Page 1 ＳＣＯＮ２ Servo Press Function Instruction Manual First Edition ME0470-1B Controller Overview Chapter Specifications Chapter Check Wiring Chapter Operation Chapter Various Functions Chapter Parameter Chapter Maintenance and Chapter Inspection Troubleshooting Chapter Construction of Safety Circuit 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 SCON2 Servo Press Type Instruction Manual Configuration Control Product name Instruction manual name number SCON2 Servo Press Function This manual ME0470 IA-OS First Step Guide PC Software ME0391 * For how to operate, refer to the guiding IA-OS features installed in IA-OS...
Page 5: Table Of Contents
2.2.4 Selection of Leak Current Breaker ···························································· 2-10 2.3 Appearance ··············································································· 2-12 2.3.1 SCON2 ······························································································· 2-12 2.3.2 SCON2 + Functional Safety Unit ······························································ 2-12 2.4 I/O Specifications ······································································· 2-13 2.4.1 PIO Input and Output Interface ································································· 2-13 2.5 Options ···················································································· 2-14 2.5.1 Pulse Converter (Model: JM-08) ·······························································...
Page 6 Chapter 3 Wiring 3.1 Wiring for Servo Press Type (PIO Control) ······································· 3-1 3.1.1 Wiring Diagram (Connection of Construction Devices) ·································· 3-1 3.1.2 Wiring ································································································· 3-3 3.1.3 PIO signal ···························································································· 3-11 3.2 Wiring Method ··········································································· 3-13 3.2.1 Wiring of Power Circuit ··········································································· 3-13 3.2.2 Wiring of Emergency Stop Circuit (System I/O) ············································...
Page 7 Chapter 6 Parameter 6.1 Parameter ················································································· 6-1 6.1.1 Parameter List ······················································································ 6-2 6.1.2 Detail of Parameters ·············································································· 6-8 6.2 Servo Adjustment ······································································· 6-37 Chapter 7 Maintenance and Inspection 7.1 Periodic Inspection ····································································· 7-1 7.1.1 Periodic Inspection Items ········································································ 7-2 7.2 Requests When Replacing Units ···················································· 7-4 7.3 Consumable Parts ······································································...
Page 8 9.1.4 TP Adapter and Related Components ························································ 9-10 9.2 Safety Function SS1-t Specification ················································ 9-13 9.2.1 About SS1-t Function ············································································· 9-13 9.2.2 Applicable Standards ············································································· 9-13 9.2.3 Caution ······························································································· 9-14 9.2.4 Residual Risk ······················································································· 9-14 9.2.5 Specifications ······················································································· 9-16 9.2.6 Operating Sequence ·············································································· 9-18 9.2.7 I/O Connector for Safety Function ·····························································...
Page 9: Safety Guide
Safety Guide Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
Page 10 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 11 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 12 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 13 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 14 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 15: 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 16 Safety Guide Intro-8 ME0470-1B...
Page 17: Precautions For Handling
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 [2.1.2 Teaching Tools] for the PC software and teaching pendant that can be used with this controller, and use the applicable tools.
Page 18 Precautions for Handling Calendar function time setting Gateway alarm 069 "Real Time Clock Oscillation Stop Detected" may occur when turning the power on for the first time after delivery. In that case, set the current time with the teaching tool. When fully charged, time data can be retained approximately 10 days after the power is turned OFF.
Page 19 Precautions for Handling According to Sequence Program Creation Please note the following things when creating a sequence program. When data transfer is necessary between two devices that have a different scan time from each other, duration more than the longer scan time is required to certainly read the signal. (It is recommended to have at least twice of the longer scan time for the timer setting to conduct the reading process on the PLC side safely.) ●...
Page 20 ● IAI products equip a built-in drive cutoff relay considering customer’s usage. However, as described above, whether it can be used or not relies on such facts as the safety demand level and frequency of drive cutoff.
Page 21 Precautions for Handling 10. Regarding Servo Press Equipment (Device) ● Regarding the safety circuit, make sure to establish the construction that satisfies the safety requirements as the system by having the risk assessment conducted on the device by its own. ●...
Page 22: International Standard Compliance
This product complies with the following overseas standards. Refer to the Overseas Standard Compliance Manual (ME0287) for more detailed information. ○: Applicable ×: Not Applicable Controller RoHS3 Directive CE Directive SCON2-CG 60W to 750W ○ ○ (Note 1) ○ (Note 2)
Page 23: Actuator Coordinate System
Actuator Coordinate System Actuator Coordinate System The home return direction is defined with the motor end. Caution ● Do not change the Homing direction. The “0” in the figure below shows home. Rod type servo press tyoe Intro-15 ME0470-1B...
Page 24 Actuator Coordinate System Intro-16 ME0470-1B...
Page 25: Controller Overview
SCON2-CG Chapter Controller Overview 1.1 Overview ····································································· 1-1 1.2 System Configuration ····················································· 1-2 1.3 Name for Each Parts and Their Functions ·························· 1-3 1.4 Starting Procedures ······················································· 1-7 Step1 Confirm all the necessary things are prepared ····························· 1-7 Step2 Installation ············································································ 1-8 Step3 Wiring ·················································································...
Page 27: Overview
Therefore, take the things that are not described in this manual as an “impossible” thing. * Keep this manual to a place easy to access when necessary to read again. * The contents in this manual should cover everything considerable, however, please contact IAI in case of any awareness to mistakes or consideration.
Page 28: System Configuration
1.2 System Configuration 1.2 System Configuration The following shows the system configuration. Connectable Actuators Field Network Teaching tool Teaching PC software Pendant Model: IA-OS RCS Series Loadcell Equipped Type Model: TB-02 TB-03 24V DC power supply Model: PSA-24 (For Brake Release) Regenerative resistor unit Model: RESU-2 100V/200V AC...
Page 29: Name For Each Parts And Their Functions
1.3 Name for Each Parts and Their Functions 1.3 Name for Each Parts and Their Functions ● PIO type / field network type 1. Ground Screw It is the terminal for the connection of ground cable to prevent electric shock and noise. It is connected with the PE of the power connector in the controller.
