zone signal (PZONE) Position Speed Push LoTh Pos. band Zone+ Zone- ACC/DCL Gain Stop [mm] [mm/s] [mm] [mm] [mm] mode mode 0.00 250.00 0.20 0.20 0.10 50.00 30.00 100.00 250.00 0.20 0.20 0.10 70.00 60.00 50.00 250.00 0.20...
Page 84 ACON/DCON- 3.2.3 CYB/PLB/POB [3] Alarm, Alarm Reset (*ALM, RES) Input Output PIO signal *ALM Patterns 0 to 4   Pattern 5 ∆ ∆ : Available, : Unavailable, ∆: Signal Selected 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 85 ACON/DCON- 3.2.3 CYB/PLB/POB [4] Binary Output of Alarm Data (*ALM, PM1 to 8) Output PIO signal *ALM PM1 to 8 Pattern 0   Patterns 1 to 4 (Note 1)   Pattern 97 (Note 1)   : Available, : Unavailable, ∆: Signal Selected Note 1: This feature is not equipped in PIO Patterns from 1 to 4.
Page 86 ACON/DCON- 3.2.3 CYB/PLB/POB : ON : OFF ALM8 ALM4 ALM2 ALM1 Binary *ALM Description: Alarm code is shown in ( ). (PM8) (PM4) (PM2) (PM1) Code Actual speed excessive (0C0)      Overcurrent (0C8) Overheat (0CA) Current sensor offset adjustment error (0CB) Control power source voltage error (0CC) ...
Page 87 ACON/DCON- 3.2.4 CYB/PLB/POB 3.2.4 Operation with the Position No. Input = Operations of PIO Patterns 0 This section describes the methods of operations of PIO pattern 0. These patterns provide normal controller operation methods in which the controller is operated by turning the start signal ON after a position No.
Page 88 ACON/DCON- 3.2.4 CYB/PLB/POB Command Position No. PC1 to PC** (PLC→Controller) T16ms Turned OFF by Start Signal CSTR turning PEND OFF (PLC→Controller) Completed Position PM1 to PM** = 0 PM1 to PM** = 0 (Note 1) (Note 1) PM1 to PM** (Controller→PLC) Turned ON after Positioning Completion Signal...
Page 89 ACON/DCON- 3.2.4 CYB/PLB/POB [2] Speed Change During the Movement  Sample use 100mm/s 50mm/s 1) 2) 6) 7) Positioning complete width at position 2 Velocity Positioning Completion Signal Output Positioning Completion Signal Output Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Gain...
Page 90 ACON/DCON- 3.2.4 CYB/PLB/POB [3] Pitch Feeding (relative movement = incremental feed)  Sample use 250mm/s 2) 3) Velocity Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Gain Stop [mm] [mm/s] [mm] [mm] [mm] mode Mode 100.00 250.00 0.20 0.20 0.10...
Page 91 ACON/DCON- 3.2.4 CYB/PLB/POB Caution: (1) If the actuator reaches the software limit corresponding to the stroke end in the pitch feed operation, the actuator stops at the position and positioning complete signal PEND is turned ON. (2) 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 92: Pressing Operation
ACON/DCON- 3.2.4 CYB/PLB/POB [4] Pressing Operation  Sample use Note: For the pressing operation, there are two systems, CON pressing system shown below and SEP pressing system same as ASEP controllers, which are available to switch over in Parameter No. 181. [Refer to explanation of No.
Page 93 ACON/DCON- 3.2.4 CYB/PLB/POB Command Position No. PC1 to PC** (PLC→Controller) T16ms (Note1) Turned OFF by turning PEND OFF Start Signal CSTR (PLC→Controller) Completed Position PM1 to PM** PM1 to PM** = 0 (Note 2) PM1 to PM** = 0 (Note 2) (Controller→PLC) Not turned ON for Positioning Completion Signal...
Page 94 ACON/DCON- 3.2.4 CYB/PLB/POB Caution: (1) The speed during pressing operation is set in Parameter No.34. 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 95 ACON/DCON- 3.2.4 CYB/PLB/POB Judging completion of pressing operation 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 operation. PEND is turned ON at satisfaction of the condition if the work is not stopped.
Page 96: Tension Operation
ACON/DCON- 3.2.4 CYB/PLB/POB [5] Tension Operation  Image diagram Position No.1 Position No.2 Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Gain Stop [mm] [mm/s] [mm] [mm] [mm] mode Mode 100.00 250.00 0.20 0.20 0.10 0.00 0.00 80.00 250.00 0.20...
Page 97 ACON/DCON- 3.2.4 CYB/PLB/POB First define the positioning in position No.1. Next, the operation in position No.2 moves the actuator to the position of 80mm at the setting speed and rating torque and change to the tension operation. The actuator moves by 50mm in the negative direction in the tension operation.
Page 98 ACON/DCON- 3.2.4 CYB/PLB/POB [6] Multi-step Pressing  Image diagram Position No.1 Position No.2 Position No.3 Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Gain Stop [mm] [mm/s] [mm] [mm] [mm] mode Mode 0.00 250.00 0.20 0.20 0.10 0.00 0.00 50.00...
Page 99 ACON/DCON- 3.2.4 CYB/PLB/POB [7] Pause and Operation Interruption (*STP, RES, PEND) 4) 5) Positioning Completion Signal Output  Control method Pause is possible during movement. In addition, the moving distance can be cancelled to interrupt the operation. The pause signal is an input signal always set to ON. So, it is normally used to remain ON. Use this function for interlock in case where an object is invaded into the moving direction of the actuator being moved.
Page 100: Direct Position Specification (Solenoid Valve Mode 1) = Operation Of Pio Pattern
ACON/DCON- 3.2.5 CYB/PLB/POB 3.2.5 Direct Position Specification (Solenoid Valve Mode 1) = Operation of PIO Pattern 1 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 101 ACON/DCON- 3.2.5 CYB/PLB/POB  Control method When start signal ST* is turned ON, the actuator starts acceleration based on the data in the specified position table for positioning to the target position. Once the positioning is complete, PE* Signal on the current position number in the indicated positions will turn on.
Page 102 ACON/DCON- 3.2.5 CYB/PLB/POB [2] Pitch Feeding (relative movement = incremental feed)  Sample use 250mm/s 2) 3) Stocker up/down, pallet movement, etc. Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Gain Stop [mm] [mm/s] [mm] [mm] [mm] mode Mode 100.00...
