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IAI ACON-CB Series Instruction Manual

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ACON-CB
DCON-CB
Instruction Manual
CB
Standard Type
CGB Safety Category Complied Type
Series Controller
Third Edition
ME0343-3A
Controller Overview
Specifications
Wiring
Operation
Various Functions
Parameter
Maintenance and
Inspection
Troubleshooting
Appendix
Warranty
1
Chapter
2
Chapter
3
Chapter
4
Chapter
5
Chapter
6
Chapter
7
Chapter
8
Chapter
9
Chapter
10
Chapter

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Summary of Contents for IAI ACON-CB Series

  • Page 1 Standard Type ACON-CB CGB Safety Category Complied Type DCON-CB Series Controller Instruction Manual Third Edition ME0343-3A Controller Overview Chapter Specifications Chapter Wiring Chapter Operation Chapter Various Functions Chapter Parameter Chapter Maintenance and Inspection Chapter Troubleshooting Chapter Appendix Chapter Warranty Chapter...

  • Page 3: Please Read Before Use

    ● This instruction manual is an original document dedicated for this product. ● This product cannot be used in ways not shown in this instruction manual. IAI shall not be liable for any result whatsoever arising from the use of the product in any other way than what is noted in the manual.
  • Page 4 Configuration of Instruction manual related to A/DCON-C(G)B Control Product name Instruction manual name number A/DCON-C(G)B This document ME0343 PC Software PC Software ME0391 IA-OS IA-OS First Step Guide RCM-101-MW/ RCM-101-USB Instruction ME0155 RC/EC PC software Manual TB-01/01D/01DR Touch Panel Teaching Pendant Applicable for Position Controller ME0324 TB-02...

  • Page 5: Table Of Contents

    Contents Safety Guide ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-1 Precautions for Handling ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-8 Precautions for PC connection to Controller grounded at positive terminal of 24V DC power supply ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-13 International Standard Compliance ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-14 Actuator Coordinate System ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-15 Chapter 1 Controller Overview Overview ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 6 Options ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-23 2.6.1 Pulse Converter (Model : AK-04) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-23 2.6.2 Absolute Battery • Absolute Battery Unit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-24 Installation and Storage Environment ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-27 2.7.1 Installation Environment ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-27 2.7.2 Storage and Preservation Environment ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-27 Noise Elimination and Mounting Method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-28 2.8.1 Noise Elimination ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 7 4.2.6 Direct Position Specification (Operation of PIO Pattern 5) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-65 Operation in Pulse Train Control Mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-75 4.3.1 I/O Signal Controls ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-77 4.3.2 Operation Ready and Auxiliary Signals ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-78 4.3.3 Pulse Train Input Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-88 4.3.4 Settings of Basic Parameters Required for Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 8 7.4.1 Replacement of Absolute Battery ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-6 Preventive Maintenance Function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-8 7.5.1 Maintenance Information ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-8 Predictive Maintenance Function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-11 7.6.1 Overload Warning ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-11 Chapter 8 Troubleshooting Action to Be Taken upon Occurrence of Problem ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-1 Fault Diagnosis ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

  • Page 9: Conformance With Applicable Standards/Regulations, Etc

    9.4.2 Push Force / Gripping Force and Current Limit Value ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-40 Chapter 10 Warranty 10.1 Warranty Period ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-1 10.2 Scope of the Warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-1 10.3 Honoring the Warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-1 10.4 Limited Liability ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-2 10.5 Conformance with Applicable Standards/Regulations, etc., and Application Conditions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 10 ME0343-3A...

  • Page 11: Safety Guide ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-1

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

  • Page 12: Storage And Preservation

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

  • Page 15: Operation Description

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

  • Page 17: Alert Indication

    Safety Guide Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the instruction manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger Danger product is not handled correctly, will result in death or serious injury.

  • Page 18: Precautions For Handling ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-8

    Precautions for Handling Precautions for Handling 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. Use the correct teaching tool. Refer to the following item and use compatible tools for PC software and teaching pendant usable for this controller.
  • Page 19 Precautions for Handling The PIO pattern is set to “0” (Standard Type) when the unit is delivered. Set the operation pattern setting to the logic that suits to your use after the power is turned on. Warning ● Please note it is very risky when the control sequence and PIO pattern setting do not match to each other.
  • Page 20 Precautions for Handling In pulse train control mode, actuator operation is unavailable through serial communication. In the pulse train control mode, the actuator operation is unavailable through serial communication. However, it is possible to monitor the current status. Actuator would not operate without servo-on and pause signals. (1) Servo ON Signal (SON) Servo ON signal (SON) is selectable from “Enable”...
  • Page 21 Precautions for Handling Creation of sequence programs When creating a sequence program, be careful of the following. If exchanging data between devices with different scan time, the length of time required for a reliable signal reading process is greater than the longer scan time. (In order to safely perform the reading process on the PLC side, we recommend using a timer set value of at least twice the longer scan time.)
  • Page 22 Precautions for Handling 10. PLC Timer Setting Do not have the PLC timer setting to be done with the minimum setting. Setting to “1” for 100ms timer turns ON at the timing from 0 to 100ms while 10ms timer from 0 to 10ms for some PLC.

  • Page 23: Precautions For Pc Connection To Controller

    Precautions for PC connection to Controller grounded at positive terminal of 24V DC power supply Precautions for PC connection to Controller grounded at positive terminal of 24V DC power supply Use the SIO isolator (RCB-ISL-SIO) in order to connect a PC on the SIO connector on the controller when the positive side of the 24V DC power supply is grounded.

  • Page 24: International Standard Compliance ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-14

    International Standard Compliance International Standard Compliance This product complies with the following overseas standards. Refer to the Overseas Standard Compliance Manual (ME0287) for more detailed information. RoHS3 Directive CE Marking UL Certification ○ ○ (Note 1) ○ Note 1: Those in type for CC-Link IE Field connection and MECHATROLINK-I/II connection are not complied.

  • Page 25: Actuator Coordinate System ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-15

    ● For models with which change is not possible, the actuator must be replaced. Contact IAI if anything is unclear. The 0 in the figure below shows home. The parentheses show home reverse specification. (1) Rod type...
  • Page 26 Actuator Coordinate System (3) Table type Motor side (4) Arm type Motor side (5) Gripper type Open end Open end Intro-16 ME0343-3A...

  • Page 27: Chapter 1 Controller Overview

    A/DCON-CB Chapter Controller Overview 1.1 Overview ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-1 1.2 System Configuration ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-2 1.3 Name for Each Parts and Their Functions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-3 1.4 Starting Procedures ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-9...

  • Page 29: Overview

    * Keep this manual to a place easy to access when necessary to read again. * The contents in this manual should cover everything considerable, however, please contact IAI in case of any awareness to mistakes or consideration.

  • Page 30: System Configuration

    1.2 System Configuration 1.2 System Configuration The following shows the system configuration. Field network Teaching tool Connectable actuators Model : TB-02 Model : IA-OS TB-03 RCM-101-MW RCA2 RCM-101-USB Simple Absolute Battery Power supply unit Battery Unit : AB-7 ACON-CB/CGB Simple Absolute Battery Unit︓SEP-ABU Model : PSA-24 Field network Teaching tool...

  • Page 31: Name For Each Parts And Their Functions

    1.3 Name for Each Parts and Their Functions 1.3 Name for Each Parts and Their Functions ACON-CB/CGB 5. Controller Status Indicator LED 4. PIO Connector/ Field Network Connector 6. LED for Power/Alarm Monitoring 7. Axis Number Setting Switch 8. Operation Mode Setting Switch 9.
  • Page 32 1.3 Name for Each Parts and Their Functions DCON-CB/CGB 5. Controller Status Indicator LED 4. PIO Connector/ Field Network Connector 6. LED for Power/Alarm Monitoring 7. Axis Number Setting Switch 8. Operation Mode Setting Switch 9. SIO Connector 3. Absolute Battery 10.
  • Page 33 1.3 Name for Each Parts and Their Functions Absolute Battery Status Indicator LED It is equipped if applicable for Simple Absolute Type (option). It displays the status such as battery charge condition and error generation.  : Illuminating × : OFF Operation status RDY(GN)/ 1 (GN/RD)

  • Page 34: Operation Status

    1.3 Name for Each Parts and Their Functions Controller Status Indicator LED Following show the controller operation status:  : Illuminating × : OFF ☆ : Flashing Operation status SV (GN) ALM (RD) Control Power OFF × × Servo OFF Alarm(Operation Cancellation Level or more) ×...
  • Page 35 1.3 Name for Each Parts and Their Functions Axis Number Setting Switch It is the switch to set the axis numbers when having an operation of multiple axes by the serial communication, or when having the gateway operation. Using the SIO converter allows multiple axes to be controlled on a teaching tool without connection/disconnection of the connection cable connector.

  • Page 36: Power Supply Connector

    1.3 Name for Each Parts and Their Functions 11 Brake Release Switch (BK RLS/NOM) For the actuator equipped with a brake, the switch is used to release the brake forcibly. BK RLS ꞏꞏꞏꞏ Brake forcible release NOM ꞏꞏꞏꞏꞏꞏꞏꞏ Normal operation (brake is activated) Warning ●...

  • Page 37: Starting Procedures

    6. Each Field Network Instruction Manual (ME0254, etc.) Field Network Setting File 7. Each Instruction Manual of the Actuator File (e.g. EDS File) Download it in IAI homepage www.iai-robot.co.jp/knowledge/ support/network/index.html Check the operation modes and control methods available on the controller you have purchased.
  • Page 38 1.4 Starting Procedures Step2 Installation External Dimensions * Check in [2.4 External View] as they differ for each type.  Controller Absolute Battery Unit (option for Simple Absolute Type) 84.8 69.6 Noise Elimination Grounding (Frame Ground)  2． Screw fixed type DIN rail fixed type Connect the ground cable using the screw hole for FG connection on the...
  • Page 39 1.4 Starting Procedures Step3 Wiring [Positioner Operation] Refer to [3.1] and [3.2] [Pulse Train Control] Refer to [3.1] and [3.3] [Field Network Specification] Refer to [3 3] and [Instruction Manual of each field network] * Refer to [Chapter 3 Wiring] for wiring layout Example for Basic Wiring as the signals/features differ for each PIO Host System...
  • Page 40 1.4 Starting Procedures Step5 Operate Unit How you should look in the instruction manuals will differ depending on the operation modes and control methods you choose. Establish the settings for your operation needs. ● For Positioner Operation Basic Operation Methods ⇒ ⇒ 4.2 Operation in Positioner Mode ●...
  • Page 41 A/DCON-CB Chapter Specifications 2.1 Product Check ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-1 2.1.1 Parts ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-1 2.1.2 Teaching Tool ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-2 2.1.3 How to Read the Model Plate ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-3 2.1.4 How to Read the Model ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-4 2.2 Operation Modes and Functions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-6 2.2.1 Operation Mode of Controller ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 42 2.4.5 For Absolute Screw-fixed Type ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-18 2.4.6 For Absolute DIN Rail-fixed Type ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-19 2.4.7 Absolute Battery Unit (Option for Simple Absolute Type) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-20 2.5 I/O Specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-21 2.5.1 PIO Input and Output Interface ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-21 2.5.2 Pulse Train Input Output Interface ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-22 2.6 Options ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

  • Page 43: Product Check

    2.1 Product Check 2.1 Product Check 2.1.1 Parts Shown in the table below are the product structures in the standard types. Check the accessories in the packaging details. If you find any fault in the contained model or any missing parts, contact us or our distributor. Part Name Shape Quantity...

  • Page 44: Teaching Tool

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

  • Page 45: How To Read The Model Plate

    0-24Vac,3ph,0-333Hz, Output Power ***** Actuator CAUTION: Connect the wiring correctly and Actuator model properly, use IAI specified cables or min 60°C Cu wire. Serial number SN: A40969951 1. NP/PN (Dedicated for positioner operation) ACON-CB-20I-NP-0-0 2. PLN/PLP (Select from positioner and pulse train) L=10 3.

  • Page 46: How To Read The Model

    [1] ACON-CB/CGB A C O N - C B - 20 WAI - N P - 2 - 0 - A B - D N - * * <Identification for IAI use only> <Series> * There is no identification in some cases <Type>...
  • Page 47 2.1 Product Check [2] DCON-CB/CGB D C O N - C B - 3 I - N P - 2 - 0 - D N - * * <Identification for IAI use only> <Series> * There is no identification in some cases <Type>...

  • Page 48: Operation Modes And Functions

    2.2 Operation Modes and Functions 2.2 Operation Modes and Functions There are 8 types of operation patterns equipped in this controller so the controller suits for various ways of use. The operation pattern setting should be established in Parameter No. 25 “PIO Pattern”. 2.2.1 Operation Mode of Controller There are two types of operation modes equipped in this product.

  • Page 49: Positioner Mode

    2.2 Operation Modes and Functions 2.2.2 Positioner Mode Refer to [3.2.2 [3] PIO Circuit] for wiring for each PIO pattern and [4.2 Operation in Positioner Mode] for details of how to operate and the main features. [1] PIO Patterns in Positioner Mode Value set in Type parameter...
  • Page 50 2.2 Operation Modes and Functions [2] List of Main Features in Each PIO Pattern : Valid function  PIO Pattern (Parameter No.25) Solenoid Solenoid Positioning Teaching 256-point 512-point Valve Valve Mode Mode Mode mode mode Mode 1 Mode 2 Number of positioning points Operation with the Position ×...