Page 30 1.3 Name for Each Parts and Their Functions 3. Charge Status Display LED (CHARGE) It shows the status of electric charge in the controller. Caution ● While this LED lamp is on, do not attempt to touch controller or regenerative resistor units to prevent electric shock.
Page 31 1.3 Name for Each Parts and Their Functions 9. Status Indicator LED (PWR, SV, ALM, WRG, STOP and SAFE) Following show the controller operation status: Status PWR (Green) Controller in normal startup SV (Green) Servo ON (Blinking in auto servo-OFF state) ALM (Orange) Alarm being generated WRG (Orange)
Page 32 1.3 Name for Each Parts and Their Functions 15. Encoder Connector (PG) This connector is used to connect the encoder cable of the actuator. Refer to [3.2.3 Connection to Actuator] 16. Brake Release Switch (BK RLS/NOM) For the actuator equipped with a brake, the switch is used to release the brake forcibly. Caution ●...
Page 33: Starting Procedures
Refer to [Section 2.1.1] ☆ ☆ Teaching Tool ☆ ☆ Instruction Manual • PC software (IA-OS) Refer to [SCON2 Instruction Manual Configuration (Previous page of • Teaching pendant (TB-02/TB-03) table of contents)] 1. SCON2 Servo Press Function Instruction Manual (this manual) 2.
Page 34: Step2 Installation
1.4 Starting Procedures Step2 Installation • External Dimensions Refer to [2.3 Appearance] When mounting the absolute battery (Absolute encoder type) • Heat Radiation and Installation Keep the ambient temperature of the controller at 40°C or less. To fix the units in the control box, use the attachment holes on top and bottom. Install in the orientation shown in the figure below for heat radiation.
Page 35: Step3 Wiring
1.4 Starting Procedures Step3 Wiring Refer to [Chapter 3 Wiring] for wiring details • Example for Basic Connection * Perform wiring referring to [SCON2 Field Network Instruction Manual] for field network type. ME0470-1B...
Page 36: Step4 Operation Ready
1.4 Starting Procedures Step4 Operation Ready The operation modes and control methods will defer depending on the type you have purchased. ☆ ☆ What is Press Program Operation ☆ ☆ What is Field Network Control The pressing program registered to the controller Field Network communication is used instead of should be controlled by indicating in IO.
Page 37: Step5 Operate Unit
Chapter 4 Operation ● For Field Network Type Instruction Manual for SCON2 Field Network This controller is equipped with a safety velocity function to make the operation in low speed compulsorily. It is recommended to have this function activated in the first operation.
Page 38 1.4 Starting Procedures 1-12 ME0470-1B...
Page 39 Selection of Leak Current Breaker ············································· 2-10 2.3 Appearance ································································· 2-12 2.3.1 SCON2 ················································································ 2-12 2.3.2 SCON2 + Functional Safety Unit ··············································· 2-12 2.4 I/O Specifications ·························································· 2-13 2.4.1 PIO Input and Output Interface ················································· 2-13 2.5 Options ······································································· 2-14 2.5.1...
Page 40 2.5.2 Regenerative Resistor Unit ······················································ 2-15 2.5.3 Brake Box ············································································ 2-16 2.5.4 Loadcell ··············································································· 2-18 2.5.5 Absolute Battery ···································································· 2-19 2.6 Installation and Storage Environment ································ 2-21 2.6.1 Installation Environment ·························································· 2-21 2.6.2 Storage and Preservation Environment ······································ 2-21 2.7 Noise Elimination and Mounting Method ···························· 2-22 2.7.1 Noise Elimination ···································································...
Page 41: Product Check
2.1 Product Check 2.1 Product Check 2.1.1 Parts Shown in the table below are the product structures in the NPN types. Check the accessories in the packaging details. If you find any fault in the contained model or any missing parts, contact us or our distributor. Part Name Shape Remarks...
Page 42 2.1 Product Check Part Name Shape Remarks DP-6 Dummy Plug Shown in the figure is an Safety Guide image. Shown in the figure is an First Step Guide image. ME0470-1B...
Page 43: Teaching Tool
2.1 Product Check 2.1.2 Teaching Tool Refer to the following instruction manuals for how to operate a PC software and a teaching pendant. The instruction manual (first step guide) for IA-OS introduces only the way to install and launch. For how to operate, follow the instructions in a window on IA-OS or help guidance. Instruction Part Name Model...
Page 44: How To Read The Model Plate
2.1.3 How to Read the Model Plate The places to attach the model code plates on this product and how to read them are as shown below. Model MODEL :SCON2-CG-S□F-NP-2-1 SERIAL No. :100283729 Serial number INPUT :1Φ ,100-115V ,50/60Hz ,1.8A OUTPUT :Φ3 ,0-230V ,0-333Hz ,1.1A...
Page 45: How To Read The Model
2.1 Product Check 2.1.4 How to Read the Model Shown below is how to read the model codes. S C O N 2 - C G - S F - N P - 0 - 2 - <Series> <Absolute Battery> Not Specified : None <Type (Note 1)
Page 46 “Modbus” communication. ME0162 Note 1 SCON2-CG are the slave units (slave stations). For the instruction of the field network, the instruction manual is provided separately. Use the manual together with this manual. Refer to the instruction manual of the master unit of each supplier and PLC to be mounted for the details of each network.
Page 47: Basic Specifications
2.2 Basic Specifications 2.2 Basic Specifications 2.2.1 List of Basic Specifications Item SCON2-CG Power-supply 60 to 200W Voltage 100V AC Corresponding Motor Capacity Power-supply 60 to 750W Voltage 200V AC Single-Phase 100 to 115V AC Power-supply Voltage Single-Phase 200 to 230V AC (Power supply fluctuation ±...
Page 48 2.2 Basic Specifications Item SCON2-CG Up to 10m Cable Length RS-485 Total cable length 100m or less. Field Network Refer to each Field Network specification 1) Speed Control, Position Stop Mode 2) Speed Control, Distance Stop Mode 3) Speed Control, Load Stop Mode 4) Speed Control, Incremental Load Stop Mode 5)
Page 49: Power Capacity And Heat Generation
2.2 Basic Specifications 2.2.2 Power Capacity and Heat Generation Rated Power Capacity = Motor Power Capacity + Control Power Capacity Peek Max. Power Capacity = Peek Max. Motor Power Capacity + Control Power Capacity Motor Power Peek Max. Motor Control Power Rated Power Peek Max.