Page 103 ACON/DCON- 3.2.5 CYB/PLB/POB Caution: (1) Because pitch feed is repeated, turning ON the ST* signal of the same position after completion of positioning causes both the PE* and PEND signals to be turned OFF at operation start and turned ON again at completion of positioning in the same way as [1] Positioning.
Page 104 ACON/DCON- 3.2.5 CYB/PLB/POB [3] Operation Interruption (ST*, PE*) Pause is possible during movement. Set “0” (setting at delivery” in Parameter No. 27 “Movement Command Classification”. The actuator can only be moved while the ST* signal is set to ON and stopped if ST* is turned OFF.
Page 105 ACON/DCON- 3.2.6 CYB/PLB/POB 3.2.6 Direct Position Specification (Solenoid Valve Mode 2) = Operation of PIO Pattern 2 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 106 ACON/DCON- 3.2.6 CYB/PLB/POB [Home-return Operation of Slider Type/Rod Type Actuator] Mechanical end Home With the ST0 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 107 ACON/DCON- 3.2.6 CYB/PLB/POB [2] Features of LS Signals (LS0 to 2) The LS* signals are not complete signals for positioning commands such as those for other PIO patterns. Despite the specified position No., the corresponding LS* signal is turned ON when the actuator is entered into the setup value range as if the actuator were detected by a sensor installed.
Page 108 ACON/DCON- 3.2.6 CYB/PLB/POB [3] Positioning [Basic] (ST0 to ST2, LS0 to LS2) Position No. Input Output (Note) Pressing and pitch feed are unavailable.  Sample use 200mm/sec 200mm/s 100mm/sec 100mm/s 2) 3) 5) 6) Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL...
Page 109 ACON/DCON- 3.2.6 CYB/PLB/POB → → → (Example) Repetition of ST1 Insert timer t if necessary. Start Signal t t (PLCController) Δt Start Signal (PLCController) Position Sensing Output (ControllerPLC) Position Sensing Output (ControllerPLC) Target position  t : Time required to certainly reach the target position after the position sensing output LS1 or 2 is turned ON. [Example of stop position when the ST* signal is turned OFF by the LS* signal] If the positioning band is set at a position before the original deceleration start position, the actuator cannot reach the target position.
Page 110 ACON/DCON- 3.2.6 CYB/PLB/POB [4] Speed Change During the Movement  Sample use 100mm/s 50mm/s 2) 3) 4) 5) Positioning complete width at position 1 Velocity Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Gain Stop [mm] [mm/s] [mm] [mm] [mm]...
Page 111 ACON/DCON- 3.2.6 CYB/PLB/POB The timing chart shown below indicates that the actuator changes its speed while it moves to position No.1 after the completion of positioning at position No.2 and moves to position No.0. Start Signal (PLCController) Start Signal (PLCController) Start Signal (PLCController) Position Sensing Output...
Page 112 ACON/DCON- 3.2.6 CYB/PLB/POB [5] Pause and Operation Interruption (ST*, 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. Acceleration 4) 5)  Control method If start signal ST* is turned OFF during movement, the actuator can be paused.
Page 113 ACON/DCON- 3.2.6 CYB/PLB/POB [6] Servo ON (SON, SV) Servo ON signal SON is the input signal making the servo motor of the actuator operable. If the servo-on is performed to enable operation, the SV output signal is turned ON. With the power being supplied, then controller cannot be operated while the SV signal remains OFF.
Page 114 ACON/DCON- 3.2.7 CYB/PLB/POB 3.2.7 Operation when Single / Double Solenoid Mode = PIO Pattern 3 and 4 Movement between two points can be controlled in the same manner as air cylinder. Selection can be made from single solenoid system and double solenoid system. Speed change during positioning cannot be conducted.
Page 115 ACON/DCON- 3.2.7 CYB/PLB/POB  For PIO Pattern 4 (Double Solenoid Mode) For incremental type and for battery-less absolute type with the home-return operation incomplete due to such a reason as parameter change, the actuator should conduct the home-return operation when ST0 gets turned ON while the home-return operation is incomplete (HEND = OFF). Once the home-return operation completes, the home-return complete signal HEND should turn ON.
Page 116: Home-Return
ACON/DCON- 3.2.7 CYB/PLB/POB [Home-return Operation of Slider Type/Rod Type Actuator] Mechanical end Home With the ST0 signal being ON (ON or OFF for PIO Pattern 3), the actuator moves towards 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. The actuator is turned at the mechanical end and stopped at the home position.
Page 117 ACON/DCON- 3.2.7 CYB/PLB/POB [2] Features of LS signals (LS0 to 1) LS* is not a complete signal to a positioning command such as PIO Pattern 0. 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 118 ACON/DCON- 3.2.7 CYB/PLB/POB [3] Movement between Two Points [Basic] (ST0, ST1, LS0, LS1, PE0, PE1) Input Input Position No. Output (PIO Pattern 3) (PIO Pattern 4) ST0=ON ST0＝OFF LS0/PE0 ST1=ON ST0=ON LS1/PE1 (Note) Pitch feeding cannot be performed.  Control Method for PIO Pattern 3 (Single Solenoid Mode) In PIO Pattern 3, positioning is conducted on Position No.
Page 119 ACON/DCON- 3.2.7 CYB/PLB/POB  Control Method for PIO Pattern 4 (Double Solenoid Mode) In PIO Pattern 4, the actuator moves to the target position by the combination of ST0 and ST1. Start Signal 0 (PLCController) Start Signal 1 (PLCController) Limit Switch Output 0 (ControllerPLC) Limit Switch Output 1 (ControllerPLC)
Page 120 ACON/DCON- 3.2.7 CYB/PLB/POB [4] Pressing Operation  Sample use Note: For the pressing operation, there are two systems, CON pressing system shown below and SEP pressing system same as ASEP controllers, which are available to switch over in Parameter No. 181. [Refer to explanation of No.
Page 121 ACON/DCON- 3.2.7 CYB/PLB/POB Caution: (1) The speed during pressing operation is set in Parameter No.34. 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 122 ACON/DCON- 3.2.7 CYB/PLB/POB Judging completion of pressing operation Monitoring the torque (current limit value) set in % in “Pressing” in the position table, pressing gets determined as complete and PE* on the current position number turns on and miss-pressing signal PSFL turns off when the load current during the pressing operation reaches to the following conditions.
Page 123 ACON/DCON- 3.2.7 CYB/PLB/POB [5] Tension Operation  Image diagram Position No.1 Position No.0 Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Gain Stop [mm] [mm/s] [mm] [mm] [mm] mode Mode 100.00 250.00 0.20 0.20 0.10 0.00 0.00 80.00 250.00 0.20...