  • Page 51: Pulse Train Control Mode

    2.2 Operation Modes and Functions 2.2.3 Pulse Train Control Mode Switching between the positioner mode and the pulse train control mode should be available in the parameters for the pulse train control type (I/O type PLN and PLP) in A/DCON-CB. There are two types of control systems in the pulse train control mode.

  • Page 52: Field Network Operation Modes And Features

    2.2 Operation Modes and Functions 2.2.4 Field Network Operation Modes and Features In the field network, there are following operation modes available to select from and used for operation. (Motion network excluded) Operation should be made by writing the data necessary for operation (target position, velocity, acceleration, pressing current, etc.) to the specified addresses from a host connected device such as PLC.
  • Page 53 2.2 Operation Modes and Functions [2] List of Applicable Field Networks Applicable for the field network shown in the list below. Except for RS-485 (Modbus), it is the option which can be selected when purchasing. It cannot be changed after the product is delivered. Also, for the field network other than RS-485, PIO cannot be equipped.

  • Page 54: List Of Basic Specifications

    2.3 List of Basic Specifications 2.3 List of Basic Specifications The specifications of this product are as shown below. Item ACON-CB DCON-CB Number of Controlled Axes 1 axis Power-supply Voltage 24V DC 10% Low Power Motor Type Series Rated Consumption Max.
  • Page 55 2.3 List of Basic Specifications Item ACON-CB DCON-CB Data Retention Memory Saves position data and parameters to non-volatile memory (There is no limitation in number of writing.) Operation Mode Positioner mode/Pulse train control mode (selected by parameter setting) Number of Positions in Positioner Mode Standard 64 points, max.

  • Page 56: External View

    2.4 External View 2.4 External View Dimensions are the same for ACON and DCON. * There is only Incremental Type for DCON-CB. 2.4.1 For Battery-less Absolute/Incremental Screw-fixed Type 84.8 69.6 2-14 ME0343-3A...

  • Page 57: For Battery-Less Absolute/Incremental Din Rail-Fixed Type

    2.4 External View 2.4.2 For Battery-less Absolute/Incremental DIN rail-fixed Type 93.3 78.1 (for FG cable attachment) 2-15 ME0343-3A...

  • Page 58: Simple Absolute Screw-Fixed Type

    2.4 External View 2.4.3 Simple Absolute Screw-fixed Type 84.8 69.6 (40.5) (58) 2-16 ME0343-3A...

  • Page 59: For Simple Absolute Din Rail-Fixed Type

    2.4 External View 2.4.4 For Simple Absolute DIN rail-fixed Type 93.3 78.1 (for FG cable attachment) (58) 2-17 ME0343-3A...

  • Page 60: For Absolute Screw-Fixed Type

    2.4 External View 2.4.5 For Absolute Screw-fixed Type 84.8 69.6 2-18 ME0343-3A...

  • Page 61: For Absolute Din Rail-Fixed Type

    2.4 External View 2.4.6 For Absolute DIN Rail-fixed Type 93.3 78.1 2-19 ME0343-3A...

  • Page 62: Absolute Battery Unit (Option For Simple Absolute Type)

    2.4 External View 2.4.7 Absolute Battery Unit (Option for Simple Absolute Type) 1. DIN Rail Mounting Type 72.2 66.2 2. Screw Fixing Type 73.5 (7.3) 66.2 2-20 ME0343-3A...

  • Page 63: I/O Specifications

    2.5 I/O Specifications 2.5 I/O Specifications 2.5.1 PIO Input and Output Interface Input Section Output Section Input Voltage 24V DC 10% Load Voltage 24V DC Peak Load Specification Input Current 5mA 1circuit Electric 50mA 1circuit Current ON/OFF Leakage ON Voltage MIN. 18V DC MAX.

  • Page 64: Pulse Train Input Output Interface

    2.5 I/O Specifications 2.5.2 Pulse Train Input Output Interface 2-22 ME0343-3A...

  • Page 65: Options

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

  • Page 66: Absolute Battery • Absolute Battery Unit

    2.6 Options 2.6.2 Absolute Battery • Absolute Battery Unit [1] Simple absolute type Shown below is the specifications of the absolute battery used for the simple absolute type controller. Item Specifications Model AB-7 (For absolute battery unit *: SEP-ABU) Battery voltage 3.6V Current capacity 3,300mAh...
  • Page 67 Item Specifications Battery classification Thionyl chloride lithium batteries TOSHIBA HOME APPLIANCES CORP Battery manufacturer’s name Or, Maxell, Ltd. Battery model (IAI model) AB-5 Battery nominal voltage 3.6V Current standard capacity 2,000mAh 2 years after use (if left unused without power supply to controller)
  • Page 68 2.6 Options After the power is supplied to the controller, they are usually on and turned OFF when an error is detected. Replace the battery before alarm is generated due to the lamp display by *BALM signal of PLC. If the alarm is generated, it will be necessary to absolute reset after the battery replacement. Battery 3.6V 3.1V...

  • Page 69: Installation And Storage Environment

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

  • Page 70: Noise Elimination And Mounting Method

    2.8 Noise Elimination and Mounting Method 2.8 Noise Elimination and Mounting Method 2.8.1 Noise Elimination (1) Noise Elimination Grounding (Frame Ground) For DIN rail mounting specifications, Connect Connect the ground line together the ground cable using the tapped hole for to the main unit using the fixing screw.

  • Page 71: Installation And Mounting

    2.8 Noise Elimination and Mounting Method 2.8.2 Installation and Mounting (1) Heat Radiation and Installation Consider such facts as size of control panel, layout of a controller and cooling performance in design and setup so the ambient temperature falls into the range from 0 to 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 72 2.8 Noise Elimination and Mounting Method 2-30 ME0343-3A...
  • Page 73 A/DCON-CB Chapter Wiring 3.1 Wiring Method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-1 3.1.1 Wiring ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-1 3.1.2 Wiring Layout of Power Supply Connector ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-10 3.1.3 Connection to Actuator ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-11 3.1.4 Connection of PIO ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-13 3.1.5 Connection of Pulse Train Signal ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-14 3.1.6 SIO Connector Connection ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

  • Page 75: Wiring Method

    3.1 Wiring Method 3.1 Wiring Method 3.1.1 Wiring [1] Power Supply Connector (for Power Supply and Emergency Stop) As an example of a circuit, cases of 4 conditions are shown. Select from 3) or 4) for CGB type. Activate the emergency stop switch on the teaching pendant to activate an actuator Activate the emergency stop switch on the equipment and enable the stop switch on the teaching pendant to activate an actuator Shut off the motor power externally when emergency stop switched ON...
  • Page 76 3.1 Wiring Method Caution ● When supplying the power by turning ON/OFF the 24V DC, keep the 0V being connected and have the +24V supplied/disconnected (cut one side only). Shutting power supply on the both ends may make the electric potential unstable when the power gets cut on the 0V end first.
  • Page 77 3.1 Wiring Method ● Image of Wiring Controller External Emergency Teaching Pendant Stop Switch (please prepare separately) SIO Connector The stop switch is activated. ０V 24V DC Power Supply (please prepare separately) Power Supply Connector Caution ● When supplying the power by turning ON/OFF the 24V DC, keep the 0V being connected and have the +24V supplied/disconnected (cut one side only).
  • Page 78 3.1 Wiring Method 3. Shut off the motor power externally when emergency stop switched ON ● Example of Circuit The emergency stop gets released when +24V is supplied to EMG- Terminal on the controller, and emergency stop activates if the power supply is shut, and stops the actuator operation, turns the servo OFF and cuts off the motor power supply inside the controller.
  • Page 79 3.1 Wiring Method Caution ● When supplying the power by turning ON/OFF the 24V DC, keep the 0V being connected and have the +24V supplied/disconnected (cut one side only). Shutting power supply on the both ends may make the electric potential unstable when the power gets cut on the 0V end first.
  • Page 80 3.1 Wiring Method 4. Shut off the motor power externally when emergency stop switched ON with using two units of controllers or more ● Example of Circuit Note 1 The safety categories complied type (CGB Type) is not equipped with the relay to have the controller automatically identify that a teaching tool was plugged in and switch the wiring layout.
  • Page 81 3.1 Wiring Method Caution ● When supplying the power by turning ON/OFF the 24V DC, keep the 0V being connected and have the +24V supplied/disconnected (cut one side only). Shutting power supply on the both ends may make the electric potential unstable when the power gets cut on the 0V end first.
  • Page 82 3.1 Wiring Method [2] Motor • Encoder Circuit 1. Connection to the RCA, RCL Series (Incremental type) ACON Motor Connection /Encoder Cable (Note 1) Connector 2. Connection to the RCA Series (Serial absolute type) ACON Motor Connection /Encoder Cable (Note 1) Connector Connection to the RCA2 Series ACON...
  • Page 83 3.1 Wiring Method Absolute Circuit (ACON-CB/CGB only ) For Simple Absolute Type Connect to the Absolute battery unit or Absolute battery (AB-7). ACON Absolute Battery Absolute Unit (SEP-ABU) CB-APSEP-ABOO5 Battery Connector (Front panel) Absolute Battery (AB-7) For Absolute Type Connect to the Absolute battery (AB-5). ACON Absolute Battery...

  • Page 84: Wiring Layout Of Power Supply Connector

    3.1 Wiring Method 3.1.2 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 (plug). Strip the sheath of the applicable wires for 10mm and insert them to the connector. 1) Push a protrusion beside the inlet with a small slotted screwdriver to open the inlet.

  • Page 85: Connection To Actuator

    Encoder negative A-phase /ENA differential input Encoder positive B-phase differential input Cable dedicated Encoder negative B-phase /ENB for IAI products differential input SRD+ : Serial communication + SRD+ ENZ : Encoder Z-phase differential input SRD- : Serial communication - SRD-...
  • Page 86 Negative side of the limit switch Encoder positive A-phase differential input Encoder negative A-phase differential input Cable dedicated Encoder positive B-phase for IAI products differential input Encoder negative B-phase differential input Hall IC Input Hall IC Input Encoder power Encoder line driver enable output...

  • Page 87: Connection Of Pio

    3.1 Wiring Method 3.1.4 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. Refer to [2.1.4 How to read the model] for details.

  • Page 88: Connection Of Pulse Train Signal

    3.1 Wiring Method 3.1.5 Connection of Pulse Train Signal Pulse train is input to PIO Connector. Insert the wires to the indicated pin numbers. Refer to [3.3.2 [3] Circuits for Pulse Train Control] If the output pulse of the host controller is open collector type, use the following pulse converter. ●...
  • Page 89 3.1 Wiring Method A recommended installation sample is shown in the figure below.  Make the wiring between the host controller and the pulse converter as short as possible. Host Controller Wiring length: 50mm or shorter recommended  Allocate them 10mm or more away from each other in multiple use. 10mm or more 10mm or more In such an arrangement, wiring to...

  • Page 90: Sio Connector Connection

    3.1 Wiring Method 3.1.6 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 device. Refer to [Configuration of Instruction Manual Related to A/DCON-CB at the beginning] Teaching Pendant Dummy Plug: DP-5...
  • Page 91 3.1 Wiring Method 3.1.7 Field Network Connector Connection For how to lay out cables for each field network, refer to the following instruction manuals to proceed the work. Field Network Name Description Details Refer to the other CC-Link ME0254 (Note1) Refer to the other CC-Link IE Field ME0389...

  • Page 92: Positioner Mode (Pio Control)

    3.2 Positioner Mode (PIO Control) 3.2 Positioner Mode (PIO Control) 3.2.1 Wiring Diagram (Connection of Devices) Teaching Pendant (to be purchased separately) Host System (PLC, etc.…Please prepare separately) Controller PIO Cable/ Network Cable Power Source I/O Control (24V DC …Please prepare separately) Actuator Emergency Stop Circuit Control/Driving Power Supply...

  • Page 93: Pio Pattern Selection And Pio Signal

    3.2 Positioner Mode (PIO Control) 3.2.2 PIO Pattern Selection and PIO Signal [1] PIO Patterns and Signal Assignment The signal assignment of I/O flat cable by the PIO pattern is as shown below. Follow the following table to connect the external equipment (such as PLC). Parameter No.25 “PIO Pattern”...
  • Page 94 3.2 Positioner Mode (PIO Control) Parameter No.25 “PIO Pattern” Selection 6 or 7 (Note 2) Category PIO Functions Solenoid Valve Solenoid Valve Pulse Train Control Mode Mode 1 Mode 2 Number of 7 points 3 points － positioning points Home return signal ×...
  • Page 95 3.2 Positioner Mode (PIO Control) Reference: Signal of Active Low Signal with “*” expresses the signal of active low. A signal of active low is a signal that the input signal is processed when it is turned OFF, output signal is ordinarily (or just omit) on while the power is ON, and turns OFF when the signal is output.
  • Page 96 3.2 Positioner Mode (PIO Control) [2] List of PIO Signals The table below lists the functions of each 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...
  • Page 97 3.2 Positioner Mode (PIO Control) Signal Relevant Category Signal Name Function Description Abbreviation Sections Turns ON in the positioning band range after actuator 4.2.4 [3] operation. The INP signal will turn OFF if the position 4.2.4 [4] PEND/INP Position complete deviation exceeds the in-position range.