Page 50: Selection Of Circuit Breaker
2.2 Basic Specifications 2.2.3 Selection of Circuit Breaker For the selection of the circuit breaker, perform it according to the following items. • 3 times of the maximum rated current flows to the controller during the acceleration/deceleration. Select an interrupter that does not trip with this value of current. If a trip occurs, select an interrupter that possesses the rated current of one grade higher.
Page 51 2.2 Basic Specifications Reference: Test Conditions When Safety Certificate Acquired The leakage breaker was confirmed normal operation under the following conditions. For TN System Protection Device Fault Loop Rated Sensitivity System Voltage Rated Impedance Model Name Current Current [IΔn] Fuji Electric 110-115V 30mA 3Ω...
Page 52: Appearance
2.3 Appearance 2.3 Appearance 2.3.1 SCON2 2.3.2 SCON2 + Functional Safety Unit 2-12 ME0470-1B...
Page 53: I/O Specifications
2.4 I/O Specifications 2.4 I/O Specifications 2.4.1 PIO Input and Output Interface Input Section Output Section Input Voltage 24V DC ±10% Load Voltage 24V DC Peak Load Input Current 4mA 1 circuit Electric 50mA 1 circuit Specification Current ON/OFF ON Voltage Min. 18V DC Leakage Max.
Page 54: Options
2.5 Options 2.5 Options 2.5.1 Pulse Converter (Model: JM-08) The pulse converter converts feedback pulses in the differential mode into those in the open collector mode. Use this converter if the host controller sends input pulses in the open collector mode. [Specification] Item Specification...
Page 55: Regenerative Resistor Unit
2.5 Options 2.5.2 Regenerative Resistor Unit This is a unit that converts the regenerative current to heat when the motor decelerates. Refer to [3.2.5 Connectable Regenerative Resistor Units] for the number of connectable units. Model Accessories Screw attachment small type RESU-2 SCON controller connection Cable First...
Page 56: Brake Box
2.5 Options 2.5.3 Brake Box 1 unit of Brake Box possesses brakes for 2 shafts. This is necessary when connecting an actuator with indication to connect a brake box. [Model] RCB-110-RA13-０ [Specification] Item Specification Body Size 162×94×65.5mm Power Voltage and Current 24V DC ±10% Connection Cable Encoder Cable (Model Code CB-RCS2-PLA010) 1m...
Page 57 2.5 Options [24V Power Supply Connector] Connector on Cable Side (Enclosed in standard MC1.5/2-STF-3.5 (Phoenix Contact) package) Applicable Cable AWG28 to 16 Pin No. Signal Explanation Power Supply Grounding for Terminal Terminal Assignment Brake Excitation For Brake Excitation and 24V Power 24VIN Supply [Connectors 1 and 2 for external brake release switch connection]...
Page 58: Loadcell
2.5 Options 2.5.4 Loadcell This is the pressing force detection unit that is used for the servo press. This is used by connecting to the actuator corresponding to the pressing operation using force sensor. In addition, the connectable actuator differs depending on the rated capacity of the loadcell. [Specification] Item Specification...
Page 59: Absolute Battery
Item Specifications Battery classification Thionyl chloride lithium batteries TOSHIBA LIFESTYLE PRODUCTS Battery manufacturer’s name Or, Maxell, Ltd. Battery model (IAI model) AB-5 Battery nominal voltage 3.6V Battery standard capacity 2,000mAh 2 years after use (If left unused without power supply to...
Page 60 2.5 Options Absolute Battery (without holder) Type : AB-5 (with holder) Type : AB-5-CS3 Voltage PIO Signals Alarm 3.1V Voltage drop alert signal ― (Reference value) *ALML (Note 2) 2.5V Alarm signal *ALM (Note 2) OEE “Absolute Encoder Error (Reference value) Detection 2”...
Page 61: Installation And Storage Environment
2.6 Installation and Storage Environment 2.6 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) 2.6.1 Installation Environment Do not use this product in the following environment.
Page 62: Noise Elimination And Mounting Method
2.7 Noise Elimination and Mounting Method 2.7 Noise Elimination and Mounting Method 2.7.1 Noise Elimination (1) Noise Elimination Grounding (Frame Ground) Use the grounding screw on Other Controller equipment the main unit to connect. Other Other Controller Use green/yellow copper wire cable equipment equipment with its width 2.0mm...
Page 63: Installation And Mounting
2.7 Noise Elimination and Mounting Method 2.7.2 Installation and Mounting Consider such facts as size of control panel, layout of a controller and cooling performance in design and setup so the ambient temperature falls into the range from 0 to 40°C. Item Installed Orientation Vertical Orientation (Exhaust Upward) Installation Method...
Page 64: Installation
2.7 Noise Elimination and Mounting Method 2.7.3 Installation ● Make sure to conduct grounding in order to avoid electric shock. ● Make sure to perform grounding work for the ground terminal on the AC power supply cable in the controller and the grounding plate in the control panel. For safety grounding, use a green/yellow copper-conducting cable with its width 2.0mm (AWG14) or more.
Page 65 SCON2-CG Chapter Wiring 3.1 Positioner Mode (PIO Control) ········································· 3-1 3.1.1 Wiring Diagram (Connection of Construction Devices) ·················· 3-1 3.1.2 Wiring ················································································· 3-3 3.1.3 PIO signal ············································································ 3-11 3.2 Wiring Method ······························································ 3-13 3.2.1 Wiring of Power Circuit ··························································· 3-13 3.2.2...
Page 67: Wiring Diagram (Connection Of Construction Devices)
3.1 Positioner Mode (PIO Control) 3.1 Positioner Mode (PIO Control) 3.1.1 Wiring Diagram (Connection of Construction Devices) [1] Basic Wiring Diagram If an actuator is equipped with RCS2-RA13R Brake, the wiring between the actuator and a controller should differ from the basic wiring diagram. Refer to [(2) in following page]. Cation Make sure to turn the power to the controller OFF when inserting or removing the connector that connects the PC software or touch panel teaching to the controller.