Page 124 ACON/DCON- 3.2.7 CYB/PLB/POB Caution: (1) The speed during tension operation is set in Parameter No.34. The speed for pulling operation is same as that for pressing 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 tension speed, the tension operation is performed at the setup speed.
Page 125 ACON/DCON- 3.2.7 CYB/PLB/POB [7] Continuous Round-Trip Operation (ST*, PE*, ASTR)  Control method It is valid in PIO Pattern 4. While the continuous round-trip operation signal ASTR is on, the actuator drives back and forth between two points continuously. Once ASTR Signal turns off, the actuator performs positioning at the current target position and stops.
Page 126 ACON/DCON- 3.2.8 CYB/PLB/POB 3.2.8 Operation when User Select Mode = PIO Pattern 5 It is a PIO pattern to make an operation by selecting desired signals from the selectable control signals. Select desired number of points from the number of basic positioning points (4, 8, 16, 32 and 64) and the necessary command position number signal PC* and the complete position number signal PE* get assigned to the input and output signals.
Page 127 ACON/DCON- 3.2.8 CYB/PLB/POB 3) Select 32 points and two signals can be selected and assigned to each input and output. Input Side Output Side ←□: Signal selectable 4) Select 16 points and three signals can be selected and assigned to each input and output. Input Side Output Side ←□: Signal selectable...
Page 128: Signal Select
ACON/DCON- 3.2.8 CYB/PLB/POB [2] Signal Select Select any signal from those listed below. Input Signal Name Contents *STP Pause: Turn off to issue pause command 3.2.8 [3] (5) Servo-ON Command: Turn on to turn servo on 3.2.8 [3] (7) HOME Home return: Turn on to issue home-return command 3.2.8 [3] (8) Reset: Turn on to execute reset...
Page 129 ACON/DCON- 3.2.8 CYB/PLB/POB Output Signal Name Contents MOVE Moving Signal: 3.2.8 [3] (6) Turns on while actuator in movement Preparation End: 3.2.8 [3] (7) Turns on when servo turns on HEND Home Return Completion: 3.2.8 [3] (8) Turns on when home-return operation completed *ALM Alarm: Turns off when alarm issued 3.2.8 [3] (3)
Page 130: Signal Details
ACON/DCON- 3.2.8 CYB/PLB/POB [3] Signal Details * in symbols shows that it is in active low. (1) Controller Standby (PWR) PLC Input Signal It turns on when the controller gets available for control after the power is turned on.  Function It turns on when the initialization of the controller is finished in normal condition and gets available for control after the power is turned on regardless of alarm status or condition of servo.
Page 131 SON Signal turns the servo on / off in the controller. While SV Signal is on, the servo turns on in the controller, which makes operation available. The relation of SON Signal and SV Signal is as shown below. (PLC → IAI Controller) （PLC→IAIコントローラ） (IAI Controller →PLC) （IAIコントローラ→PLC）...
Page 132 (while HEND Signal is off), it conducts positioning to the target position after performing the home-return operation automatically. Turn this signal off after confirming that the positioning complete signal (PEND) has turned off. Target Position (PLC → IAI Controller) （PLC→IAIコントローラ） (PLC → IAI Controller) （PLC→IAIコントローラ）...
Page 133 ACON/DCON- 3.2.8 CYB/PLB/POB (11) Zone 1 (ZONE1) PLC Input Signal Zone 2 (ZONE2) PLC Input Signal Position Zone (PZONE) PLC Input Signal It turns on when the actuator current position is in the range of the set domain, and off when out of the range.
Page 134 ACON/DCON- 3.2.8 CYB/PLB/POB (13) Switchover between JOG Velocity / Inching Distance (JVEL) PLC Output Signal It is a signal to switch over parameters to indicate the JOG velocity when JOG Operation is selected or inching distance when Inching Operation is selected. The relation is as shown below.
Page 135 ACON/DCON- 3.2.8 CYB/PLB/POB (15) Brake Control Release (BKRL) PLC Output Signal Turn this signal on and the brake will be compulsorily released. (16) Operation Mode (RMOD) PLC Output Signal Operation Mode Status (RMDS) PLC Input Signal The operation mode will be selected as shown below by RMOD Signal. Also, it can be checked in RMDS Signal which of AUTO or MANU currently set to.
Page 136 ACON/DCON- 3.2.8 CYB/PLB/POB (21) Load Status Output Signal (CM1, CM2, CM4, CM8) PLC Output Signal This group of signals outputs the current indicated current ratio (percentage to the rating) by combination of outputs. ：Signal ON, ×: Signal OFF  Command Current Ratio ×...
Page 137: Chapter 4 Operation Of Plb/Pob Type (Pulse Train Control)
ACON/DCON- 4.1.1 CYB/PLB/POB Chapter 4 Operation of PLB/POB Type (Pulse Train Control) Basic Operation 4.1.1 Basic Operation Methods PLB/POB Type is a controller that is pulse train control type. There are various types of actuators including slider, rod. The same operation control method is applicable unless particular descriptions are contained in this manual.
Page 138 ACON/DCON- 4.1.1 CYB/PLB/POB  Main Functions Function Name Name Dedicated home return signal Using this feature (signal) enables the incremental type actuators available for home-return operation without using complicating sequences or external sensors. Brake control function Since the controller controls the brake, there is no need to program a separate sequence.
Page 139: I/O Signal Controls
ACON/DCON- CYB/PLB/POB I/O Signal Controls The input signals of this controller incorporate an input time constant to prevent malfunction due to chattering, noise, etc. Make sure to input the signals continuously for 6ms or more. (Note) Command pulse train inputs (PP•/PP, NP•/NP) do not have input time constants. Also, it is necessary to input 16ms or more for CSTP Signal.
Page 140 ACON/DCON- CYB/PLB/POB [2] 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 141 ACON/DCON- CYB/PLB/POB [4] 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. Once the home return is completed, the HEND (home return completion) signal will turn ON.
Page 142 ACON/DCON- CYB/PLB/POB [Home-return Operation of the Gripper] Finger Attachment (Note) Once the home-return command is issued, the actuator moves towards the mechanical end (external end) in the home-return speed (Note 1) The actuator is turned at the mechanical end and stopped at the home position. The moving distance is the value set by Parameter No.22 [Home Return Offset Level].
Page 143 ACON/DCON- CYB/PLB/POB [6] Zone (ZONE1) Output PIO signal ZONE1 Each of the signals turns ON when the current actuator position is inside the range specified by the relevant parameter. Setting in ZONE1 domain is available. It is on when the actuator current position is in the range of Parameter No. 1 “Zone Boundary 1 Positive Side”...