  • Page 98: Pio Circuit

    3.2 Positioner Mode (PIO Control) [3] PIO Circuit ● Use the attached cable for the I/O connection. Model : CB-PAC-PIO□□□ (□□□ indicates the cable length L. Example. 020 = 2m) See 1) to 8) in this section for the signal assignments for each wiring cables. 3-24 ME0343-3A...
  • Page 99 3.2 Positioner Mode (PIO Control) 1. PIO Pattern 0 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Positioning Mode (Standard Type) 24V DC (NPN Type) 0V (NPN Type) ACON/DCON 0V (PNP Type) 24V DC (PNP Type) PIO Connector BR-1 BR-3 ―――( ■―― P24 PM1 ――■ Completed Position No.1 )――――――――...
  • Page 100 3.2 Positioner Mode (PIO Control) 2. PIO Pattern 1 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Teaching mode (Teaching type) 24V DC (NPN Type) 0V (NPN Type) ACON/DCON 0V (PNP Type) 24V DC (PNP Type) PIO Connector BR-1 BR-3 ―――( ■―― P24 PM1 ――■ Completed Position No.1 )――――――――...
  • Page 101 3.2 Positioner Mode (PIO Control) 3. PIO Pattern 2 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 256-point mode (Number of positioning points : 256-point type) 24V DC (NPN Type) 0V (NPN Type) ACON/DCON 0V (PNP Type) 24V DC (PNP Type) PIO Connector BR-1 BR-3 ―――( ■―― P24 PM1 ――■...
  • Page 102 3.2 Positioner Mode (PIO Control) 4. PIO Pattern 3 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 512-point mode (Number of positioning points : 512-point type) 24V DC (NPN Type) 0V (NPN Type) ACON/DCON 0V (PNP Type) 24V DC (PNP Type) PIO Connector BR-1 BR-3 ―――( ■―― P24 PM1 ――■...
  • Page 103 3.2 Positioner Mode (PIO Control) 5. PIO Pattern 4 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Solenoid Valve Mode 1 (7-point type) 24V DC (NPN Type) 0V (NPN Type) ACON/DCON 0V (PNP Type) 24V DC (PNP Type) PIO Connector BR-1 BR-3 ―――( ■―― P24 PE0 ――■ Current Position No.0 )――――――――...
  • Page 104 3.2 Positioner Mode (PIO Control) 6. PIO Pattern 5 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Solenoid Valve Mode 2 (3-point type) 24V DC (NPN Type) 0V (NPN Type) ACON/DCON 0V (PNP Type) 24V DC (PNP Type) PIO Connector BR-1 BR-3 ―――( ■―― P24 LS0 ――■ )――――――――...

  • Page 105: Pulse Train Control Mode

    3.3 Pulse Train Control Mode 3.3 Pulse Train Control Mode 3.3.1 Wiring Diagram (Connection of Devices) Teaching Pendant (to be purchased separately) Host System (PLC, etc.…Please prepare separately) Controller Power Source I/O Control AK-04 (24V DC AK-04 (to be purchased separately) Necessary when host positioning unit is open collector output.

  • Page 106: I/O Signals In Pulse Train Control Mode And Each Functions

    3.3 Pulse Train Control Mode 3.3.2 I/O Signals in Pulse Train Control Mode and Each Functions [1] PIO Patterns and Signal Assignment The signal assignments of the I/O flat cable by the PIO patterns are as shown in the table below. Follow the following table to connect the external equipment (such as PLC).
  • Page 107 3.3 Pulse Train Control Mode 2. PIO Pattern 7 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Pulse Train Control Mode (Absolute Type for Actuator) Relevant Signal Category I/O No. Signal Name Function Description Sections Abbreviation Power Supply Power Supply for I/O +24V － Power Supply Power Supply for I/O +24V －...
  • Page 108 3.3 Pulse Train Control Mode [2] PIO Circuit ● Use the attached cable for the I/O connection. Model : CB-PAC-PIO□□□ (□□□ indicates the cable length L. Example. 020 = 2m) 3-34 ME0343-3A...
  • Page 109 3.3 Pulse Train Control Mode 1. PIO Pattern 6 Pulse Train Control Mode (Incremental Type for Actuator) OV(NPN Type) 24V DC(NPN Type) ACON/DCON 24V DC(PNP Type) OV(PNP Type) PIO Connector BR-1 BR-3 ―――( )―――――――― System Ready ■―― P24 24VDC PWR ――■ ●...
  • Page 110 3.3 Pulse Train Control Mode 2. PIO Pattern 7 Pulse Train Control Mode (Absolute Type for Actuator) OV(NPN Type) 24V DC(NPN Type) ACON/DCON 24V DC(PNP Type) OV(PNP Type) PIO Connector BR-1 BR-3 ―――( )―――――――― System Ready 24VDC ■―― P24 ● PWR ――■...
  • Page 111 3.3 Pulse Train Control Mode [3] Circuits for Pulse Train Control ● When Host Unit is Differential System Caution ● Make short-circuit between the host (positioning unit) and the 0V on PIO Connector. ● When Host Unit is Open Collector System AK-04 (to be purchased separately) is required for pulse train input.
  • Page 112 3.3 Pulse Train Control Mode 3-38 ME0343-3A...

  • Page 113: Operation

    A/DCON-CB Chapter Operation 4.1 Basic Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-1 4.1.1 How to Turn on Power ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-1 4.1.2 Basic Operation Methods ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-2 4.1.3 Parameter Settings ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-7 4.2 Operation in Positioner Mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-8 4.2.1 Set of Position Table ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-10 4.2.2 Control of Input Signal ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 114 4.3.5 Parameter Settings Required for Advanced Operations ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-95 4.4 Operation of Field Network Type ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-98 4.5 Absolute Reset ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-99 4.5.1 How to Perform Absolute Reset ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-100 4.5.2 Absolute Battery Charge ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-105...

  • Page 115: Basic Operation

    4.1 Basic Operation 4.1 Basic Operation 4.1.1 How to Turn on Power The procedures below are those when the parameters are kept as they were on delivery and there is no error being occurred or in emergency stop status. [1] How to Turn on Power The process how to turn the power on is as shown below.

  • Page 116: Basic Operation Methods

    4.1 Basic Operation 4.1.2 Basic Operation Methods There are two types, Positioner Mode and Pulse Train Control Mode, for the operation. Select the suitable one considering the system function. There are various types of actuators including slider, rod, rotary and gripper types. The same operation control method is applicable unless particular descriptions are contained in this manual.
  • Page 117 4.1 Basic Operation Click Select “Teaching Mode” and “Enable”, and then press Startup IA-OS • Procedure 3 : Turn the servo ON, and have a home-return operation. Press TEST Test run Select Position Data → or select “Test run” 1) Press Switch in Servo-on Status “Position data edit”...
  • Page 118 4.1 Basic Operation • Procedure 5 : Type the destination in the column of Position in Position Table. Writing the position should allow the automatic input of the setting as parameters in the velocity and acceleration/deceleration columns. ☆ Set position directly with JOG operation Click TEST Test run or select “Test run”...
  • Page 119 4.1 Basic Operation  Operation････Example for Parameters (PIO Patterns 0) at Delivery • Procedure 1 : Input the position number at which positioning is desired to be performed in the binary data (PC1 to PC32) from a tool such as the host controller, and then turn the start signal (CSTR) ON.
  • Page 120 4.1 Basic Operation [2] Pulse Train Control Mode  Operation････Example for When the Parameter Settings at Delivery • Procedure 1 : Establish the settings for the pulse train form and electronic gear ratio (to determine how many millimeters the actuator moves when 1 pulse is given) to the controller parameters by using a teaching tool such as PC Software.

  • Page 121: Parameter Settings

    4.1 Basic Operation 4.1.3 Parameter Settings Parameter data should be set to be suited to the system or application. Parameters are variables to be set to meet the use of the controller in the similar way as settings of the ringtone and silent mode of a cell phone and settings of clocks and calendars.

  • Page 122: Operation In Positioner Mode

    4.2 Operation in Positioner Mode 4.2 Operation in Positioner Mode This controller can switch over the mode between Positioner Mode and Pulse Train Control Mode with the parameters. In the Positioner Mode, the following 6 types of PIO pattern can be selected with a proper parameter.

  • Page 123: Overview Of Major Functions

    4.2 Operation in Positioner Mode [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 124: Set Of Position Table

    4.2 Operation in Positioner Mode 4.2.1 Set of Position Table The values in the position table can be set as shown below. For only positioning, only the position data may be written if specifying the speed, acceleration, and deceleration is not required. The speed, acceleration, and deceleration are automatically set to the data defined by the relevant parameters.
  • Page 125 4.2 Operation in Positioner Mode (3) Velocity [mm/s] : Set the velocity in the operation. Refer to the following “Caution” when having a value above the maximum velocity. Do not attempt to input a value below the minimum velocity (Note 1) Note 1 The minimum velocity differs depending on the type of the actuator.
  • Page 126 4.2 Operation in Positioner Mode Reference ● How to set the acceleration is described below. The same idea can be applied to the deceleration 1G=9800mm/s : Accelerated to 9800mm/s per second 0.3G: Accelerated to 9800mm/s × 0.3 = 2940mm/s per second Velocity 9800mm/s 2940mm/s...
  • Page 127 4.2 Operation in Positioner Mode (7) LoTh [%] : It cannot be used on this controller. (8) Positioning width [mm] : For positioning in PIO patterns 0 to 4, the positioning complete signal is output if the remaining moving distance is entered within the zone set here. For the pressing operation, the actuator should move in the same velocity and acceleration/deceleration as those set for the normal positioning till it reaches the point set in (2), and then starts pressing drive for the amount of data set in this section.

  • Page 128: Operation

    4.2 Operation in Positioner Mode (9) Zone + [mm] : Set the coordinate value on the positive side at which position zone output signal PZONE is turned ON. PZONE is set to ON in the zone between this value and the coordinate value on the negative side set in (10).
  • Page 129 4.2 Operation in Positioner Mode Caution: Caution on First-Order Lag Filter ● Even if the position command or direct value command is conducted with first-order lag filter being set while the actuator is operated in order to have a speed change during an operation, it will not make first-order lag filter control, but will make trapezoid control.
  • Page 130 4.2 Operation in Positioner Mode (13) Gain set (ACON only) : 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 131 4.2 Operation in Positioner Mode (14) Stop mode : Automatic servo OFF is enabled after a certain period from the positioning complete for power saving. A proper period can be selected from three parameters. Operation After Setting Parameter No. Completion of Operation Servo ON not changed ―...
  • Page 132 4.2 Operation in Positioner Mode (15) VibSup No. (ACON only) : It controls the vibration (resonance) of the load attached on the actuator. It can be applicable for three types of vibration. Four parameters are available to each type of vibration and they are gathered as one set. A parameter set corresponding to the position number that requires vibration control is to be set to the position table.

  • Page 133: Control Of Input Signal

    4.2 Operation in Positioner Mode 4.2.2 Control of Input Signal The input signal of this controller has the input time constant of 6ms considering the prevention of wrong operation by chattering and noise. Therefore, input each input signal for 6ms or more (Note 1) continuously.

  • Page 134: Operation Ready And Auxiliary Signals (Common To Patterns 0 To 5)

    4.2 Operation in Positioner Mode 4.2.3 Operation Ready and Auxiliary Signals (Common to Patterns 0 to 5) [1] Emergency Stop Status (EMGS) Output PIO signal *EMGS Common to  Patterns 0 to 7 : Available, : Unavailable 1. The emergency stop status EMGS is turned ON when in normal condition and turned OFF when EMG- terminal on [3.1.1 [1] PIO Patterns in Positioner Mode] is 0V (emergency stop condition or disconnected).
  • Page 135 4.2 Operation in Positioner Mode The table below lists the switches ON the front panel, the modes selected by the RMOD signal and the corresponding output states of the RMDS signal. Note 1 For the details of the link connection, refer to [9.1 Way to Set Multiple Controllers with 1 Teaching Tool].
  • Page 136 4.2 Operation in Positioner Mode [3] Servo ON (SON, SV, PEND) Input Output PIO signal PEND Other than pattern 5    Pattern 5 ×   : Available, : Unavailable 1) Servo ON signal SON is the input signal making the servo motor of the actuator operable. 2) If the servo-on is performed to enable operation, the SV output signal is turned ON.