Page 68 3.1 Positioner Mode (PIO Control) [2] Wiring Layout for RCS2-RA13R (between actuator and controller) 1. RCS2-RA13R equipped with Loadcell, with no Brake Encoder Cable with Loadcell wiring CB-RCS2-PLLA□□□(-RB) CB-LDC-CTL□□□ (Enclosed to Actuator) Motor Cable (Enclosed to Actuator) RCS2-RA13R (With Loadcell) 2.
Page 69: Wiring
3.1 Positioner Mode (PIO Control) 3.1.2 Wiring [1] Main Power Circuit L1 L2 Earth Leakage Breaker SCON2 Power Supply Connector Circuit Breaker Control Power Supply Motor Power Supply Noise Filter Surge Protector (Note) The power voltage of the controller (100V AC or 200V AC) cannot be changed.
Page 70 3. Stop supplying external motor power at emergency stop input 1. Operate the actuator using only the emergency stop input on the teaching tool ● Circuit Example ● Wiring Image Touch Panel Teaching, etc. SCON2 SIO Connector The emergency stop switch is activated. System I/O...
Page 71 3.1 Positioner Mode (PIO Control) 3. Stop supplying external motor power at emergency stop input Emergency Stop Switch of Teaching Tool Emergency Stop Reset Emergency Switch System I/O Connector SIO Connector Stop Switch 24V dedicated for emergency stop circuit (Note 1) Stop Detection Circuit AC Power Supply Input Connector...
Page 72 3.1 Positioner Mode (PIO Control) [4] Motor • Encoder Circuit RCS3 series SCON2 Encoder cable (Note 1) Encoder Connector Motor Connector Motor Cable (Note 2) Note 1 Applicable Encoder Cable types □□□ : cable length Example) 030 = 3m Actuator Type Cable CB-RCS2-PLDA□□□...
Page 73 3.1 Positioner Mode (PIO Control) Connection When RCS2-RA13R is Equipped with Loadcell or Brake 24V DC Brake Box 24V DC CB-RCS2-PLA□□□/ (RCB-110-RA13) CB-X2-PLA□□□ CONTROLLER1 SCON2 Encoder Input Connector Brake Power • RCS2-RA13R Supply Connector With Brake and Loadcell Limit Switch Connector...
Page 74 When having a conduction check on the flat cable, make sure not to spread out the inside of the connector female pins. It may cause a contact error and may disable normal operation. 0V (NPN Type) 24V DC (NPN Type) SCON2 24V DC (PNP Type) 0V (PNP Type) PIO Connector BR-1 BR-3 ―――(...
Page 75 3.1 Positioner Mode (PIO Control) [6] Regenerative Resistor Units Circuit ME0470-1B...
Page 76 3.1 Positioner Mode (PIO Control) [7] Feedback Pulse Readout Circuit ● When Host Unit in Differential System SCON2 CB-SC2-MFC□□□ Multi-function Connector (Note) Connect cable also to 0V if there is 0V (COM) on the host unit. ● When Host Unit in Open Connector System JM-08 (option) is necessary.
Page 77: Pio Signal
3.1 Positioner Mode (PIO Control) 3.1.3 PIO signal [1] Control Signal and Features The signal assignment of flat cable is as shown below. Follow the following table to connect the external equipment (such as PLC). Signal Category Signal Name Function Description Abbreviation Supply 24V DC power for I/O power －...
Page 78 3.1 Positioner Mode (PIO Control) Signal No. Category Signal Name Function Description Abbreviation This signal turns ON to show that the press program has finished Program Finished in in normal condition and moved to the standby stage. PCMP Normal Condition It is kept on till the next press program execution, axis movement command or servo-OFF command.
Page 79: Wiring Method
(Note) controller CO., LTD Okaya ELECTRIC Attach at the input Surge Protector R•A•V-781BWZ-2A CO., LTD terminal of noise filter Note: It is the model code when one unit of noise filter is connected to one unit of SCON2. 3-13 ME0470-1B...
Page 80 The attenuation characteristics of each noise filter is open to the public by each supplier. For example, shown below is the graph of the attenuation characteristics of NAC-10-472 that IAI recommends. Normal Mode Common Mode Frequency [MHz]...
Page 81 3.2 Wiring Method ● Wiring Method Connect the power supply to the enclosed connector (Model code: MPS_7S/05_S_F3_TN_B_B: Weidmuller). See below for how to lay out the power supply wires. Select a cable complies with the applicable cable diameter in the table below, strip it for approximately 9mm, and insert it to the inlet till it makes a “click”...
Page 82 System I/O Connector Sheath for 10mm 24V 0V 24V DC System I/O Connector power supply (Model code: B2CF_3.50/08/180_SN_BK_BX) SCON2 The pin assignment of the system I/O connector should be as shown below. STOP+ STOP- ENB+ ENB- Signal Contents Applicable cable diameter...
Page 83 3.2 Wiring Method ● For Actuators Necessary to Have Brake Box When connecting RCS2-RA13R with brake, it is necessary to have a brake box (RCB-110- RA13-0) connected. Refer to [2.5.3 Brake Box] for details. Supply 24V and 1A max. as the power supply for the brake box. 1) Loosen the terminal screw with using such as a slotted screwdriver to open up the inlet.
Page 84: Wiring Of Emergency Stop Circuit (System I/O)
Wiring of Emergency Stop Circuit (System I/O) Make sure to construct the wiring of the emergency stop circuit considering the suitability to the Safety Category of the whole system. ● Wiring Image SCON2 Teaching pendant Stop Switch (Note 1) (Note3)
Page 85 Screwdriver Inlet System I/O Connector Sheath for 10mm 24V DC power System I/O Connector supply (Model code: B2CF_3.50/08/180_SN_BK_BX) SCON2 STOP- STOP+ ENB- ENB+ System I/O Connector Signal Pin No. Contents Applicable cable diameter Name Operation Stop Switch Contact...
Page 86: Connection To Actuator
(Encoder Connector) (Motor Connector) Encoder Cable Motor Cable Attach a clamp filter to the motor cable if necessary considering the noise environment. Parts Name Model Supplier Position to attach • Near SCON2 Clamp Filter ZCAT3035-1330 • Near Actuator 3-20 ME0470-1B...