Page 144 ACON/DCON- CYB/PLB/POB [8] Brake Forcible Release (BKRL) Output PIO signal BKRL The brake can be released while BKRL signal is turned ON. For the actuator equipped with a brake, the brake can be controlled by turning the servo ON/OFF, however, a release of the brake may be necessary in the case of installing the unit to a system so the slider or rod can be moved by hand.
Page 145: Pulse Train Input Operation
ACON/DCON- CYB/PLB/POB Pulse Train Input Operation [1] Command Pulse Input (PP•/PP, NP•/NP) In the differential type (PLB type), it is able to have 200kpps of pulse train input at maximum. Pulse train input of 60kpps max. is available in the open collector type (POB type). 6 types of command pulse train can be selected.
Page 146 ACON/DCON- CYB/PLB/POB  Open collector type (ACON/DCON-POB) Command-pulse Input terminal Forward Reverse input pattern Forward pulse train Reverse pulse train Forward pulse trains indicate motor revolutions in the positive direction, while reverse pulse trains indicate motor revolutions in the reverse direction. Pulse train Sign Command pulses indicate motor revolutions, while the sign of the command indicates the rotating...
Page 147 ACON/DCON- CYB/PLB/POB 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 Speed [mm/s] Motor Rotation [rpm] =  60 Ball Screw • Lead Length [mm/rev] Time Constant 1G = 9800mm/s : Acceleration capable to accelerate up to 9800mm/s per...
Page 148 ACON/DCON- CYB/PLB/POB [3] Torque Limit Select (TL, TLR) Input Output PIO signal This signal is used to limit the torque of the motor. While the TL signal is ON, the actuator thrust (motor torque) can be limited to the torque set in Parameter No.57 [Torque Limit].
Page 149: Settings Of Basic Parameters Required For Operation
ACON/DCON- CYB/PLB/POB Settings of Basic Parameters Required for Operation It is a mandatory parameter to perform an operation. (The parameters listed in the table below three types may only be set if the actuator performs only positioning operation.) Parameter No. Parameter Name Details Electronic Gear Numerator This parameter determines the unit travel distance of...
Page 150 ACON/DCON- CYB/PLB/POB  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 3mm, equipped with an encoder of 800pulses/rev. Electronic Gear Numerator No. of Encoder Pluses [pulse/rev] ...
Page 151 ACON/DCON- CYB/PLB/POB [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 Initial Value Command Pulse – 0 to 2 Input Mode Setting Value Input...
Page 152: Parameter Settings Required For Advanced Operations
ACON/DCON- CYB/PLB/POB Parameter Settings Required for Advanced Operations Depending on systems and/or loads, set the following parameters if necessary. [1] Position Command Primary Filter Time Constant Input Name Unit Initial Value Range Position Command Primary 0.0 to Filter Time Constant 100.0 The acceleration/deceleration of the actuator can be set in S-shaped curve with this parameter setting.
Page 153 ACON/DCON- CYB/PLB/POB [4] Deviation Error Monitor During Torque Limiting Input Name Unit Initial Value Range Deviation Error Monitor During Torque Lmiting – 0 to 1 You can select whether to enable or disable the function to monitor deviation while torque is being limited the TL signal is ON.
Page 154 ACON/DCON- CYB/PLB/POB ME0354-3C...
Page 155: Chapter 5 Vibration Suppress Control Function (Acon-Cyb Dedicated Function)
CYB/PLB/POB Chapter 5 Vibration Suppress Control Function (ACON-CYB Dedicated Function) The vibration suppress control function suppresses vibrations of loads induced by our actuators. The function can suppress vibrations in the same direction as the movement of the actuator in the frequency range from 0.5Hz to 30Hz.
Page 156 For the key file, contact IAI.  Vibrations subject to vibration suppress control It is the vibration of the load generated by IAI actuator, and is in the same directions as the actuator movement.  Vibrations not subject to vibration suppress control...
Page 157: Setting Procedure
ACON/DCON- CYB/PLB/POB Setting Procedure To use the vibration suppress control function, make proper measurements and settings depending on the procedure described below. Before setting vibration suppress control 1) Provide start setting 1) Are steps up to trial adjustment 2 in according to Starting Starting Procedure/Positioner Mode Procedure/Positioner...
Page 158: Settings Of Parameters For Vibration Suppress Control
ACON/DCON- CYB/PLB/POB Settings of Parameters for Vibration Suppress Control Set the parameters associated with vibration suppress control, which are listed in the table below. Parameter Parameter Default Parameter Name Unit Input Range Set No. value Damping Characteristic Rate 0 to 1000 Coefficient 1 Damping Characteristic Rate...
Page 159 ACON/DCON- CYB/PLB/POB [4] Default Vibration Suppress No. (Parameter No.109) When a position is written into a position table not registered yet, the value set to this parameter is automatically entered in the “Vibration suppress No.” field. To change the setting, edit the position table later. 0: Normal position control (default) 1: Use Anti-Vibration Control Parameter Set 1 2: Use Anti-Vibration Control Parameter Set 2...
Page 160: Setting Of Position Data
ACON/DCON- CYB/PLB/POB 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. Position Speed Push...
Page 161: Chapter 6 Power-Saving Function (Automatic Servo-Off)
ACON/DCON- CYB/PLB/POB Chapter 6 Power-saving Function (Automatic Servo-OFF) This controller possesses Automatic Servo-OFF functions to reduce the power consumption while the actuator is stopped. Read the description in this chapter carefully to save power so that the controller can be operated safely. Automatically turns the servo OFF in certain time after positioning process is finished.
Page 162 ACON/DCON- CYB/PLB/POB (2) Set of power-saving mode Select a proper power-saving mode from the conditions below. Set the corresponding value in the [Stop Mode] or parameter No.53 of the position table. Set Value Operation after completion of positioning Servo ON not changed Automatic servo-OFF in a certain time (set in Parameter No.36) Automatic servo-OFF in a certain time (set in Parameter No.37) Automatic servo-OFF in a certain time (set in Parameter No.38)
Page 163: Chapter 7 Absolute Specification (Acon-Cyb Dedicated Function)
ACON/DCON- CYB/PLB/POB Chapter 7 Absolute Specification (ACON-CYB Dedicated function) Absolute Reset This controller is applied for the battery-less absolute type which retains the information of the encoder position even while the power is off. The battery-less absolute type does not usually require an absolute reset.