  • Page 137: Home Return (Home, Hend, Pend, Move)

    4.2 Operation in Positioner Mode [4] Home Return (HOME, HEND, PEND, MOVE) Input Output PIO signal HOME HEND PEND MOVE Patterns 0 and 1     Patterns 2 to 4 ×    Pattern 5 × × ×...
  • Page 138 4.2 Operation in Positioner Mode [Home Return Operation of Slider Type/Rod Type Actuator] Home Mechanical end 1) With the H4-24OME signal being ON, the actuator moves toward the mechanical end at the home return speed. The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators. 2) The actuator is turned at the mechanical end and stopped at the home position.
  • Page 139 4.2 Operation in Positioner Mode [Home Return Operation of Actuator of Gripper Type] Finger Attachment (Note1) 1) If the HOME signal is turned ON, the actuator moves toward the mechanical end (to end side) at the home return speed (20mm/s). 2) The actuator is turned at the mechanical end and stopped at the home position.
  • Page 140 4.2 Operation in Positioner Mode [5] Zone Signal and Position Zone Signal (ZONE1, ZONE2, PZONE) Output PIO signal ZONE1 PZONE (Note 2) ZONE2 (Note 2) Pattern 0    Pattern 1 (Note 2) ×   Pattern 2 × (Note 2) ...
  • Page 141 4.2 Operation in Positioner Mode Zone signa (ZONE1, ZONE2) Set the zone range to the relevant parameter. 1) Parameter No.1 : Zone boundary 1+ 2) Parameter No.2 : Zone boundary 1 3) Parameter No.23 : Zone boundary 2+ 4) Parameter No.24 : Zone boundary 2 The zone signal ZONE is kept effective also during the emergency stop unless the memory of the origin is lost due to alarm.
  • Page 142 4.2 Operation in Positioner Mode Caution ● Since this signal becomes effective after the coordinate system is established after the home return is completed, it would not be output just with the power turned ON. ● The zone detection range would not turn ON unless the value exceeds that of the minimum resolution (actuator lead length/number of encoder pulse).
  • Page 143 4.2 Operation in Positioner Mode [6] Alarm, Alarm Reset (*ALM, RES) Input Output PIO signal *ALM Common to   Patterns 0 to 7 : Available, : Unavailable 1) Alarm signal *ALM is set to ON in the normal status but turned OFF at the occurrence of an alarm at a level equal to or higher than the operation release level.

  • Page 144: Brake Release (Bkrl)

    4.2 Operation in Positioner Mode [8] Brake Release (BKRL) Input PIO signal BKRL Pattern 0  Pattern 1 (Note 1) × Patterns 2 to 7  : Available, : Unavailable Note 1 Pattern 1 does not have this feature. The brake can be released while BKRL signal is set to ON. If a brake is installed in the actuator, the brake is automatically controlled by servo ON/OFF.

  • Page 145: Operation With The Position No. Input (Pio Patterns 0 To 3 And 6)

    4.2 Operation in Positioner Mode 4.2.4 Operation with the Position No. Input (PIO Patterns 0 to 3 and 6) This section describes the methods of operations of PIO patterns 0 to 3. These patterns provide normal controller operation methods in which the controller is operated by turning the start signal ON after a position No.
  • Page 146 4.2 Operation in Positioner Mode ■ Control method 1) First enter command position No. PC1 to PC** with binary data. Next turn start signal CSTR ON. Then the actuator starts acceleration depending on the data in the specified position table for positioning to the target position.
  • Page 147 4.2 Operation in Positioner Mode Caution ● Set the period taken from entering position No. to turning CSTR ON to 6ms or larger. In spite of 6ms timer process in the PLC, commands may be input to the controller concurrently to cause positioning to another position. Take the scanning time in the PLC into account to set a period as 2 to 4 times as the scanning time.

  • Page 148: Speed Change During The Movement

    4.2 Operation in Positioner Mode [2] Speed Change During the Movement ■ Sample use 100mm/s Acceleration 50mm/s Acceleration Deceleration Stop stalus 6) 7) Velocity Time Position 1 Positioning complete width at position 2 Positioning Start signal input Completion Position 2 input (moving start) Signal Output Positioning...

  • Page 149: Pitch Feeding (Relative Movement = Incremental Feed)

    4.2 Operation in Positioner Mode [3] Pitch Feeding (Relative Movement = Incremental Feed) ■ Sample use 250mm/s Velocity Stop Time stalus 2) 3) Position 1 Position 2 Coordinate Coordinate value: 100 value: 25 Position 1 Position 1 input Move 25 mm by Reat of movement Completion of Start signal input...
  • Page 150 4.2 Operation in Positioner Mode Caution ● If the actuator reaches the software limit corresponding to the stroke end in the pitch feed operation, the actuator stops at the position and positioning complete signal PEND is turned ON. ● When it is required to have pitch feed operation straight after pressing operation (condition kept in pressing), it is necessary to be cautious as the actuator moves directly to the coordinates that the pitch feed distance is added to the base point of pitch.

  • Page 151: Pressing Operation

    4.2 Operation in Positioner Mode [4] Pressing Operation ■ Sample use 250mm/s Acceleration Deceleration Work 4) 5) Positioning width 50 *Without contacting work Press-fitting process Positioning 1 until the end of posotioning band. Coordinate posotiomng complete value: 100 signal is not output. Start signal Positioning Move...
  • Page 152 4.2 Operation in Positioner Mode Command position No. PC1 to PC** (PLC→Controller) T16ms (Note 1) Turned OFF by turning Start signal CSTR PEND OFF (PLC→Controller) Completed position PM1 to PM** = 0 (Note 2) PM1 to PM** PM1 to PM** = 0 (Note 2) (Controller→PLC) Not turned ON for...
  • Page 153 4.2 Operation in Positioner Mode Caution ● The speed during pressing operation is set in Parameter No.34. Check [9.4 List of Specifications of Connectable Actuators] for the pressing operation speed. Do not set any value larger than the value in the list. If the speed set in the position table is equal to or less than the pressing speed, the pressing is performed at the setup speed.
  • Page 154 4.2 Operation in Positioner Mode Judging completion of pressing operation (1) For Standard (PIO Patterns 0 to 3) The operation monitors the torque (current limit value) in percent [%] in “Pressing” of the position table and turns pressing complete signal PEND ON when the load current satisfies the condition shown below during pressing.

  • Page 155: Tension Operation

    4.2 Operation in Positioner Mode [5] Tension Operation ■ Image diagram Position No.1 Position No.2 Tension end position Tension start position 80－50＝30mm 80mm Tension Operation CSTR Tension Operation CSTR CSTR : Start position ■ Control method The method of controlling the tension operation is the same as that described in [4] Pressing operation.
  • Page 156 4.2 Operation in Positioner Mode 4) In the similar way as pressing, the positioning complete signal is output when the shaft is stopped by tension (pressing complete). If the actuator cannot be stopped during movement within the setting positioning width (miss-pressing), it moves by the setting distance to stop but PEND is not turned ON.

  • Page 157: Multi-Step Pressing

    4.2 Operation in Positioner Mode [6] Multi-step Pressing ■ Image diagram Position No.1 Position No.2 Position No.3 ■ Control method After pressing, the pressing pressure can only be changed in the pressing state. The method of controlling multi-step pressing is the same as that described in [4] Pressing operation.
  • Page 158 4.2 Operation in Positioner Mode [7] Teaching by PIO (MODE, MODES, PWRT, WEND, JISL, JOG+, JOG-) Input Output PIO signal MODE JISL JOG+ JOG- PWRT MODES WEND Other than pattern 1 × × × × × × × Pattern 1 ...
  • Page 159 4.2 Operation in Positioner Mode (2) Jog/inching switch and jog input  Jog/inching switching signal JISL indicates whether the jog operation or inching operation is performed by the jog input signal. JISL signal OFF : Jog operation JISL signal ON : Inching operation ...
  • Page 160 4.2 Operation in Positioner Mode (3) Writing current value data to the position table *The feature is valid only when the teaching mode is selected (with the MODES signal being ON). Specify the position number to which the current data is written in the binary data format in command position No.PC1 to PC32.
  • Page 161 4.2 Operation in Positioner Mode Command position No. PC1 to PC** (PLCController) T1 ≥ 6ms Turned OFF by turning WEND ON Current value write signal PWRT (PLCController) Current coordinate writing prosess (Controller) Turned Writing Completion Signal turning PWRT OFF WEND (ControllerPLC) Caution ●...

  • Page 162: Pause And Operation Interruption (*Stp, Res, Pend, Move)

    4.2 Operation in Positioner Mode [8] Pause and Operation Interruption (*STP, RES, PEND, MOVE) Input Output PIO signal *STP PEND MOVE Patterns 0 to 1     Patterns 2 to 3 ×    : Existence of signal, ×: No signal Pause input signal Acceleration Deceleration...
  • Page 163 4.2 Operation in Positioner Mode Pause signal *STP (PLCController) PEND not turned ON PEND (ControllerPLC) PEND turned Moving Signal MOVE (ControllerPLC) Before operation Temp. Cont. Position Operation Operation of actuator Positioning complete state stop complete Turning RES ON here allows continuous operation to be cancelled Caution ●...

  • Page 164: Direct Position Specification (Operation Of Pio Pattern 4)

    4.2 Operation in Positioner Mode 4.2.5 Direct Position Specification (Operation of PIO Pattern 4) 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 165 4.2 Operation in Positioner Mode  Sample use 200mm/s 100mm/s Acceleration Decelaeration Decelaeration Acceleration Stop stalus 2) 3) 5) 6) Velocity Position 2 Position 1 Time Input Start Positioning signal to complete signal Movimg Position No.1 of position 1 comp. (Moving start) output Input Start...
  • Page 166 4.2 Operation in Positioner Mode Caution ● If the ST* signal is turned ON for the position after completion of positioning, both the PE* and PEND signals remain ON (except the pitch feed operation). ● Both the PE* and PEND signals are set to ON in the positioning width zone. Accordingly, they may be turned ON under operation of the actuator if a large positioning width is set.
  • Page 167 4.2 Operation in Positioner Mode [2] Pitch Feeding (Relative Movement = Incremental Feed) ■ Sample use 250mm/s Velocity Stop Time stalus 2) 3) Position 2 Position 1 Coordinate Coordinate value: 100 value: 25 Position 1 Position 1 input Move 25 mm by Reat of movement Completion of Start signal input...
  • Page 168 4.2 Operation in Positioner Mode Caution ● Because pitch feed is repeated, turning ON the ST* signal of the same position after completion of positioning causes both the PE* and PEND signals to be turned OFF at operation start and turned ON again at completion of positioning in the same way as [1] Positioning.
  • Page 169 4.2 Operation in Positioner Mode [3] Pressing Operation ■ Sample use 250mm/s Acceleration Deceleration Work 4) 5) Positioning width 50 *Without contacting work Press-fitting process Positioning 1 until the end of posotioning band. Coordinate posotiomng complete value: 100 signal is not output. Start signal Positioning Move...
  • Page 170 4.2 Operation in Positioner Mode ■ Control method The method of controlling the pressing operation is the same as that described in [1] Positioning except the setting of the position table. Any setting of “Pressing” in the position table allows the pressing operation to be done.
  • Page 171 4.2 Operation in Positioner Mode Caution ● The speed during pressing operation is set in Parameter No.34. Check [9.4 List of Specifications of Connectable Actuators] for the pressing operation speed. Do not set any value larger than the value in the list. If the speed set in the position table is equal to or less than the pressing speed, the pressing is performed at the setup speed.
  • Page 172 4.2 Operation in Positioner Mode 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.
  • Page 173 4.2 Operation in Positioner Mode [4] Tension Operation ■ Image diagram Position No.1 Position No.2 Tension end position Tension start position 80－50＝30mm 80mm Tension Operation Tension Operation ST* : Start position ■ Control method The method of controlling the tension operation is the same as that described in [3] Pressing operation.
  • Page 174 4.2 Operation in Positioner Mode 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 175 4.2 Operation in Positioner Mode [5] Multi-step Pressing ■ Image diagram Position No.1 Position No.2 Position No.3 ■ Control method After pressing, the pressing pressure can only be changed in the pressing state. The method of controlling multi-step pressing is the same as that described in [3] Pressing operation.
  • Page 176 4.2 Operation in Positioner Mode [6] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND) In this mode, there are two ways as shown below to pause the operation during a move. 1) Use of pause signal *STP Turning reset signal RES ON during the pause allows the remaining moving distance to be cancelled to interrupt the operation.
  • Page 177 4.2 Operation in Positioner Mode Pause signal *STP PEND and PE (PLCController) not turned ON PEND (ControllerPLC) PEND turned OFF Moving Signal (ControllerPLC) Temp. Cont. Position Before operation Operation of actuator Operation stop complete Positioning complete state Turning RES ON here allows continuous operation to be cancelled Caution ●...
  • Page 178 4.2 Operation in Positioner Mode (2) Use of start signal ST* Start signal Acceleration Deceleration Acceleration Deceleration Velocity Stop status Time Input Start Movement Deceleration Positioning signal for restart with and stop with Moving completion position 1 start signal Start signal comp.