Page 87 F35FDC-04V-K Controller Side SC04B-F35DK-GGR Pin No. Signal Name Contents Applicable cable diameter Motor drive phase W Protective ground Cable dedicated for IAI actuators Motor drive phase U Motor drive phase V Encoder Connector (PG) Model Remarks Cable Side 10126-3000VE Controller Side...
Page 88: Connection Of Pio
3.2 Wiring Method 3.2.4 Connection of PIO Conduct the connection of I/O to the controller is to be carried out using the dedicated I/O cable. Cable length is to be indicated in the controller model code. Please check the controller model code.
Page 89: Connectable Regenerative Resistor Units
3.2 Wiring Method 3.2.5 Connectable Regenerative Resistor Units Connect regenerative resistor unit (s) with attached cables as shown in the figure below. When connecting 1 unit: Connect with enclosed cable (CB-SC-REU) When connecting 2 or more units: Connect with enclosed cable (CB-ST-REU) ●...
Page 90 3.2 Wiring Method ● Reference number of connectable unit (Excluding RCS2-RA13R) Connectable Number of Motor Output Regenerative Resistor Units To 200W Not Required Horizontal Mount To 400W /Vertical Mount To 750W ● Reference number of connectable unit (RCS2-RA13R) Connectable Number of Motor Output Regenerative Resistor Units Lead 1.25...
Page 91 3.2 Wiring Method ● Controller Link Cable Regenerative resistance connection cable for SCON2 (CB-SC-REU□□□) □□□ indicates the cable length (Example) 010 = 1m Display of Cable Mode Code Regenerative Resistor Controller Side Unit Side Wiring Color Signal Signal Color Wiring...
Page 92: Sio Connecter Connection
Applicable cable diameter Difference Signal for Teaching Tool + SD－ Difference Signal for Teaching Tool - 5V Output for Teaching Tool Enable Signal Input Cable dedicated for IAI STOPA Stop Line A products T24V 24V Output for Teaching Tool STPB...
Page 93: Load Data Analog Output And Feedback Pulse Output
3.2 Wiring Method 3.2.7 Load data analog output and Feedback Pulse Output Implement the wiring layout to the multi-function connector when it is necessary to read the feedback pulse. ● Wiring Image Load data / Feedback Pulse ← ● Multi-function Connector Cable (Option) Model: CB-SC2-MFC□□□...
Page 94 Use this converter if the host controller sends output pulses in the applicable for open collector (24V type). Host Controller SCON2 (PLC side) Caution Pay attention not to insert wrongly because it is the same e-CON connector as input and output.
Page 95 3.2 Wiring Method A recommended installation sample is shown in the figure below. Host Controller Cable length: Recommended 50mm or less • Keep pulse converters separated for 10mm or more from each other. 10mm or more 10mm or more In this installation connot be avolded, shorten the length of the wiring with the host controller as much as possible.
Page 96: Field Network Connector Connection
3.3 Field Network Connector Connection 3.3 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 Reference CC-Link CC-Link IE Field DeviceNet Control of the actuator is available with I/O communication using the control signals Separate volume...
Page 97 SCON2-CG Chapter Operation 4.1 Basic Operation ····························································· 4-1 4.1.1 Power on and off ································································· 4-1 4.1.2 Operation Mode ·································································· 4-2 4.1.3 Basic Operation Setting ························································ 4-11 4.1.4 Detailed Settings································································· 4-20 4.2 Trial Operation ······························································ 4-27 4.2.1 Manual Operation (Jog etc) ··················································· 4-28 4.2.2...
Page 99: Basic Operation
4.1 Basic Operation 4.1 Basic Operation 4.1.1 Power on and off The process below shows the case that the parameters are kept as they are on delivery and there has been no error occurred and it is not in the status of emergency stop. [1] How to Turn on Power The process how to turn the power on is as shown below.
Page 100: Operation Mode
4.1 Basic Operation 4.1.2 Operation Mode [1] What is Servo Press Pressing direction is only the direction to press towards the work piece. Desired pressing operation can be easily realized with fine-tuning of pressurizing force, speed, etc. This controller is used with combination from two types of pressurizing modes and four types or five types of stopping systems.
Page 101 4.1 Basic Operation Spped Control Position Stop With the position set in pressurizing condition as the target position, movement is conducted forward (press) with the pressurizing speed kept constant. After reaching the set position, stops with the position kept constant. Even if the load fluctuates while moving forward, the speed is kept as constant as possible.
Page 102 4.1 Basic Operation Spped Control Load Stop It moves forward till detecting the load that setting load, and the movement is conducted forward (press) with the pressurizing speed kept constant till detection. After detecting the setting load, it stops with the position kept constant. Even if the load fluctuates while moving forward, the speed is kept as constant as possible.
Page 103 4.1 Basic Operation Force Control Position Stop With the position set in pressurizing condition as the target position, movement is conducted forward (press) with the pressurizing speed kept constant up to set position (Note 1) . With the load at the time of reaching the set position as the target load, stop (Note 2) is conducted with the pressing force kept constant.
Page 104 4.1 Basic Operation Force Control Distance Stop With the position set in pressurizing condition the target distance, movement is conducted forward (press) with the pressurizing speed kept constant up to set position (Note 1) . With the load at the time that moving forward for the set distance is complete as the target load, stop (Note 2) conducted with the pressing force kept constant.
Page 105 4.1 Basic Operation Force Control Load Stop With the position set in pressurizing condition the target distance, movement is conducted forward (press) with the pressurizing speed kept constant up to set position (Note 1) . Stop is conducted with the pressing force kept constant so it reaches the target load. It should be used in the pressing operation that requires a stop at the position that the indicate load detected.
Page 106 4.1 Basic Operation Force Control Incremental Load Stop With the position set in pressurizing condition the target distance, movement is conducted forward (press) with the pressurizing speed kept constant up to set position (Note 1) . With the load at the time that moving forward for the set distance is complete as the target load, stop is conducted with the pressing force kept constant.
Page 107 Note 1 [2] Press Program The operation of the servo press SCON2 is to be conducted by setting and executing the press program. Press program setting is to be conducted in the PC software or teaching pendant. The press program consists of the 5 stages.
Page 108 4.1 Basic Operation [3] Judgement Judgment is made by the result of load and position* at pressing work complete. * Setting is available also to judge only with load or position. Judgement Load only distance (pass range) Load Judgement Judgement both of Judgement only load load and distance...