Page 164 ACON/DCON- CYB/PLB/POB (2) For Teaching Pendant (TB-02/TB-03) Press Alarm reset. Press Trial Operation on the Menu 1 screen. Press Jog inching on Test run screen. Touch Servo to turn the servo ON and touch Homing in Jog inching screen. ME0354-3C...
Page 165 ACON/DCON- CYB/PLB/POB (3) For Teaching Pendant (TB-01) Press Reset Alm. Press Trial Operation on the Menu 1 screen. Press Jog_Inching on Trial Operation screen. Touch SV OFF to turn the servo ON and touch HOME in Jog screen. ME0354-3C...
Page 166 ACON/DCON- CYB/PLB/POB ME0354-3C...
Page 167: Chapter 8 Parameter
ACON/DCON- CYB/PLB/POB Chapter 8 Parameter Parameters are the data to set up considering the system and application. When a change is required to the parameters, make sure to back up the data before the change so the settings can be returned anytime. With using PC software, it is able to store the backup to the PC.
Page 168: I/O Parameter List
ACON/DCON- CYB/PLB/POB I/O Parameter List The categories in the table below indicate whether parameters should be set or not. There are five categories as follows: A : Check the settings before use. B : Use parameters of this category depending on their uses. C : Use parameters of this category with the settings at shipments leaving unchanged as a rule.
Page 169 ACON/DCON- CYB/PLB/POB I/O Parameter List (continued) (green shaded area) shows the parameters dedicated for ACON. for Pulse Default Factory Relevant Name Unit Input Range Positioner Train (Note1) Setting Sections Mode Mode 0: Level B Movement command type – 8.2 [19] ...
Page 170 ACON/DCON- CYB/PLB/POB I/O Parameter List (continued) (green shaded area) shows the parameters dedicated for ACON. for Pulse Default Factory Relevant Name Unit Input Range Positioner Train (Note1) Setting Sections Mode Mode Command pulse input mode 0: Positive logic – 4.5[2] ...
Page 171 ACON/DCON- CYB/PLB/POB I/O Parameter List (continued) (green shaded area) shows the parameters dedicated for ACON. for Pulse Default Factory Relevant Name Unit Input Range Positioner Train (Note1) Setting Sections Mode Mode In accordance with C Feed forward gain 3 – 0 to 100 8.2 [53] ...
Page 172: Detail Explanation Of Parameters
ACON/DCON- CYB/PLB/POB Detail Explanation of Parameters Caution: • If parameters are changed, provide software reset or reconnect the power to reflect the setting values. • The unit [deg] is for rotary actuator and lever type gripper. Pay attention that it is displayed in [mm] in the teaching tools.
Page 173 ACON/DCON- CYB/PLB/POB Soft limit +, Soft limit - (Parameter No.3, No.4) Default Factory Name Unit Input Range Setting -9999.99 to Actual stroke on + Soft limit + (deg) 9999.99 side -9999.99 to Actual stroke on - Soft limit - (deg) 9999.99 side 0.3mm (deg) is added to the outside of the effective actuator stroke for the setting at the...
Page 174 ACON/DCON- CYB/PLB/POB Press & hold stop judgment period (Parameter No.6) Default Factory Name Unit Input Range Setting In accordance with Press & hold stop judgment period 0 to 9999 actuator Judging completion of pressing operation (1) For Standard type (PIO pattern 0 to 3) The operation monitors the torque (current limit value) in percent in “Pressing”...
Page 175 Normally this parameter need not be changed. If the home return should be completed before the correct position depending on the affixing method, load condition or other factors when the actuator is used in a vertical application, the setting value must be increased. Please contact IAI. ME0354-3C...
Page 176 ACON/DCON- CYB/PLB/POB [10] Pause input disable (Parameter No.15) Default Factory Name Unit Input Range Setting 0 : Enabling Pause input disable 1 : Disabling 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 177 In case there is a necessity of setting a value less than the initial setting, contact IAI. [16] Zone boundary 2+, Zone boundary 2- (Parameter No.23, No.24) Refer to [8.2 [1].] (Note) For ACON-PLB/POB and DCON-PLB/POB, this is valid when PIO pattern = 2 serial communication mode.
Page 178 ACON/DCON- CYB/PLB/POB [17] PIO pattern selection (Parameter No.25) Default Factory Name Unit Input Range Setting 0 to 6 (CYB) PIO pattern selection 0 to 1 (PLB/POB) Select the PIO operation pattern. For the details of PIO patterns, refer to Chapter 3. Positioner Mode and Chapter 4. Pulse Train Control Mode.
Page 179 ACON/DCON- CYB/PLB/POB [18] PIO jog velocity (Parameter No.26) Default Factory Name Unit Input Range Setting 1 to 250 (The maximum velocity should be the mm/s In accordance PIO jog velocity upper limit for the (deg/s) with actuator actuators with the maximum velocity less than 250.) It is the velocity setting when JOB is commanded in User Select Mode.
Page 180 ACON/DCON- CYB/PLB/POB [20] Default movement direction for excitation-phase signal detection (Parameter No.28) · · · Dedicated for ACON Default Factory Name Unit Input Range Setting 0 : Reversed Default movement direction for In accordance with direction excitation-phase signal detection actuator 1 : Forward direction The magnetic pole detection is performed at the first servo-ON after the power is turned on.
Page 181 ACON/DCON- CYB/PLB/POB [23] Velocity loop proportional gain (Parameter No.31) Default Factory Name Unit Input Range Setting In accordance with Velocity loop proportional gain 1 to 27661 actuator This parameter determines the response of the speed control loop. When the set value is increased, the follow-up ability to the velocity command becomes better (the servo-motor rigidity is enhanced).
Page 182 ACON/DCON- CYB/PLB/POB [25] Torque filter time constant (Parameter No.33) Default Factory Name Unit Input Range Setting In accordance with Torque filter time constant 0 to 2500 actuator This parameter decides the filter time constant for the torque command. When vibration and/or noises occur due to mechanical resonance during operation, this parameter may be able to suppress the mechanical resonance.
Page 183 ACON/DCON- CYB/PLB/POB [28] Auto servo motor OFF delay time 1, 2, 3 (Parameter No.36, No.37, No.38) Default Factory Name Unit Input Range Setting Auto servo motor OFF delay time 1 0 to 9999 Auto servo motor OFF delay time 2 0 to 9999 Auto servo motor OFF delay time 3 0 to 9999...