  • Page 179: Direct Position Specification (Operation Of Pio Pattern 5)

    4.2 Operation in Positioner Mode 4.2.6 Direct Position Specification (Operation of PIO Pattern 5) 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 180 4.2 Operation in Positioner Mode If a certain home positioning is required, Set “Position” of position No.0 to 0 mm and the ST0 signal is not changed by the HEND signal to remain ON. Home return signal (PLC  Controller) If accuracy is required, set 0mm at “point”...
  • Page 181 4.2 Operation in Positioner Mode [Home Return Operation of Slider Type/Rod Type Actuator] Mechanical end Home 1) 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. 2) The actuator is turned at the mechanical end and stopped at the home position.
  • Page 182 4.2 Operation in Positioner Mode [Home Return Operation of Actuator of Gripper Type] Finger Attachment (Note) 1) If the ST0 signal is turned ON, the actuator moves toward the mechanical end (to end side) at the home return speed. 2) 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 183: Features Of Ls Signals (Ls0 To 2)

    4.2 Operation in Positioner Mode [2] Features of LS Signals (LS0 to 2) The LS* signals are not complete signals for positioning commands such as those for other PIO patterns. Just as it does in detection with a sensor, the applicable LS* Signal should turn ON once the actuator gets in the range of the setting values regardless of the indicated position number.
  • Page 184 4.2 Operation in Positioner Mode [3] Positioning [Basic] (ST0 to ST2, LS0 to LS2) Position No. Input Output (Note) Pressing and pitch feed are unavailable. ■ Sample use 200mm/s 100mm/s Acceleration Decelaeration Decelaeration Acceleration Stop stalus 2) 3) 5) 6) Velocity Position 2 Position 1...
  • Page 185 4.2 Operation in Positioner Mode (Example) Repetition of ST1 → ST2 → ST1 →• • • Insert timer Δt if necessary. Δt Start signal Δt (PLCController) Δt Start signal (PLCController) Position sensing output (ControllerPLC) Position sensing output (ControllerPLC) Target Position Δt : Time required to certainly reach the target position after the position sensing output LS1 or 2 is turned on.
  • Page 186 4.2 Operation in Positioner Mode Caution ● If the ST* signal for the position is turned ON after the completion of positioning, the LS* signal remains ON. ● Both the LS* and PEND signals are set to ON in the positioning width zone. Accordingly, they may be turned ON under operation of the actuator if a large positioning width is set.
  • Page 187 4.2 Operation in Positioner Mode 1) In this example, the speed is changed while the actuator moves from the position of 150mm to the position of 0mm. At first, set the positioning to the target position at the first speed in position No.1.
  • Page 188 4.2 Operation in Positioner Mode [5] Pause and Operation Interruption (ST*, RES, LS*) Turning start signal ST* OFF allows the actuator to be paused while it is moved. To restart it, turn the same ST* signal ON. Start signal Deceleration Acceleration Acceleration Deceleration...

  • Page 189: Operation In Pulse Train Control Mode

    4.3 Operation in Pulse Train Control Mode 4.3 Operation in Pulse Train Control Mode Caution ● Pulse Train Control Mode is not available to use on any controller other than A/DCON-CB with its I/O type selected to the pulse train type (PLN/PLP). This controller can switch over the mode between positioner mode and pulse train control mode with the parameters.

  • Page 190: Function Name

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

  • Page 191: I/O Signal Controls

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

  • Page 192: Operation Ready And Auxiliary Signals

    4.3 Operation in Pulse Train Control Mode 4.3.2 Operation Ready and Auxiliary Signals System Ready (PWR) Output PIO signal *PWR The signal is turned ON if the controller can be controlled after main power-on. It is turned ON once the initialization terminates normally after main power-on and controller can be controlled regardless of alarm and servo status.
  • Page 193 4.3 Operation in Pulse Train Control Mode The controller is subject to link connection (Note 1) to connect with a teaching tool such as the PC dedicated teaching software by using a SIO converter, the controller may be far apart from the teaching tool.
  • Page 194 4.3 Operation in Pulse Train Control Mode 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 195 4.3 Operation in Pulse Train Control Mode Lock Brake Status Release 50ms 100ms ● Servo OFF status 1. Once the actuator stops, no retaining torque will be supplied. 2. The pulse train input, HOME (home return signal), TL (torque-limiting selection signal) and CSTP (external forced stop signal) are all ignored.
  • Page 196 4.3 Operation in Pulse Train Control Mode Home Return (HOME, HEND) Input Output PIO signal HOME HEND The HOME signal is intended for home return. When the HOME signal is turned ON, the command will be processed at the leading edge (ON edge) of the signal and the actuator will perform home return operation.
  • Page 197 4.3 Operation in Pulse Train Control Mode [Home Return Operation of Slider Type/Rod Type Actuator] Mechanical end Home 1) With the HOME signal being ON, the actuator moves toward the mechanical end at the home return speed. The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators. 2) The actuator is turned at the mechanical end and stopped at the home position.
  • Page 198 4.3 Operation in Pulse Train Control Mode Datum Position Move (RSTR, REND) Input Output PIO signal RSTR REND RSTR Signal is a command signal to move (Note 1) to the datum position * set at any point. This command is processed at the startup (ON-edge) and operation to the datum position is conducted.
  • Page 199 4.3 Operation in Pulse Train Control Mode Zone Signal (ZONE1, ZONE2) Output PIO signal ZONE1 ZONE2 Each of the signals turns ON when the current actuator position is inside the range specified by the relevant parameter. Two zones, ZONE1 and ZONE2, can be set. When the current position of the actuator is in ZONE1, it is turned ON if it is in the range of Parameter No.1 “Zone Boundary 1 Positive Side”...
  • Page 200 4.3 Operation in Pulse Train Control Mode Alarm, Alarm Reset (*ALM, RES) Input Output PIO signal *ALM 1) Alarm signal *ALM is set to ON in the normal status but turned OFF at the occurrence of an alarm at a level equal to or higher than the operation release level. 2) Turning reset signal RES ON under occurrence of an alarm at the operation release level allows the alarm (Note 1)
  • Page 201 4.3 Operation in Pulse Train Control Mode [11] Brake Release (BKRL) Input PIO signal BKRL The brake can be released while BKRL signal is turned ON. For the actuator equipped with a brake, the brake can be controlled by turning the servo ON/OFF, however, a release of the brake may be necessary in the case of installing the unit to a system so the slider or rod can be moved by hand.

  • Page 202: Pulse Train Input Operation

    4.3 Operation in Pulse Train Control Mode 4.3.3 Pulse Train Input Operation [1] Command Pulse Input (PP • /PP, NP • /NP) In the differential type, it is able to have 200kpps of pulse train input at maximum. When the host controller possesses only the pulse output function of the open collector, it is able to input 200kpps pulse at maximum by connecting AK-04 (option).
  • Page 203 4.3 Operation in Pulse Train Control Mode Caution ● Consider the electric gear ratio of the host side and that of the controller side via the following calculation. [Reference] Acceleration/deceleration settings of general positioning device Motor Rotation Velocity [mm/s]  60 Motor Rotation [rpm] = Ball Screw •...
  • Page 204 4.3 Operation in Pulse Train Control Mode [2] Position Complete (INP) Output PIO signal This signal will turn ON when the remaining travel pulses (accumulated pulses) on the deviation counter enters the positioning width. When the servo is ON, this signal turns ON when the accumulated pulses on the deviation counter are within the number of pulses set in Parameter No.10 “Default positioning width”.
  • Page 205 4.3 Operation in Pulse Train Control Mode [4] Deviation Counter Clear (DCLR) Input PIO signal DCLR This is the signal to clear the deviation counter that stores the specified pulse until its process is completely finished (positioning is completed) once a command pulse is input. It is used when the deviation is desired to be cleared after the pressing by TL signal is complete (TLR signal ON).

  • Page 206: Settings Of Basic Parameters Required For Operation

    4.3 Operation in Pulse Train Control Mode 4.3.4 Settings of Basic Parameters Required for Operation It is a mandatory parameter to perform an operation. (The parameters listed in the table below may only be set if the actuator performs only positioning operation.) Parameter Name...
  • Page 207 4.3 Operation in Pulse Train Control Mode  Formula for velocity: The velocity of the actuator can be figured out with the following formula. Velocity = Unit Travel Distance × Input Pulse Frequency [Hz]  Examples of electronic gear calculations: To set the unit travel distance to 0.01 (1/100) mm for an actuator a ball screw lead of 3mm, equipped with an encoder of 800pulses/rev.

  • Page 208: Format Settings Of Command Pulse Train

    4.3 Operation in Pulse Train Control Mode [2] Format Settings of Command Pulse Train Set the format of command pulse train in Parameter No.63 and active high/low in No.64. (1) Command Pulse Mode Name Unit Input Range Default factory setting Command Pulse Input 0 to 2 ...

  • Page 209: Parameter Settings Required For Advanced Operations

    4.3 Operation in Pulse Train Control Mode 4.3.5 Parameter Settings Required for Advanced Operations Depending on systems and/or loads, set the following parameters if necessary. [1] Position Command Primary Filter Time Constant Name Unit Input Range Default factory setting Position command primary 0.0 to 100.0 filter time constant The acceleration/deceleration of the actuator can be set in S-shaped curve with this parameter...

  • Page 210: Clearing Deviation During Servo Off Or Alarm Stop

    4.3 Operation in Pulse Train Control Mode [3] Clearing Deviation During Servo OFF or Alarm Stop Name Unit Input Range Default factory setting Clearing deviation during 0: Disable, 1: Enable  servo OFF or alarm stop You can select whether to enable or disable the function to clear the deviation when the servo is OFF or the actuator is stopped due to an alarm.

  • Page 211: Pulse Count Direction

    4.3 Operation in Pulse Train Control Mode [7] Pulse Count Direction Name Unit Input Range Default factory setting 0: Motor forward rotation Pulse count direction In accordance with actuator  1: Motor reverse rotation You can set the direction in which the motor turns according to command pulses. [8] Select Enable/Disable Compulsory Stop Input Name Unit...

  • Page 212: Operation Of Field Network Type

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

  • Page 213: Absolute Reset

    4.5 Absolute Reset 4.5 Absolute Reset In Absolute Type and Battery-less Absolute Type, the encoder position information is retained even when the power is OFF. For those types, it is unnecessary to perform home-return operation every time the power is turned ON. For Absolute Type registers the home position in the cases of (1) to (3) (absolute reset) to retain.

  • Page 214: How To Perform Absolute Reset

    4.5 Absolute Reset 4.5.1 How to Perform Absolute Reset The absolute reset is performed by using a teaching tool such as PC software or PIO. Each of the absolute reset procedures is described below. [1] Absolute Reset Procedure from Teaching Tool 1) Connect the controller with the actuator.
  • Page 215 4.5 Absolute Reset Click located on the right of "Alarm" in Position data edit screen. Position data edit screen Click The alarm should be reset. Click located on the right of "Servo-on Status". Click The servo on the actuator should turn on. (The lamp at Servo-on Status should turn on in "green".) Click located on the right of "Homing".
  • Page 216 4.5 Absolute Reset [For teaching pendant (TB-02/TB-03)] Touch Alarm reset Touch Touch Trial operation on the Menu 1 screen. Touch On the test run screen, touch Jog inching Touch Touch On the jog/inching screen, turn the servo on by touching Servo , then touch Homing Touch...
  • Page 217 4.5 Absolute Reset [2] Absolute Reset Using PIO 1) Turn the reset signal RES from OFF to ON. (Processed with ON edge.) 2) Check that the alarm signal *ALM is ON (controller’s alarm (Note 1) is cancelled).If the cause of the alarm is not removed, an alarm will be present again (*ALM signal OFF). Check the condition including other alarm causes.
  • Page 218 4.5 Absolute Reset [Absolute Reset Process] Emergency stop actuated or cancelled Safety Circuit Condition (Status of power supply to the motor drive source) (Note 1) 24V DC PIO Power Input Brake Power Input (Note 2) Control Power Input Motor Power Input Alarm reset Alarm Signal (*ALM)

  • Page 219: Absolute Battery Charge

    4.5 Absolute Reset 4.5.2 Absolute Battery Charge In case of use of the simple absolute type, in the first time of use or after replacing the battery, have a continuous battery charge of 72 hours or more. The battery gets charged while the controller is supplied with 24V power.
  • Page 220 4.5 Absolute Reset 4-106 ME0343-3A...

  • Page 221: Various Functions

    A/DCON-CB Chapter Various Functions 5.1 Vibration Suppress Control Function (ACON-CB Dedicated Function) 5-1 5.1.1 Overview ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5-1 5.1.2 Setting Procedure ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5-4 5.1.3 Settings of Parameters for Vibration Suppress Control ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5-5 5.1.4 Setting of Position Data ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5-7 5.2 Power-saving Function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5-8 5.2.1 AUTO Servo OFF Function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

  • Page 223: Overview

    5.1 Vibration Suppress Control Function (ACON-CB Dedicated Function) 5.1 Vibration Suppress Control Function (ACON-CB Dedicated Function) 5.1.1 Overview The vibration suppress control function suppresses vibrations of loads induced by our actuators. The function can suppress vibrations in the same direction as the movement of the actuator in the frequency range from 0.5Hz to 30Hz.
  • Page 224 PC software. 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.
  • Page 225 5.1 Vibration Suppress Control Function (ACON-CB Dedicated Function) ● Prohibition of switch to use vibration suppress control during moving operation Switching between vibration suppress control and normal positioning is disabled during movement of the actuator. Any switching command causes alarm code 0C5 “Illegal Control System Transition Command Error”...

  • Page 226: Setting Procedure

    5.1 Vibration Suppress Control Function (ACON-CB Dedicated Function) 5.1.2 Setting Procedure To use the vibration suppress control function, make proper measurements and adjustment depending on the procedure described below. Before setting vibration suppress Output a movement →No control command fro PLC to the Did you set the operation mode setting controller to check the switch to AUTO side before...