Page 109: Basic Operation Setting
4.1 Basic Operation 4.1.3 Basic Operation Setting Select the pressurizing operation mode and set the five stages of the press program. [1] Prepare a Setting * In this manual, explains how to set it up using the PC software IA-OS. For how to install and start up IA-OS, refer to [IA-OS First Step Guide (ME0391)].
Page 110 4.1 Basic Operation The pressing program edit window should open. [2] Select the Press Motion Mode Select the press motion mode on the upper right of the setting window. 4-12 ME0470-1B...
Page 111 4.1 Basic Operation [3] Setting of Press Program Each Stage Time Prg Home [1] Approach [5] Return [2] Search [4] Deprs Position [3] Press ⇒ Stop * Even though there are 5 stages in the press program, operation can be cancelled except for the pressurizing stage which is always necessary to operate.
Page 112 4.1 Basic Operation 3. Setting of Work Serch Stage It is an operation to check the touch to a work piece with low speed operation. Set the speed, terminating load, and limiting position. ● Speed [mm/s]: 1 to Pressing speed ●...
Page 113 4.1 Basic Operation Setting of Each Pressurizing Operation Mode  Speed Control Position Stop ● Maximum. Load [N] (Load to generate Prg Alarm once detected): 0.01 to Actuator max. pressing force ● Pressurize End Position [mm] (Position to stop pressurizing): Limiting Position of Probing Stage ≤...
Page 114 4.1 Basic Operation  Speed Control Incremental Load Stop ● End Incremental Load [N] (With the load at probing stage complete as the datum, incremental load till pressurizing stop): 0.01 to Actuator max. pressing force ● Pressurize Limiting Position [mm] (Prg Alarm generated once reaching this position): Limiting Position of Probing Stage <...
Page 115 4.1 Basic Operation  Force Control Load Stop ● Target Load [N] (Load to stop pressurizing): 0.01 to Actuator max. pressing force ● Pressurize Limiting Position [mm] (Prg Alarm generated once reaching this position): Limiting Position of Probing Stage ≤ Pressurize Limiting Position ≤ Effective Stroke Length ...
Page 116 4.1 Basic Operation 5. Setting for Decompressing stage It is an operation to move away from a work piece in low speed. Set the speed, depression terminating load. ● Speed [mm/s]: 1 to Pressing speed ● Depression Terminating Load [N] (judged as depressurizing complete once the load gets below this setting): = 5% of the load cell rated capacity (refer to [5.2.3]) to Actuator max.
Page 117 4.1 Basic Operation 7. Judgement Judgment can be conducted with the position (distance) and load while in stop time at the pressurizing stage complete. Note 1. Upper Limit = Judgment will not be executed if set to lower limit. 2. Upper Limit < Prg Alarm will be generated if set to Upper Limit < Lower Limit. ●...
Page 118: Detailed Settings
4.1 Basic Operation 4.1.4 Detailed Settings Set the following detailed items if necessary. [1] Gain set [2] Continuous Prg No. [3] Return Motion of Prg Alarm [4] Acc and Dcl [5] Show Acc and Dcl Individually [6] Wait Time [7] Allowed Prg Operating Time [8] Detailed Settings for Pressurizing Stage (Allowable Operation Time, Speed Switchover) Settings are to be established in the detailed setting window.
Page 119 4.1 Basic Operation [1] Gain set The four types of servomotor gain settings registered in advance can be switched over for each press program. Refer to [6.2 Servo Adjustment] for how to adjust the servo. Parameters to be contracted in 1 set •...
Page 120 4.1 Basic Operation [2] Continuous Prg No. If several press programs are required to be operated in a row, indicate the program number that is desired to be executed. Programs can be chained infinitely. Also, the same program No. can be set. (Example) Using Press Program 1 only up to the pressurizing stage, and have Press Program 2 in charge for the pressurizing stage and returning stage to have a double pressing operation.
Page 121 4.1 Basic Operation Press Program 2 Press Program 1 Time Time Prg Home Prg Home [1] Approach [1] Approach [5] Return [5] Return [2] Search [2] Search [4] Deprs [4] Deprs [3] Press ⇒ Stop [3] Press ⇒ Stop Position Position Time Prg Home...
Page 122 4.1 Basic Operation [4] Acceleration and Deceleration Establish the setting for acceleration when operating the actuator in the press program. ● Acceleration and Deceleration [G]: 0.01 to Actuator maximum Acceleration and Deceleration [Reference] How to set the acceleration is described below. The same idea can be applied to the deceleration.
Page 123 4.1 Basic Operation [6] Allowed Prg Operating Time Establish the setting for the allowable operation time for one program. When chained program is set, monitoring is conducted in the time set for each program. Prg alarm will be generated if a program does not finish in this time (wait time excluded).
Page 124 4.1 Basic Operation [7] Detailed Settings for Pressurizing Stage (Allowable Operating Time, Speed Changeover) Allowable Operating Time Establish the setting for the allowable time of pressurize operation. Prg Alarm will be generated if exceeding the set time. Also, judgment will not be executed if set to 0. ●...
Page 125: Trial Operation
4.2 Trial Operation 4.2 Trial Operation Have a trial operation of the program set in the PC software. Caution Set the velocity, acceleration and deceleration so that they do not exceed the rating values described in the brochure or the instruction manual of the actuator. Failure to follow this may cause the life of the actuator to be shortened extremely.
Page 126: Manual Operation (Jog Etc)
4.2 Trial Operation 4.2.1 Manual Operation (Jog etc) Select “Operation/Monitoring” fro the “Pressing Program” tab and open the operation window. 1) Turn the servo on, 2) conduct the home-return operation and then 3) select Jog/Inching tab, and an actuator should drive forward/backward when pressing the forward/backward buttons. Select 4) Direct Value Movement Tab, input values in 5) Position and 6) Velocity, press and the actuator should move to the input position.
Page 127: Press Program Operation
4.2 Trial Operation 4.2.2 Press Program Operation [1] Preparation for Press Program Execution Open the operation window by selecting Operation/Monitoring. The operation window differs from [4.2.1 Manual Operation] only in the operation part in the left of the window. 1) Select the Program operation tab, 2) turn the servo ON and 3) have a home-return operation. 4) Indicate the start program No., 5) press Program home and the actuator moves to the press program home position.