Page 184 ACON/DCON- CYB/PLB/POB [31] Enable function (Parameter No.42) Default Factory Name Unit Input Range Setting 0 : Enabling Enable function 1 : Disabling Set valid/invalid the deadman switch function if the teaching pendant is equipped with a deadman switch. Set Value Description Enable (Use the input signal) Disable (Does not use the input signal)
Page 185 ACON/DCON- CYB/PLB/POB [34] Velocity override (Parameter No.46) Default Factory Name Unit Input Range Setting Velocity override 1 to 100 When move commands are issued from the PLC, the moving speed set in the [Velocity] field of the position table can be overridden by the value set by this parameter. Actual movement velocity = [Velocity set in the position table] ×...
Page 186 ACON/DCON- CYB/PLB/POB [37] Default acceleration/deceleration mode (Parameter No.52) Default Factory Name Unit Input Range Setting Default acceleration/deceleration 0 to 2 0 (Trapezoid) mode When a target position is written to an unregistered position table, this value is automatically set as the “Acceleration/deceleration mode” of the applicable position number. Set Value Description Trapezoid...
Page 187 ACON/DCON- CYB/PLB/POB [41] S-shaped motion rate (Parameter No.56) Default Factory Name Unit Input Range Setting S-shaped motion rate 0 to 100 This parameter is used when the value in the [Acceleration/deceleration mode] field of the position table is set to “1 (S-shaped motion)”. This enables to ease the impact at acceleration and deceleration without making the takt time longer.
Page 188 ACON/DCON- CYB/PLB/POB [42] Torque limit (Parameter No.57) This parameter is exclusively used for the pulse-train control mode. Refer to [Chapter 4. Operation of PLB/POB Type] [43] Deviation clear at servo OFF & alarm stop (Parameter No.58) This parameter is exclusively used for the pulse-train control mode. Refer to [Chapter 4.
Page 189 ACON/DCON- CYB/PLB/POB [53] Position feed forward gain (Parameter No.71) Default Factory Name Unit Input Range Setting Feed forward gain 0 to 100 This parameter defines the level of feed forward gain to be applied to position control. Setting this parameter allows the servo gain to be increased and the response of the position control loop to be improved.
Page 190 ACON/DCON- CYB/PLB/POB [55] Axis operation type (Parameter No.78) Default Factory Name Unit Input Range Setting 0: Linear Axis In accordance with Axis operation type 1: Rotary Axis actuator This parameter defines the type of the actuator used. Connected Actuator Set Value Reference Linear axis Actuator other than rotational axis...
Page 191 ACON/DCON- CYB/PLB/POB [57] Rotational axis shortcut selection (Parameter No.80) Default Factory Name Unit Input Range Setting 0: Disabling In accordance with Rotational axis shortcut selection 1: Enabling actuator Select whether valid/invalid the shortcut when positioning is performed except for when having the relative position movement in the multiple rotation type rotary actuator.
Page 192 ACON/DCON- CYB/PLB/POB [60] Damping characteristic coefficient 1, 2 / Natural frequency / Notch filter gain (Parameter No.97 to No.108) ··· Dedicated for ACON This parameter is exclusively used for vibration suppress control. Name Parameter No. Parameter set 1 Damping characteristic coefficient 1 Damping characteristic coefficient 2 Natural frequency Notch filter gain...
Page 193 ACON/DCON- CYB/PLB/POB [63] Monitoring mode (Parameter No.112) Default Factory Name Unit Input Range Setting 0: Does not use 1: Monitor function 1 Monitoring mode 2: Monitor function 2 3: Monitor function 3 The controller can be connected with PC software to monitor the servo.。 This parameter allows you to select a monitoring mode function (servo monitor).
Page 194 ACON/DCON- CYB/PLB/POB [68] Velosity loop integral gain 1 (Parameter No.123) ··· Dedicated for ACON This parameter determines the response of the speed control loop. Refer to [description of Parameter No.32.] [69] Torque filter time constant 1 (Parameter No.124) ··· Dedicated for ACON This parameter decides the filter time constant for the torque command.
Page 195 ACON/DCON- CYB/PLB/POB [78] Feed forward gain 3 (Parameter No.133) ··· Dedicated for ACON This parameter defines the feed forward gain of the position control system. Refer to [description of Parameter No.71.] [79] Velocity loop proportional gain 3 (Parameter No.134) ··· Dedicated for ACON This parameter determines the response of the speed control loop.
Page 196 ACON/DCON- CYB/PLB/POB [84] Home Preset Value (Parameter No.139) ··· Dedicated for ACON Default Factory Name Unit Input Range Setting -9999.99 to In accordance with Home preset value 9999.99 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 197 ACON/DCON- CYB/PLB/POB [85] Overload level ratio (Parameter No.143) Default Factory Name Unit Input Range Setting Overload level ratio 50 to 100 With the estimated risen temperature to generate overload alarm set as 100%, the overload warning (message level) alarm is output when the motor temperature has exceeded the ratio set in this parameter.
Page 198 ACON/DCON- CYB/PLB/POB [86] Total movement count threshold (Parameter No.147) Default Factory Name Unit Input Range Setting Total movement count threshold Times 0 to 999999999 0 (Disabling) A light error alarm is generated when the total movement count exceeds the value set to this parameter.
Page 199 ACON/DCON- CYB/PLB/POB [90] Delay time after shutdown release (Parameter No.165) Default factory Name Unit Input Range setting Delay time after shutdown release 0 to 1000 It is used in purpose to scatter the in-rush current when the power is supplied to multiple controllers from one power source.
Page 200 ACON/DCON- CYB/PLB/POB [92] Pressing Method (Parameter No.181) Default factory Name Unit Input Range setting 0: CON system Pressing Method 1: SEP system Pressing system can be selected from either the one same as CON system such as ACON controllers or the one same as SEP system such as ASEP. (Note) For ACON-PLB/POB and DCON-PLB/POB, this is valid when PIO pattern = 2 serial communication mode.
Page 201 ACON/DCON- CYB/PLB/POB [94] Output Signal Classification (Parameter No.186) Default factory Name Unit Input Range setting 0: Limit switch Output Signal Classification 1: Completion position It is valid in PIO Pattern 3 or 4. Limit switch (LS*): Regardless of indicated position number, just like detection is performed with a sensor, the applicable LS* Signal turns ON once it gets into the setting range.
Page 202: Servo Adjustment
Take sufficient note on the setting. Record settings during servo adjustment so that prior settings can always be recovered. When a problem arises and the solution cannot be found, please contact IAI. 8.3.1 Adjustment of the ACON Situation that Requires...