  • Page 227: Settings Of Parameters For Vibration Suppress Control

    5.1 Vibration Suppress Control Function (ACON-CB Dedicated Function) 5.1.3 Settings of Parameters for Vibration Suppress Control Set the parameters associated with vibration suppress control, which are listed in the table below. Parameter Default Parameter Parameter Name Unit Input Range Set No. value Damping Characteristic Rate...
  • Page 228 5.1 Vibration Suppress Control Function (ACON-CB Dedicated Function) [3] Notch Filter Gain (Parameter No.100, 104 and 108) Set the notch filter gain following the table below in response to the measured specific frequency of the loaded object. See the table below for reference. Provide fine adjustment if overshooting occurs.

  • Page 229: Setting Of Position Data

    5.1 Vibration Suppress Control Function (ACON-CB Dedicated Function) 5.1.4 Setting of Position Data To make the anti-vibration control effective, set the parameter set number to be used in Anti- Vibration Number column in position data. (Note) The vibration suppress control function cannot be used in pressing operation. Position Speed Push...

  • Page 230: Power-Saving Function

    5.2 Power-saving Function 5.2 Power-saving Function 5.2.1 AUTO Servo OFF Function Equipped with AUTO servo OFF function to reduce power consumption while the actuator is stopped. Fully understand the descriptions in this section and use without any safety or operational issues. With automatic servo OFF function, the servo turns OFF automatically after a certain period of time once positioning is completed.
  • Page 231 5.2 Power-saving Function Warning ● Do not use this function if the automatic servo-OFF is followed by pitch feed (relative movement). Servo ON/OFF may cause slight position shift to occur. If position shift occurs due to external force during servo OFF, positioning to the correct position is disabled. It is because pitch feed is operated based on the position at start used as the base point.
  • Page 232 5.2 Power-saving Function [2] Setting of Power-saving Method Select from the following conditions, and set in “stop mode” of the position table, or with Parameter No. 53 “Default stop mode” using a numerical value. Selectable Operation after positioning complete value specifications Servo ON as is All specifications...

  • Page 233: Positioning Operation

    5.2 Power-saving Function (1) For Parameter No.39 = 0 Positioning Automatic servo- Positioning Servo OFF Operation of Actuator operation OFF standby operation Servo Condition Completed Position No. Output (Current position PM1 to **=0 PM1 to**=Output PM1 to **=0 PM1 to **=0 number output) Positioning Completion Signal PEND...
  • Page 234 5.2 Power-saving Function 5-12 ME0343-3A...

  • Page 235: Detail Explanation Of Parameters

    A/DCON-CB Chapter Parameter 6.1 Parameter ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6-1 6.1.1 I/O Parameter List ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6-2 6.1.2 Detail Explanation of Parameters ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6-8 6.2 Servo Adjustment ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6-46 6.2.1 Adjustment of the ACON ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6-46 6.2.2 Adjustment of the DCON ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6-49...
  • Page 237 6.1 Parameter 6.1 Parameter Parameters are the data to set up considering the system and application. When a change is required to the parameters, make sure to back up the data before the change so the settings can be returned anytime. With using PC software, it is able to store the backup to the PC.

  • Page 238: I/O Parameter List

    6.1 Parameter 6.1.1 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 239: Parameter List

    6.1 Parameter Parameter List (green shaded area) shows the parameters dedicated for ACON-CB. (2/5) for Pulse Default Factory Relevant Name Unit (Note1) Input Range Positioner Train Setting Sections Mode Mode -9,999.99 to Actual stroke on + side B Zone Boundary 2+ 6.1.2[1] ...
  • Page 240 6.1 Parameter Parameter List (green shaded area) shows the parameters dedicated for ACON-CB. (3/5) for Pulse Default Factory Relevant Name Unit (Note1) Input Range Positioner Train Setting Sections Mode Mode 4.3.5[1] Position-command primary filter time 0.0 to 100.0   constant 6.1.2[41] S-shaped motion rate...
  • Page 241 6.1 Parameter Parameter List (green shaded area) shows the parameters dedicated for ACON-CB. (4/5) for Pulse Default Factory Relevant Name Unit (Note1) Input Range Positioner Train Setting Sections Mode Mode Damping characteristic – – 0 to 1,000 5.1.3[1]  coefficient 1 Damping characteristic –...
  • Page 242 6.1 Parameter Parameter List (green shaded area) shows the parameters dedicated for ACON-CB. (5/5) for Pulse Default Factory Relevant Name Unit (Note1) Input Range Positioner Train Setting Sections Mode Mode In accordance with 6.1.2[23] Speed loop proportional gain 3 – 1 to 27,661 –...
  • Page 243 6.1 Parameter Caution ● Make sure to set to “Positioner Mode” (No. 25 PIO Pattern = 0 to 5) when performing an operation with using the serial communication If it happens to be in the “pulse train mode” by mistake, the controller may operate erratically because it is operated according to the “pulse train mode”...

  • Page 244: Detail Explanation Of Parameters

    6.1 Parameter 6.1.2 Detail Explanation of Parameters Caution ● After changing (writing) parameters, perform a software reset or power reboot so that the set values can be reflected. [1] Zone Boundary 1 +, Zone Boundary 1 - (Parameter No. 1, No. 2) Zone Boundary 2 +, Zone Boundary 2 - (Parameter No.
  • Page 245 6.1 Parameter [2] Soft Limit + , Soft Limit - (Parameter No. 3, No. 4) Name Unit Input range Default initial value setting Soft limit + -9,999.99 to 9,999.99 Actual stroke on + side Soft limit - -9,999.99 to 9,999.99 Actual stroke on - side 0.3mm is added to the outside of the effective actuator stroke for the setting at the delivery).
  • Page 246 ● If it becomes necessary to reverse the homing direction after assembly to equipment, check the model of the applicable actuator to ensure that the homing direction is changeable. ● For models with which change is not possible, the actuator must be replaced. Contact IAI if anything is unclear. 6-10 ME0343-3A...

  • Page 247: Input Range

    6.1 Parameter [4] Press & hold stop judgment period (Parameter No.6) Name Unit Input range Default Factory Setting Press & hold stop 0 to 9,999 judgment period Judging completion of pressing operation A parameter to set completion judgment time of push-motion operation (PIO pattern 0 to 3). The operation monitors the torque (current limit value) in percent in “Pressing”...
  • Page 248 6.1 Parameter [5] Servo gain number (Parameter No.7) Name Unit Input range Default Factory Setting Servo gain number 0 to 31 In accordance with actuator The servo gain is also called position loop gain or position control system proportional gain. The parameter defines the response when a position control loop is used.
  • Page 249 6.1 Parameter [7] Default acceleration/deceleration (Parameter No.9) Name Unit Input range Default Factory Setting 0.01 to actuator's max. Default Rated actuator's acceleration/ acceleration/deceleration acceleration/ deceleration deceleration The factory setting is the rated acceleration/deceleration of the actuator. The value in this setting should be written automatically to the acceleration/deceleration in the applicable position number when the target position is written in an unregistered position table.
  • Page 250 6.1 Parameter [10] Pause input disable (Parameter No.15) Name Unit Input Range Default factory 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 251 6.1 Parameter [13] Home position check sensor input polarity (Parameter No.18) ··· Dedicated for ACON Name Unit Input range Default Factory Setting Home position check 0 to 2 In accordance with actuator sensor input polarity A parameter to select input polarity of the home sensor. The home sensor is an option.
  • Page 252 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 [6.1.2 [1] (Parameter No.
  • Page 253 6.1 Parameter [17] PIO pattern selection (Parameter No.25) Name Unit Input range Default Factory Setting 0 (Standard type) PIO pattern selection 0 to 7 6 (Pulse train control mode) Select the PIO operation pattern. For the details of PIO patterns, refer to [3.2 Positioner Mode (PIO Control)] and [3.3 Operation in Pulse Train Control Mode].
  • Page 254 6.1 Parameter The controllers available to select the pulse train control mode are those with the I/O type in the controller model code "PLN (Pulse Train Type (Sink Type)" or "PLP (Pulse Train Type/Source Type)". Other I/O types do not comply with the pulse train control. PLN/PLP types should be able to be used as the positioner mode by setting the PIO pattern to a number from 0 to 5.
  • Page 255 6.1 Parameter [Edge System] Move command input (ST0 to ST6) Movement complete (PE0 to PE6) Actuator movement Target Position [20] Default movement direction for excitation-phase signal detection (Parameter No.28)··· Dedicated for ACON Name Unit Input range Default Factory Setting Default movement 0: Reverse direction for excitation- In accordance with actuator...
  • Page 256 6.1 Parameter [22] Pole sense type (Parameter No.30) ··· Dedicated for ACON Name Unit Input range Default Factory Setting 0: Current Control Pole Sensing Type 1: Distance Control 1 2: Distance Control 2 At the time the magnetic pole detection is performed at the serve-on after the power is turned on, the operation system is defined at the same time.
  • Page 257 6.1 Parameter [24] Velocity loop integral gain (Parameter No.32) Name Unit Input range Default Factory Setting Velocity loop integral gain 1 to 217,270 In accordance with actuator The parameter which corresponds to deviation caused by external factors, such as friction. That is, the servo rigidity increases.
  • Page 258 6.1 Parameter [26] Push velocity (Parameter No. 34) Name Unit Input range Default Factory Setting 1 to actuator's max. Push velocity mm/s In accordance with actuator pressing speed This is the parameter to set the velocity in pressing operation. The setting is done considering the actuator type when the product is delivered. Refer to [9.4 List of Specifications of Connectable Actuators].
  • Page 259 6.1 Parameter [28] Auto servo motor OFF delay time 1, 2, 3 (Parameter No.36, No.37, No.38) Name Unit Input range Default Factory Setting Auto servo motor OFF 0 to 9,999 delay time 1 Auto servo motor OFF 0 to 9,999 delay time 2 Auto servo motor OFF 0 to 9,999...
  • Page 260 6.1 Parameter [30] Home-return input disable (Parameter No.40) Name Unit Input range Default Factory Setting 0 : Enabling Home-return input disable 1 : Disabling This parameter defines whether the home return input signal HOME is disabled or enabled. Normally this parameter need not be changed. [31] Operating-mode input disable (Parameter No.41) Name Unit...
  • Page 261 6.1 Parameter [34] Silent interval magnification (Parameter No.45) Name Unit Input range Default Factory Setting Silent interval magnification times 1 to 10 Use this parameter to set the silent interval (no communication) time by the time taken for communication of 3.5 characters or longer before command data transmission when the controller is operated via serial communication (RTU).
  • Page 262 6.1 Parameter [37] PIO inch distance, PIO inch distance 2 (Parameter No.48, No.49) Name Unit Input range Default Factory Setting PIO inch distance 0.01 to 1.00 1.00 PIO inch distance 2 0.01 to 1.00 0.10 When the selected PIO pattern is “1” (Teaching Mode), Parameter No.48 defines the inching distance to be applied when inching input commands are received from the PLC.
  • Page 263 6.1 Parameter [41] Position-command primary filter time constant (Parameter No.55) Name Unit Input range Default Factory Setting Position-command primary 0.0 to 100.0 filter time constant Use this in the case to set the value in “Acceleration/Deceleration” box in the position table to 2 “1-step delay filter”, or in the case that there is no acceleration/deceleration function the host controller in Pulse Train Control Mode.
  • Page 264 6.1 Parameter The S-shaped motion is a sine curve that has the acceleration time as 1 cycle. The level of its swing width can be set by this parameter. Setting [%] Level of Swing Width No S-shaped motion (Dotted line shown in the image below) Sine curve swing width ×...
  • Page 265 6.1 Parameter [43] Torque limit (Parameter No.57) …Pulse train only Name Unit Input range Default Factory Setting Torque limit 0 to 70 This parameter is exclusively used for the pulse-train control mode. It sets up the torque limit value by the torque limit input signal (TL) in the external input signals. The setting should be established in percent [%] with the rated thrust of the torque as 100% (catalog value).
  • Page 266 6.1 Parameter [47] Torque limit command input (Parameter No.61)…Pulse train only Name Unit Input range Default Factory Setting Torque limit command input 0 : Enabled 1 : Disabled This parameter is exclusively used for the pulse-train control mode. Refer to [4.3.5 Parameter Settings Required for Advanced Operations.] [48] Pulse count direction (Parameter No.62) …Pulse train only Name Unit...
  • Page 267 6.1 Parameter [52] Electronic gear denominator (Parameter No.66) …Pulse train only Name Unit Input range Default Factory Setting Electronic gear denominator 1 to 4,096 This parameter is exclusively used for the pulse-train control mode. Refer to [4.3.5 Parameter Settings Required for Advanced Operations.] [53] Compulsory stop input (Parameter No.67)…Pulse train only Name Unit...
  • Page 268 6.1 Parameter Velocity Velocity command value (trapezoidal pattern) Actual velocity Time [55] Ball screw lead length (Parameter No.77) Name Unit Input range Default Factory Setting Ball screw lead length 0.01 to 999.99 In accordance with actuator This parameter set the ball screw lead length. The factory setting is the value in accordance with the actuator characteristics.
  • Page 269 6.1 Parameter [57] Rotary axis mode selection (Parameter No.79) Name Unit Input range Default Factory Setting Rotary axis mode 0: Normal Mode In accordance with actuator selection 1: Index Mode This parameter defines the mode of the rotational axis. When the axis operation type (Parameter No.78) is set to rotary axis and the index mode is selected, the current value indication is fixed to 0 to 359.99.
  • Page 270 6.1 Parameter [60] Fieldbus operation mode (Parameter No.84) This parameter is exclusively used for the controller of field network specification. Check the applicable instruction manual number in [Section 4.4 Operation of Field Network Type] and refer to each instruction manual. [61] Fieldbus node address (Parameter No.85) This parameter is exclusively used for the controller of field network specification.
  • Page 271 6.1 Parameter [66] Current limit value at stopping due to miss-pressing (Parameter No.91) Name Unit Input range Default Factory Setting 0: Current limit value Current limit value at during stop stopping due to miss- 1: Current limit value pressing during push This parameter defines the restricted current value at stopping due to miss-pressing.
  • Page 272 6.1 Parameter [69] Stop method at servo OFF (Parameter No.110) Name Unit Input range Default Factory Setting 0: Rapid stop Stop method at servo OFF 1: Deceleration to stop Selects Servo OFF command, drive source cutoff, and stop mode of actuator during alarm generation (operation cancel level).
  • Page 273 6.1 Parameter [71] Monitoring mode (Parameter No.112) Name Unit Input range Default Factory Setting 0: Does not use 1: Monitor function 1 Monitoring mode 2: Monitor function 2 3: Monitor function 3 Servo monitoring can be performed by connecting PC software. This parameter allows you to select a monitoring mode function (servo monitor).
  • Page 274 6.1 Parameter [73] Servo gain switchover time constant (Parameter No.138) Name Unit Input range Default Factory Setting Servo Gain Switchover 10 to 2,000 Time Constant When a switchover of the servo gain set is commanded in the position table, the switchover process is completed after time more than 3 times of the time spent in the setting of this parameter is passed since the operation of the commanded position number has started.
  • Page 275 6.1 Parameter <Setting example > With ball screw lead length 4mm and home return offset level 10mm, set this parameter to -8mm. Home Return Offset Level (10mm) Ball Screw Lead Length (4mm) Ball Screw Lead Length (4mm) Ball Screw Lead Length (4mm) Home position preset value (-8mm) Home return Home Position...
  • Page 276 6.1 Parameter [78] Overload level ratio (Parameter No.143) Name Unit Input range Default Factory 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 277 6.1 Parameter [79] Total movement count threshold (Parameter No.147) Name Unit Input range Default Factory Setting Total movement count times 0 to 999,999,999 0 (Disabling) threshold When total travel count exceeds the set value of this parameter, alarm 04E “Travel Count Threshold Over”...
  • Page 278 6.1 Parameter [82] Light error alarm output select (Parameter No.151) Name Unit Input range Default Factory Setting Overload warning is generated or battery Light error alarm output voltage drop error select 1: Output message - level alarm Select an output condition for *BALM Signal or *ALML Signal (Note 1) If it is 0, *BALM / *ALML Signal should be output when overload warning is generated or battery voltage drop error...
  • Page 279 6.1 Parameter The motor rotation speed can be calculated with the equation below. Motor revolution [r/min] = Movement speed [mm/s] / Actuator lead [mm] x 60 [s/min] For details, refer to "4.5.2 Absolute Battery Charge". Upper limit of encoder Retaining time per 1 Parameter No.155 rotation speed Battery retaining...
  • Page 280 6.1 Parameter [85] Delay time after shutdown release (Parameter No.165) Name Unit Input range Default Factory Setting Delay time after 0 to 10,000 shutdown release It is used in purpose to scatter the in-rush current when the power is supplied to multiple controllers from one power source.
  • Page 281 6.1 Parameter [86] Pulse train datum position (Parameter No.167) …Pulse train only Name Unit Input range Default Factory Setting Pulse train datum -9,999.99 to 9,999.99 position Operation is made with the position set in this parameter as the datum position when Pulse Train Control Mode (PIO Pattern 7) is selected.