Page 128 4.2 Trial Operation ● Shown below is an example of the judgment window for the load judgment alarm. Alarm Code 4A gets generated when the load at press operation finish is not in the range of upper and lower limits of the judgment load. Turn on the Alarm Lamp Alarm code All Judgement NG...
Page 129: Operation With Pio
4.3 Operation with PIO 4.3 Operation with PIO 4.3.1 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 continuously. The signal cannot be identified if it is less than 6ms.
Page 130 4.3 Operation with PIO ○: Selected or set to ON, ×: Unselected or set to OFF Condition Status PIO Operation ○ ○ ○ ○ × × × × (Note) Teaching tool such Invalid as PC software PIO Operation × × ×...
Page 131 4.3 Operation with PIO [2] Servo ON (SON, SV) Input PIO signal Output Servo ON signal “SON” is the input signal making the servo motor of the actuator operable. If the servo-on is performed to enable operation, the SV output signal is turned ON. With the power being supplied, then controller cannot be operated while the SV signal remains OFF.
Page 132 4.3 Operation with PIO [3] Home Return (HOME, HEND) Input HOME PIO signal Output HEND The HOME signal is intended for home return. The HOME signal is caught at the rising edge (ON edge) to start the home return. At completion of the home return, home return completion signal HEND is turned ON.
Page 133 4.3 Operation with PIO [Home Return Operation] 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 134 4.3 Operation with PIO [5] Light Error Alarm (*ALML) PIO signal Output *ALML The light malfunction alarm output (*ALML Signal) turns off if a message level alarm gets generated due to such reasons as number of movement times target exceeding or error in the calendar feature.
Page 135 4.3 Operation with PIO [7] Loadcell Calibration (CLBR, CEND) Input CLBR PIO signal Output CEND A loadcell should be set at the condition with no load as 0N on delivery. It is necessary to calibrate in such a case as when a pressing fixture such as a pusher is attached is to be set as the datum (0N).
Page 136 4.3 Operation with PIO Note 1 It is a period of time (20ms) for a check of the calibration signal. If CLBR turns off within this period of time, the signal should be ignored and calibration should not be performed. Note 2 It depends on the setting in Parameter No.
Page 137: Operation
4.3 Operation with PIO 4.3.3 Operation As a preparation for operation, after conducting to turn the servo ON, home-return operation and loadcell calibration, movement is made to Prg Home Position. Indicate the press program number to operate next, and by inputting the press program start signal, the press program starts.
Page 138 4.3 Operation with PIO It is to be indicated when executing the press program startup command. After indicating the press program number, turn on the press program start signal (PSTR), and then the indicated press program gets executed. If PSTR Signal is turned ON during the press program execution or actuator operation, a program alarm occurs.
Page 139 4.3 Operation with PIO [5] Accept Axis Operation (ENMV) Input ENMV PIO signal The actuator is accepted to operate while this signal is ON. The operation of the actuator and the press program stop when this signal is OFF. This signal cannot be used for pause of the press program. (The press program would not resume even if stopping the press program with this signal and turn it ON again.) [6] Press Program Compulsory Stop (FPST) PIO signal...
Page 140 4.3 Operation with PIO [10] While in Pressurizing Stop (PSTP) Output PSTP PIO signal This signal turns on during stop after pressurizing complete. [11] Judgement OK/ Judgement NG (APRC) JDOK Output PIO signal JDNG Normal (JDOK) or error (JDNG) turns on following the result of pressing operation. Time Prg home [1] Approach...
Page 141: Example Of Operation
4.3 Operation with PIO 4.3.4 Example of Operation Shown next section figure is examples for when executing one press program to turn the servo ON, return to home position and having loadcell calibration. ● Example of operation Turn ON (operation enable) axis movement permission signal (ENMV). Indicate the press program number (PC1 to PC32).
Page 142 4.3 Operation with PIO Axis movement permission ENMV (PLC → Controller) Press program No. Press progam No. * PC1 to PC32 (PLC → Controller) Press program home movement PHOM (PLC → Controller) Press program home during movement MPHM (Controller → PLC) Press program home position PORG (Controller →...
Page 143: Operation Of Field Network Type
4.4 Operation of Field Network Type 4.4 Operation of Field Network Type This controller supports the following field networks. (It is the option which can be selected when purchasing) It cannot be changed after the product is delivered. Also, PIO cannot be equipped for the field network type. For details regarding operation of each field network, refer to the instruction manuals listed below.
Page 144: Absolute Reset
4.5 Absolute Reset 4.5 Absolute Reset The Battery-less absolute type or absolute type, controllers retain the encoder position data even with power is OFF. For those types, it is unnecessary to perform home-return operation every time the power is turned ON. Absolute Type registers the home position in the cases of (1) to (3) (absolute reset) to retain.
Page 145: Pressing Direct Mode
4.5 Absolute Reset 4.5.1 Pressing Direct Mode 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. Refer to [3.2.3 Connection to Actuator] 2) Connect the absolute battery (Enclosed battery if starting up for the first time, new battery if replacing) to the absolute battery connecting connector on the front panel of the controller.
Page 146 4.5 Absolute Reset 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”. Click The confirmation screen for the home-return operation should be displayed. Click The actuator should start the home-return operation.
Page 147 4.5 Absolute Reset [For teaching pendant (TB-02/TB-03)] Touch Alarm reset . Touch Touch Test run 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 .
Page 148 4.5 Absolute Reset [Absolute Reset Process] Note 1 Turn ON 24V power supply for PIO (and 24V power supply for brake if the actuator is equipped with a brake) prior to turn ON the control power supply or motor power supply. Note 2 Have the control power supply and motor power supply in common, and have them turned ON that the same time.
Page 149 4.5 Absolute Reset [2] Absolute Reset Using PIO As ABS-related alarms are the cold start level alarms, an alarm reset cannot be conducted only with RES Signal. In order to reset an ABS-related alarm from PIO, perform the process from Step 1) to 8) below.
Page 150 4.5 Absolute Reset 4-52 ME0470-1B...