Page 203 ACON/DCON- 8.3.1 CYB/PLB/POB Situation that Requires How to Adjust Adjustment Abnormal noise is ● Input the [Torque Filter Time Constant] to parameter No.33. generated. Try to increase by 50 as a reference for the setting. If the Especially, when stopped setting is too large, it may cause a loss of control system state and operation in stability and lead the generation of vibration.
Page 204 Proportional Integral Gain Gain 1259 2833 Contact IAI if no improvement in operation is confirmed. Abnormal noise occurs. Set “Velocity Loop Integrated Gain” and “Velocity Loop Remarkably high noise Integrated Gain” to the following values and check the occurs especially at operation.
Page 205: Chapter 9 Troubleshooting
ACON/DCON- CYB/PLB/POB Chapter 9 Troubleshooting Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take an appropriate action according to the procedure below in order to ensure quick recovery and prevent recurrence of the problem. Status Display LED on Controller and PIO Check : Illuminating ×: OFF ☆: Flashing Status of PIO Output Signal...
Page 206: Fault Diagnosis
LEDs (2) Servo ON command (PIO) is not is supplied and the wiring is in does not go on. input to IAI controller. the right condition. ● Poor contact of flat cable Refer to [2.3.1 Wiring Layout of (3) Occurrence of alarm.
Page 207 ACON/DCON- 9.2.1 CYB/PLB/POB [In the case of Positioner Mode] Situation Possible Cause Check/Treatment Both position No. and There is a problem either in PIO signal 1) Is the status display LED SV start signal are input to treatment, position table setting or turned ON? Refer to [Name for the controller, but the operation mode selection.
Page 208 ACON/DCON- 9.2.1 CYB/PLB/POB [Startup Adjustment with Teaching Tool when Control Circuit Incomplete] Situation Possible Cause Check/Treatment Operation is not Cable treatment or mode selection. 1) Supply 24V DC to EMG- performed even though 1) Emergency stop condition terminal of the power the teaching tool is 2) Servo OFF condition connector.
Page 209: Positioning And Speed Of Poor Precision (Incorrect Operation)
Instruction Manual. 2) It is touched to interference in the 4) Please contact IAI. way of the run. 3) Torsion stress is applied to guide due to improper fixing method of the actuator or uneven fastening of bolts.
Page 210 ACON/DCON- 9.2.2 CYB/PLB/POB [In the case of Pulse Train Control Mode] Situation Possible Cause Check/Treatment The actuator does not PIO signal processing or parameter 1) Check the setting of electronic stop at the command setting is incorrect. gear ratio. The host controller position.
Page 211: Generation Of Noise And/Or Vibration
ACON/DCON- 9.2.3 CYB/PLB/POB 9.2.3 Generation of Noise and/or Vibration Situation Possible Cause Check/Treatment Generation of noise Noise and vibration are generated by Servo adjustment may improve the and/or vibration from many causes including the status of situation. actuator itself load, the installation of the actuator, Refer to [8.3 Servo Adjustment.] and the rigidity of the unit on which the actuator is installed.
Page 212: Impossible Communication
ACON/DCON- 9.2.4 CYB/PLB/POB 9.2.4 Impossible Communication Situation Possible Cause Check/Treatment Not connectable with 1) Communication rates do not 1) Set the communication rate to host machine match. match that of the host 2) The machine number (station machine. Refer to [the number) is set to be duplicate with Instruction Manual of the host that of another unit or out of the...
Page 213: Alarm Level
Caution: Reset each alarm after identifying and removing the cause. If the cause of the alarm cannot be removed or when the alarm cannot be reset after removing the cause, please contact IAI. If the same error occurs again after resetting the alarm, it means that the cause of the alarm has not been removed.
Page 214: Alarm List
Cause : The maintenance information (total movement data error count, total operated distance) is lost. Treatment : Please contact IAI. Move command in servo Cause : A move command was issued when the servo is OFF. Treatment : Issue a movement command after confirming the servo is ON (servo ON signal (SV) or position complete signal (PEND) is ON).
Page 215 ACON/DCON- CYB/PLB/POB Alarm Alarm Alarm Name Cause/Treatment Code Level DCLR signal detection Cause : 1) Datum position movement command (RSTR) with datum position signal was turned on while deviation counter Operation movement command clear (DCLR) signal was ON. release 2) DCLR signal was turned ON during datum position movement Treatment : Turn ON DCLR signal in the right timing.
Page 216 Treatment : When this alarm is generated on the actuators object to control, and if the same phenomenon occurs even after a power reboot, contact IAI. Electric angling Cause : There was an error detected in the magnetic pole...
Page 217 4) If the loaded weight is within the specified range of the actuator, shut down the power and check the sliding resistance by moving the actuator with hand. Contact IAI if any problem is found on the actuator. Magnetic pole undefined...
Page 218 Treatment : This alarm will not be generated in normal operation. It can be considered as the insulation degradation of the motor winding or malfunction of the controller. Please contact IAI. Overheat Cause : This indicates overheat (90C or more) of the components inside the controller.
Page 219 2) Check the power supply voltage around the power supply connector on the controller or contact of the power supply connector. Contact IAI in case the condition would not recover. Deviation overflow Cause : This alarm indicates that the position deviation counter has overflowed.
Page 220 Cold start the controller. Please contact IAI. 3) In the case that the work can be moved by hand, move it. Then, check that there is no location where a sliding resistant is too large.
Page 221 Take proper measures against noise. If the cause is due to 3) or 4), it is necessary to replace the actuator (motor part) or controller. If the cause cannot be specified, please contact IAI. Cold start A- and B-phase wire Cause : Encoder signals cannot be detected correctly.
Page 222 If a spare controller is available, replace the problem controller with the spare controller. A recurring error with the spare controller suggests presence of noise. If the cause cannot be identified, please contact IAI. 100 to Message Alarm on teaching tool Refer to [the Instruction Manual of teaching tool.]...
Page 223: Chapter 10 Appendix
ACON/DCON- 10.1.1 CYB/PLB/POB Chapter 10 Appendix 10.1 Way to Set Multiple Controllers with 1 Teaching Tool It is usually necessary to connect the teaching tool to the controllers one by one when making a setup to multiple controllers with one unit of teaching tool. In this section, explains how to perform the settings without connecting and disconnecting the plug.