  • Page 282: 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. 6.2.1...
  • Page 283 6.2 Servo Adjustment Situation that Requires How to Adjust Adjustment • Speed is uneven during • Increase the value of parameter No.31 "Velocity Loop the movement Proportional Gain". By setting a larger value, the follow- • Speed accuracy is not up ability to the speed command becomes better.
  • Page 284 6.2 Servo Adjustment Situation that Requires How to Adjust Adjustment • Large static friction of • Set parameter No.71 "Feed Forward Gain". load makes actuator start Select a value in the range from 10 to 50 roughly. The slowly. larger the setting value is, the smaller the deviation is. Then the response is improved.
  • Page 285 Speed Loop Proportional Gain Integral Gain 1259 2833 Contact IAI if no improvement in operation is confirmed. Abnormal noise occurs. Set “Velocity Loop Integrated Gain” and “Velocity Loop Integrated Remarkably high noise Gain” to the following values and check the operation.
  • Page 286 6.2 Servo Adjustment 6-50 ME0343-3A...

  • Page 287: Maintenance And Inspection

    A/DCON-CB Chapter Maintenance and Inspection 7.1 Periodic Inspection ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-1 7.1.1 Periodic Inspection Items ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-2 7.2 Requests When Replacing Units ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-4 7.3 Consumable Parts ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-5 7.4 Component Replacement ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-6 7.4.1 Replacement of Absolute Battery ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-6 7.5 Preventive Maintenance Function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

  • Page 289: Periodic Inspection

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

  • Page 290: Periodic Inspection Items

    7.1 Periodic Inspection 7.1.1 Periodic Inspection Items This product contain electronic components that may degrade due to the operating environment and require periodic inspection. It is standard to conduct periodic inspection once every 6 months to one year, but the interval should be shortened in accordance with operating environment.

  • Page 291: Inspection Details

    7.1 Periodic Inspection Inspection Judgment Inspection details Countermeasures items criteria Wiring connectors loose? (Motor encoder cable, field network No looseness Insert until the lock engages. cable, stop circuit and absolute battery, etc.) Connection status No visual Wiring cable frayed? Check visually and replace the cable. abnormalities The expiry date is Even if the absolute battery is free of...

  • Page 292: Requests When Replacing Units

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

  • Page 293: Consumable Parts

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

  • Page 294: Component Replacement

    7.4 Component Replacement 7.4 Component Replacement 7.4.1 Replacement of Absolute Battery When replacing the battery, leave the power to the controller ON, remove the battery connector and replace with a new battery. [1] For the Type to Attach Battery to Controller Side Model Code of Battery for Replacement: AB-7 [Removal] Pull out the connector to...

  • Page 295: When Using Absolute Battery Unit

    7.4 Component Replacement [2] When Using Absolute Battery Unit 1) Detach the absolute battery connector first, and then remove the absolute battery unit cover retaining screws (2 places) to detach the cover. At this time, pull out the battery cables from the opening on the cover.

  • Page 296: Preventive Maintenance Function

    7.5 Preventive Maintenance Function 7.5 Preventive Maintenance Function 7.5.1 Maintenance Information The times of actuator run and distance of operation can be summed up and recorded in the controller. The contents recorded by PC Software, Modbus and Field Network can be checked. •...
  • Page 297 7.5 Preventive Maintenance Function [Maintenance Information Setting in Teaching Tool] Maintenance information can be checked and set with the following procedures. • TB-01 Monitor → Maintenance • TB-02/TB-03 Information → Maintenance information • PC software Monitor → Maintenance information → Axis selection As a reference, shown below is how to operate using a teaching pendant TB-03 (TB-02).
  • Page 298 7.5 Preventive Maintenance Function ● Basic Operation in Maintenance Information Screen Using TB-03 (TB-02) To set the target value, touch the Edit of the relevant item. The set value will blink and Ten Key screen will open. Enter the value with the Ten Key pad and touch the ENT .

  • Page 299: Predictive Maintenance Function

    7.6 Predictive Maintenance Function 7.6 Predictive Maintenance Function 7.6.1 Overload Warning Using this function enables monitoring of motor temperature changes caused by dried-up grease or wear and tear on parts. A warning is output when the preset value is exceeded. This enables detection of abnormalities before a breakdown or a malfunction occurs.
  • Page 300 7.6 Predictive Maintenance Function [Minor Trouble Alarm Output Select (Parameter No. 151)] Name Unit Input range Default Factory Setting 0: At overload warning Minor trouble alarm output － output select 1: Message level alarm output If 0 is set, when overload load level ratio (Parameter No. 143) is exceeded, a minor malfunction alarm signal *ALML will be output.

  • Page 301: Troubleshooting

    A/DCON-CB Chapter Troubleshooting 8.1 Action to Be Taken upon Occurrence of Problem ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-1 8.2 Fault Diagnosis ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-3 8.2.1 Impossible Operation of Controller ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-3 8.2.2 Positioning and Speed of Poor Precision (Incorrect Operation)ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-7 8.2.3 Generation of Noise and/or Vibration ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-9 8.2.4 Impossible Communication ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

  • Page 303: Action To Be Taken Upon Occurrence Of Problem

    8.1 Action to Be Taken upon Occurrence of Problem 8.1 Action to Be Taken upon Occurrence of Problem If a problem occurs, check the following points first in order to ensure quick recovery and prevent recurrence of the problem. (1) Status Display LED on Controller and PIO Check ...
  • Page 304 8.1 Action to Be Taken upon Occurrence of Problem Note1: If parameter No.111 (Selection of using calendar function) is set to “1” (use), it is possible to know the date and time at which the alarm occurred. Set the date and time from the teaching tool such as PC software at the first power-on of the controller.

  • Page 305: Fault Diagnosis

    8.2 Fault Diagnosis 8.2 Fault Diagnosis This section describes faults largely divided into four types as follows: ● Impossible operation of controller ● Positioning and speed of poor precision (incorrect operation) ● Generation of noise and/or vibration ● Impossible Communication. 8.2.1 Impossible Operation of Controller Situation Possible cause...
  • Page 306 8.2 Fault Diagnosis Situation Possible cause Check/Treatment ALM in the status display (1) Occurrence of alarm (1) Check the error code with the LEDs turns on when the (2) During emergency-stop. teaching tool being connected power is supplied. 1) Was the emergency-stop switch. and remove the cause by 2) EMG- on the power supply referring the alarm list.

  • Page 307: Possible Cause

    8.2 Fault Diagnosis [1] 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 [1.3 Name the controller, but the operation mode selection.
  • Page 308 8.2 Fault Diagnosis [3] 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- terminal performed even though 1) Emergency stop condition of the power connector. the teaching tool is 2) Servo OFF condition Warning...

  • Page 309: Positioning And Speed Of Poor Precision (Incorrect Operation)

    8.2 Fault Diagnosis 8.2.2 Positioning and Speed of Poor Precision (Incorrect Operation) Situation Possible cause Check/Treatment Completion of operation In the home return of our standard 1) Reduce the load. on the way to home specification, the actuator is first 2) Remove the interference.
  • Page 310 8.2 Fault Diagnosis [2] 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 311: Generation Of Noise And/Or Vibration

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

  • Page 312: Impossible Communication

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

  • Page 313: About Alarms

    8.3 About Alarms 8.3 About Alarms 8.3.1 Simple Alarm Codes The simple alarm codes should be output on the LED lamps for the current alarm monitoring on the front panel of a controller or as the binary codes in PIO. For the network types, they should be read in the complete position register (PM8 to PM1) in each mode of Remote I/O Mode (PIO Pattern), Position/Simple Direct Mode.
  • Page 314 8.3 About Alarms : ON : OFF ALM8 ALM4 ALM2 ALM1 *ALM Binary Code Description: Alarm code is shown in ( ). (PM8) (PM4) (PM2) (PM1) Actual speed excessive (0C0)      Overcurrent (0C8) Overheat (0CA) Current sensor offset adjustment error (0CB) Control power source voltage error (0CC) ...

  • Page 315: Alarm Level

    ● If the same error occurs again after resetting the alarm, it means that the cause of the alarm has not been removed. ● If a controller or actuator is found malfunctioned, consider to repair or replace it. You will be able to apply for a repair in the IAI homepage. 8-13 ME0343-3A...

  • Page 316: Alarm Details

    8.3 About Alarms 8.3.3 Alarm Details If corresponding controller are limited, a symbol for the type of the corresponding controller is indicated in the alarm code column. Alarm codes with no symbols indicated are common to all controllers. [1] Message level Alarm Alarm Name Alarm Name...
  • Page 317 8.3 About Alarms Alarm Alarm Name Alarm Name Code Cause : The calendar function is not working properly because of noise Realtime clock access or malfunction of consisting parts. error Treatment : 1) Take proper measures against noise. 2) When the calendar function is not used, set parameter No.111 “Calendar Function Use Select”...
  • Page 318 8.3 About Alarms Alarm Alarm Name Alarm Name Code Cause : A software reset command was issued in servo ON status. Software reset command Treatment : Check that servo is in OFF status (SV signal is OFF in servo ON status status) and issue a software reset command.
  • Page 319 8.3 About Alarms Alarm Alarm Name Alarm Name Code Cause : Insufficient deceleration distance when deceleration has been Command deceleration reduced during travel. The software limit has been exceeded error when decelerating from the current position after the change. Deceleration start position when software limit is not Commands given at this position will exceed the...
  • Page 320 8.3 About Alarms Alarm Alarm Name Alarm Name Code Cause : Motor rotation speed exceeded the allowable rotation speed. Excessive actual speed 1) The sliding resistance of the actuator is locally excessive. 2) There may be a concern of sudden speed rise before detecting a servo error such as the external force is applied momentarily.
  • Page 321 8.3 About Alarms Alarm Alarm Name Alarm Name Code Cause : The current position of the actuator exceeds the software Software stroke limit stroke limit. exceeded Treatment : Return the actuator to be within the range of the software stroke limit. Cause : 1) After the pressing operation has complete, the force to push Pressing motion range back is too large and the pushed back to the pressing start...
  • Page 322 8.3 About Alarms Alarm Alarm Name Alarm Name Code Absolute encoder error The encoder cannot detect the position information properly for the detection 3 Simple Absolute applicable type or Serial Absolute applicable type. ACON (Encoder overspeed error) Only Cause : The current position changed with a speed more than the rotation velocity setting by an external cause (such as drop of vertical axis) during the power shutoff.