Page 224: Detailed Connection Diagram Of Communication Lines
ACON/DCON- 10.1.2 CYB/PLB/POB 10.1.2 Detailed Connection Diagram of Communication Lines Double Shield Cable (Note 1) SIO Converter 4-way Junction (Manufactured by AMP : 5-1473574-4) Recommended : Taiyo Cabletec Corp. HK-SB/20276XL (AWG22) J4, J5 (SGA) A (SGB) B Teaching Pendant Mini DIN Personal Shield 8 pin...
Page 225: Handling Of E-Con Connector (How To Connect)
ACON/DCON- 10.1.4 CYB/PLB/POB 10.1.4 Handling of e-CON Connector (How to Connect) Clamp Lever 1) Check the applicable cable size. Check the applicable cable. If it is not Pin No. applicable, it may cause a connection failure or a breakage of the connector. 2) Check the pin numbers, do not reveal the sheath, and insert the cable till it reaches the end.
Page 226: Sio Converter
ACON/DCON- 10.1.5 CYB/PLB/POB 10.1.5 SIO Converter The SIO converter converts the communication mode from RS-232C to RS-485 or vice versa. 7) e-CON Connector 2) Link-connection 1) Power/Emergency Stop Terminal Board (TB1) Terminal Board (TB2) 6) LED Indicators for Monitoring 3) D-sub, 9-pin Connector 5) PORT Switch 4) Mini DIN, 8-pin Connector 1) Power/Emergency Stop Terminal Board (TB2)
Page 227 ACON/DCON- 10.1.5 CYB/PLB/POB 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 228 ACON/DCON- 10.1.6 CYB/PLB/POB 10.1.6 Communications Controller Link Cable (CB-RCB-CTL002) Controller Side 200mm e-CON Connector 3-1473562-4 (Housing Color :Orange) Mini DIN Connector Yellow Orange Blue 10.1.7 External Dimension (Leg Element Bottom Side) (Leg Element Top Side) ME0354-3C...
Page 229: Consumed Parts
ACON/DCON- 10.2.1 CYB/PLB/POB 10.2 Maintenance 10.2.1 Consumed Parts These parts below have production life. Shown below is the reference. Item Life Specification Electrolytic capacitor 5 years 0 to 40C 10.2.2 Maintenance Information The times of actuator run and distance of operation can be summed up and recorded (Note 1) the controller.
Page 230: List Of Specifications Of Connectable Actuators
 Do not change the setting of push speed (parameter No.34). If you must change the push speed, consult IAI.  If, among the operating conditions, the positioning speed is set to a value equal to or smaller than the push speed, the push speed will become the set speed and the specified push force will not generate.
Page 231 ACON/DCON- 10.3.1 CYB/PLB/POB RCA2 Series No. of Maximum Minimum Maximum Rated Actuator Feed Motor Mounting Minimum Type encoder Lead Maximum speed acceleration/ push push push series screw output direction speed pulses deceleration force force speed [mm] [mm/s] [mm/s] [mm/s] 600 (at 50 to 550st) Horizontal 570 (at 600st) 490 (at 650st)
Page 232 ACON/DCON- 10.3.1 CYB/PLB/POB RCA2 Series No. of Maximum Minimum Maximum Rated Actuator Feed Motor Mounting Minimum Type encoder Lead Maximum speed acceleration/ push push push series screw output direction speed pulses deceleration force force speed [mm] [mm/s] [mm/s] [mm/s] [Standard] Horizontal RN3NA Vertical...
Page 233 ACON/DCON- 10.3.1 CYB/PLB/POB RCA2 Series No. of Maximum Minimum Maximum Rated Actuator Feed Motor Mounting Minimum Type encoder Lead Maximum speed acceleration/ push push push series screw output direction speed pulses deceleration force force speed [mm] [mm/s] [mm/s] [mm/s] 270 (at 30st) Horizontal 300 (at 50st) 220 (at 30st)
Page 234 ACON/DCON- 10.3.1 CYB/PLB/POB RCA Series No. of Maximum Minimum Maximum Rated Actuator Feed Motor Mounting Minimum Type encoder Lead Maximum speed acceleration/ push push push series screw output direction speed pulses deceleration force force speed [mm] [mm/s] [mm/s] [mm/s] 0.3 / 1.0 Incremental (Note 1) (Note 2)
Page 235 ACON/DCON- 10.3.1 CYB/PLB/POB RCA Series No. of Maximum Minimum Maximum Rated Actuator Feed Motor Mounting Minimum Type encoder Lead Maximum speed acceleration/ push push push series screw output direction speed pulses deceleration force force speed [mm] [mm/s] [mm/s] [mm/s] 400 (at 50 to 450st) Incremental 0.3 / 1.0 380 (at 500st)
Page 236 ACON/DCON- 10.3.1 CYB/PLB/POB RCA Series No. of Maximum Minimum Maximum Rated Actuator Feed Motor Mounting Minimum Type encoder Lead Maximum speed acceleration/ push push push series screw output direction speed pulses deceleration force force speed [mm] [mm/s] [mm/s] [mm/s] 0.3 / 1.0 [Standard] (Note 2) [Dust and...
Page 237 ACON/DCON- 10.3.1 CYB/PLB/POB RCL Series No. of Maximum Minimum Maximum Rated Actuator Feed Motor Mounting Minimum Type encoder Lead Maximum speed acceleration/ push push push series screw output direction speed pulses deceleration force force speed [mm] [mm/s] [mm/s] [mm/s] RA1L 0.75 Horizontal: 2G Horizontal/...
Page 238  Do not change the setting of push speed (parameter No.34). If you must change the push speed, consult IAI.  If, among the operating conditions, the positioning speed is set to a value equal to or smaller than the push speed, the push speed will become the set speed and the specified push force will not generate.
Page 239: Chapter 11 Warranty
11.1 Chapter 11 Warranty 11.1 Warranty Period One of the following periods, whichever is shorter: • 18 months after shipment from our factory • 12 months after delivery to a specified location 11.2 Scope of the Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
Page 240: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications
11.5 11.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
Page 241: Change History
Change History Revision Date Revision Description 2016.03 First Edition 2016.05 1C Edition Line color correction of I/O cable 2016.07 1D Edition P181 Note added to section for Parameter No. 165 2018.05 1E Edition Description revised for International Standards Compliances P8, 212 Note added and changed in cause for Pulse Train Control Mode P123, 135...
Page 242 Revision Date Revision Description 2021.12 Third Edition General PCON-PLB/POB supports serial communication mode Change made to the description in “Please Read Before Use” due to discontinuation of the Instruction Manual DVD Content revised for the Safety Guide 2024.06 3B Edition Added in External dimensions drawing of screw fixing type A table of encoder pulses is provided.

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