  • Page 323: Alarm Name

    2) If the payload is appropriate, shut the power ane then move the slidermanually with hand in order to check the sliding resistance. If you found the cause on the actuator, please contact IAI. 3) It is necessary toreplace the motor. Please contact IAI. 8-21 ME0343-3A...
  • Page 324 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. Cause : The output current in the power circuit section is increased Overcurrent abnormally.
  • Page 325 8.3 About Alarms Alarm Alarm Name Alarm Name Code Cause : An error was found to the sensor in the status check of the Current sensor offset current detection sensor conducted at the initializing process adjustment error in the startup. Failure of the current detection sensor and peripheral components.
  • Page 326 3) or 4) if it is the cause, is necessary to replace the Only actuator (motor part) or controller. If the cause cannot be specified, please contact IAI. A-, B-phase disconnection Cause : The encoder signal cannot be detected normally. 1) Disconnection of the actuator connection cable, actuator side attached cable, or connector connection failure.
  • Page 327 Treatment : The actuator may not match the controller. Check the model. Should this error occur, please contact IAI. Cause : Unmatch was detected when the data was written to the non- Non-volatile memory write volatile memory and comparison (verification) was made to...
  • Page 328 8.3 About Alarms Alarm Alarm Name Alarm Name Code Cause : The controller interior is not working properly. Logic error 1) CPU malfunction. (Controller part error) 2) Malfunction caused by noise. Treatment : Reboot the power. If the error occurs again, check for presence of noise. If a spare driver unit is available, replace it and try again.
  • Page 329 A/DCON-CB Chapter Appendix 9.1 Way to Set Multiple Controllers with 1 Teaching Tool ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-1 9.1.1 Connecting Example ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-2 9.1.2 Detailed Connection Diagram of Communication Lines ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-3 9.1.3 Axis No. Setting ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-4 9.1.4 Handling of e-CON Connector (How to Connect) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-5 9.1.5 SIO Converter ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 330 9.4 List of Specifications of Connectable Actuators ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-32 9.4.1 Specifications for Actuators ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-32 9.4.2 Push Force / Gripping Force and Current Limit Value ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-40...

  • Page 331: Way To Set Multiple Controllers With 1 Teaching Tool

    9.1 Way to Set Multiple Controllers with 1 Teaching Tool 9.1 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 332: Connecting Example

    9.1 Way to Set Multiple Controllers with 1 Teaching Tool 9.1.1 Connecting Example Caution ● Supply 0V to the SIO converter and each controller from the same power source. PC Software IA-OS PC Software only) IA-OS ( IA-OS-C (Cable included) RC/EC PC software RCM-101-MW (RS-232C-competible) Teaching Pendant...

  • Page 333: Detailed Connection Diagram Of Communication Lines

    9.1 Way to Set Multiple Controllers with 1 Teaching Tool 9.1.2 Detailed Connection Diagram of Communication Lines Note 1 Apply a 2-pair shielded cable. When connecting a cable other than recommended to (A) and (B), make sure to use a hard-cored cable equivalent to the vinyl cable (KIV) dedicated for control devices with the sheath outer diameter from 1.35 to 1.60mm.

  • Page 334: Axis No. Setting

    9.1 Way to Set Multiple Controllers with 1 Teaching Tool 9.1.3 Axis No. Setting Set an axis number by using the axis number setting switch on the front panel of A/DCON. Possible axis numbers range from 0 to F by 16 axes. After the setting, turn off the power of A/DCON and then on it again.

  • Page 335: Handling Of E-Con Connector (How To Connect)

    9.1 Way to Set Multiple Controllers with 1 Teaching Tool 9.1.4 Handling of e-CON Connector (How to Connect) Clamp Lever Pin No. Check the applicable cable size. Check the applicable cable. If it is not applicable, it may cause a connection failure or a breakage f the connector.

  • Page 336: Sio Converter

    9.1 Way to Set Multiple Controllers with 1 Teaching Tool 9.1.5 SIO Converter The SIO converter converts the communication mode from RS-232C to RS-485 or vice versa. 1) Power/Emergency Stop Terminal Board (TB2)） Symbol Description EMG1, EMG2 Turn the PORT switch ON to output the emergency stop switch signal, OFF to short-circuit EMG1 and EMG2.
  • Page 337 9.1 Way to Set Multiple Controllers with 1 Teaching Tool 2) Link-connection Terminal Board (TB1) This is the connection port to obtain communication connection with the controller. Connect terminal “A” on the left side to communication line SGA of the controller. (Terminal A is connected to pin 1 of (7) internally.) Connect terminal “B”...

  • Page 338: Communications Cable

    9.1 Way to Set Multiple Controllers with 1 Teaching Tool 9.1.6 Communications Cable 9.1.7 External Dimension (Leg Element Bottom Side) (Leg Element Top Side) ME0343-3A...

  • Page 339: Conformity To Safety Category

    9.2 Conformity to Safety Category 9.2 Conformity to Safety Category In this section shows an example of a circuit using the dedicated teaching pendant. However, it is not possible for us to check the conformity of our product to the condition of your system. Therefore, it is necessary that the user construct the circuit considering the condition of use and the categories to be applied.

  • Page 340: Wiring And Setting Of Safety Circuit

    For instance, do not attempt to use the same power source as the driving power supply for PCON and RCON which is the controller for ROBO Cylinder, the product of IAI. It is the risk prevention treatment preparing for the cases such as the operation error of the safety circuit caused by not enough power capacity.
  • Page 341 9.2 Conformity to Safety Category [3] Connection of dummy plug of TP adapter When operating the controller with AUTO Mode, make sure to connect the dummy plug (DP-4S). [4] Enable function* If you are using the enable function, set it to Enable using the controller parameter. Name Unit Input range...

  • Page 342: Examples Of Safety Circuits

    9.2 Conformity to Safety Category 9.2.3 Examples of Safety Circuits [1] In case of category 1 9-12 ME0343-3A...
  • Page 343 9.2 Conformity to Safety Category ● Detailed category 1 circuit example 9-13 ME0343-3A...
  • Page 344 9.2 Conformity to Safety Category [2] In case of category 2 9-14 ME0343-3A...
  • Page 345 9.2 Conformity to Safety Category ● Detailed category 2 circuit example 9-15 ME0343-3A...
  • Page 346 9.2 Conformity to Safety Category [3] In case of category 3 or 4 9-16 ME0343-3A...
  • Page 347 9.2 Conformity to Safety Category ● Detailed category 3 or 4 circuit example 9-17 ME0343-3A...

  • Page 348: Tp Adapter And Accessories

    9.2 Conformity to Safety Category 9.2.4 TP Adapter and Accessories [1] TP adapter external dimensions RCB-LB-TGS 9-18 ME0343-3A...
  • Page 349 9.2 Conformity to Safety Category [2] Connection cable ・Controller/TP adaptor connection cable Use this cable to connect the controller and TP adapter (RCB-LB-TG). Model : CB-CON-LB005 (standard cable length: 0.5m) Maximum cable length : 2.0m 9-19 ME0343-3A...
  • Page 350 9.2 Conformity to Safety Category [3] Dummy plug Connect a dummy plug to the teaching pendant connecting connector. Make sure to connect a dummy plug if the AUTO mode is specified. Without the connection, it will be the emergency stop condition. Model: DP-4S DP-4S Signal...

  • Page 351: Example Of Basic Positioning Sequence (Pio Pattern 0 To 3)

    9.3 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) 9.3 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) This section shows an example in which a simple operation box directs ACON to move the actuator successively to three positions on an axis. 9.3.1 I/O Assignment Operation Box Operation Box...

  • Page 352: Ladder Sequence

    9.3 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) 9.3.2 Ladder Sequence [1] Servo ON (Emergency Stop) Circuit It is presumed that the emergency stop release circuit installed in the operation BOX possesses the self-retaining circuit as shown in “3.1.1 [1] Power Supply Connector (for Power Supply and Emergency Stop)”.
  • Page 353 9.3 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [3] Pause Circuit Pause is provided by a single pushbutton. In a similar way as use of an alternate switch, push the button to make the actuator pause and push it again to release the pause of the actuator. Pushing the pushbutton leads the “pause command and pause lamp ON”...
  • Page 354 9.3 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [4] Reset Circuit If the Stop button on the operation BOX is pushed during pause, the Reset signal sent from PLC to A/DCON is turned ON and the remaining moving distance is cancelled. In addition, this operation releases the pause.
  • Page 355 9.3 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [6] Decode Circuit of Positioning Complete Position No. The decode circuit converts the binary data of positioning complete position No. sent from A/DCON to PLC into the corresponding bit data. [7] Actuator Start Circuit If the “Operation”...
  • Page 356 9.3 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [8] Position 1 Operation Circuit The main circuit is designed to process and manage signals “start” → “moving” → “positioning complete” to move the actuator to position No.1. Complement ●...
  • Page 357 9.3 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [9] Position 2 Operation Circuit The main circuit is designed to process and manage signals “start” → “moving” → “positioning complete” to move the actuator to position No.2. This circuit indicates the same sequence as that of position No.1.
  • Page 358 9.3 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [10] Position 3 Operation Circuit The main circuit is designed to process and manage signals “start” → “moving” → “positioning complete” to move the actuator to position No.3. This circuit indicates the same sequence as that of position No.1.
  • Page 359 9.3 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [11] Commanded Position No. Output Ready Circuit The ready circuit is designed to hold start command and output commanded position No. in the binary code. Interlock is taken so that position No. command may not be specified incorrectly. Point︕...
  • Page 360 9.3 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [12] Commanded Position No. Output Circuit Depending on the result of the ready circuit, this circuit converts position No. to the binary code and outputs the data from PLC to A/DCON. [13] Start Signal Output Circuit After 20ms from the output of position No., this circuit outputs the start signal from PLC to A/DCON.
  • Page 361 9.3 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [14] Other Display Circuits (Zone 1, Position Zone, and Manual Mode) Reference ● Programs and functions of PLC are expressed differently depending on manufacturers. However, the contents of sequence designs do not vary fundamentally. Though arithmetic and data processing commands seem differently, any manufacturer defines command words executing the same functions as those of other manufacturers.

  • Page 362: 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 363 9.4 List of Specifications of Connectable Actuators 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] 1000 (at 50 to 600st) 910 (at 650st)
  • Page 364 9.4 List of Specifications of Connectable Actuators 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...
  • Page 365 9.4 List of Specifications of Connectable Actuators 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...
  • Page 366 9.4 List of Specifications of Connectable Actuators 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]...
  • Page 367 9.4 List of Specifications of Connectable Actuators 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...
  • Page 368 9.4 List of Specifications of Connectable Actuators 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]...
  • Page 369 9.4 List of Specifications of Connectable Actuators 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]...
  • Page 370 9.4 List of Specifications of Connectable Actuators 9.4.2 Push Force / Gripping Force and Current Limit Value Caution ● The relationship of push force and current-limiting value is based on the rated push speed (factory setting) and provides only a guidliene. ●...
  • Page 371 A/DCON-CB Chapter Warranty 10.1 Warranty Period ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-1 10.2 Scope of the Warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-1 10.3 Honoring the Warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-1 10.4 Limited Liability ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-2 10.5 Conformance with Applicable Standards/Regulations, etc., and Application Conditions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-2 10.6 Other Items Excluded from Warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-2...

  • Page 373: Warranty Period

    Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or malfunction in question pertains to our product as delivered by IAI or our authorized dealer.

  • Page 374: Limited Liability

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

  • Page 375: Revision History

    Revision History Revision History Revision date Revised content 2015.08 First Edition Edition 1B 2015.11 P22, 47, 62 PCD Connection Cable Length corrected 2015.11 Edition 1C P231 Correction made to e-CON model code Edition 1D 2016.06 Correction made to the initial value of the parameter No.155 2 → 0 2016.11 Edition 1E [1], [2], …...
  • Page 376 Revision History Revision date Revised content Parameters No. 188 added Description added for details of Parameters No. 10 and No. 188 10.4 Contents changed in Example of Alarm 0A1 Occurrence (2) 11.6 List of Specifications of Connectable Actuators revised Others Correction made, terms unified 2019.09 Edition 2B...

  • Page 377: Revision Date

    Revision History Revision date Revised content 2022.11 Third Edition Overall Construction Changed Descriptions deleted related to DVD instruction manual 2.6.2 Correction made to *BALM Signal Output status "Horizontal" deleted from installing orientation of arm type Others Correction made, terms unified Post-3 ME0343-3A...

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