Page 151: Various Functions
SCON2-CG Chapter Various Functions 5.1 Feature of Multi-function Connector ·································· 5-1 5.1.1 Overview ············································································· 5-1 5.1.2 How to Set up ······································································· 5-2 5.2 Analog Output of Load Data ············································ 5-6 5.2.1 Specification ········································································· 5-6 5.2.2 Setting ················································································· 5-7 5.2.3 Rated Capacity of Loadcell Mounted to Each Actuator ·················· 5-7...
Page 153: Feature Of Multi-Function Connector
5.1 Feature of Multi-function Connector 5.1 Feature of Multi-function Connector In here, explains the feedback pulse output, load data analog output equipped in the multi- function connector (MF). 5.1.1 Overview This controller can output the feedback pulse so connection can be established to such as a general-purposed load measurement tool.
Page 154: How To Set Up
5.1 Feature of Multi-function Connector 5.1.2 How to Set up [1] Setting Feedback Pulse Output Effective Set it if the feedback pulse is to be used. Name Unit Input Range Default factory setting － Feedback Pulse Output 0: Enable, 1: Disable You can select whether to enable or disable the feedback pulse output.
Page 155 5.1 Feature of Multi-function Connector [3] Format Settings for Feedback Pulse Set the format of output pulse in Parameter No.69 and active high/low in No. 70. 1) Feedback Pulse Train Name Unit Input Range Default factory setting Feedback Pulse Train －...
Page 156 5.1 Feature of Multi-function Connector [4] Electric Gear Settings for Feedback Pulse This is the parameter to determine the output pulse corresponding to the actuator movement amount. Determine the movement amount per pulse to define how many millimeters you would like the actuator to move with the output of 1 pulse.
Page 157 5.1 Feature of Multi-function Connector Caution The fraction has to be completely reduced so both the electric gear numerator (FNUM) and electric gear denominator (FDEN) can be 99,999,999 or less and make them to be integral numbers. (Do not stop reducing the fraction on the way.) FNUM and FDEN on the line axis have to satisfy the following relative formulas.
Page 158: Analog Output Of Load Data
5.2 Analog Output of Load Data 5.2 Analog Output of Load Data This controller can output the loadcell measurement values in analog (ratio to the loadcell rated capacity) so connection can be established to such as a general-purposed load measurement tool.
Page 159: Setting
5.2 Analog Output of Load Data 5.2.2 Setting Establish the setting when using the analog output of the load data. Name Unit Input Range Default factory setting － Load Data Analog Output 0: Enable, 1: Disable You can select whether to enable or disable the analog output. 5.2.3 Rated Capacity of Loadcell Mounted to Each Actuator Actuator Model...
Page 160 5.2 Analog Output of Load Data ME0470-1B...
Page 161 SCON2-CG Chapter Parameter 6.1 Parameter ··································································· 6-1 6.1.1 Parameter List ······································································ 6-2 6.1.2 Detail of Parameters ······························································ 6-8 6.2 Servo Adjustment ·························································· 6-37...
Page 163: Parameter
6.1 Parameter 6.1 Parameter Parameters are the data to set up considering the system and application. When a change is required to the parameters, make sure to back up the data before the change so the settings can be returned anytime. With using PC software, it is able to store the backup to the PC.
Page 164: Parameter List
6.1 Parameter 6.1.1 Parameter List The categories in the table below indicate whether parameters should be set or not. There are five categories as follows: 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 165 6.1 Parameter I/O Parameter List (Continued) Relevant Name Unit Input Range Default factory setting sections Select enable/disable servo ON 0: Enabled, 6.1.2 [13] input 1: Disabled Home return offset level 0.00 to 9,999.99 In accordance with actuator (Note1) 6.1.2 [14] -9,999.99 to Zone Boundary 2+ Actual stroke on + side...
Page 166 6.1 Parameter I/O Parameter List (Continued) Relevant Name Unit Input Range Default factory setting sections 6.1.2 [32] Positional Feedforward Gain 0 to 100 The timer value for monitoring the drive source cutoff relay 0 to 60,000 3,000 6.1.2 [33] welding Encoder voltage level 0 to 3 In accordance with actuator...
Page 167 6.1 Parameter I/O Parameter List (Continued) Relevant Name Unit Input Range Default factory setting sections 6.1.2 [18] Velocity loop integral gain 1 1 to 99,999,999 (Note1) In accordance with actuator 6.1.2 [19] (Note1) Torque filter time constant 1 0 to 2,500 In accordance with actuator 6.1.2 [27] Current control width number 1...
Page 168 6.1 Parameter I/O Parameter List (Continued) Relevant Name Unit Input Range Default factory setting sections 0: Battery voltage drop / Fan revolution drop / At overload warning output Light error alarm output select 1: Output when 6.1.2 [58] message level alarm is generated in addition to error...
Page 169 6.1 Parameter I/O Parameter List (Continued) Relevant Name Unit Input Range Default factory setting sections 0: Always enabled, System I/O enable feature 6.1.2 [77] 1: Disabled 0: Disabled, 1: 4CH Drive recorder mode select 6.1.2 [78] 2: 8CH, 3: 2CH 0:3 history Drive recorder save history 1:6 history...
Page 170: Detail Of Parameters
6.1 Parameter 6.1.2 Detail 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.23, No.24) Name Unit Input Range...
Page 171 6.1 Parameter [2] Soft limit +, Soft limit – (Parameter No.3, No.4) Name Unit Input Range Default factory 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 default setting.
Page 172 6.1 Parameter [3] Servo gain number (Parameter No.7, 120, 126, 132) Name Unit Input Range Default factory setting ― Servo gain number 0 to 31 In accordance with actuator Servo gain number 1 ― 0 to 31 In accordance with actuator Servo gain number 2 ―...
Page 173 6.1 Parameter [5] Default acceleration/deceleration (Parameter No.9) Name Unit Input Range Default factory setting Default 0.01 to actuator's max. Rated actuator’s acceleration/deceleration acceleration/deceleration acceleration/deceleration The actuator rated acceleration/deceleration is set at shipment. This value should be automatically written down in the acceleration/deceleration in the pressing program.
Page 174 6.1 Parameter [8] SIO communication speed (Parameter No.16) Name Unit Input Range Default factory setting SIO communication speed 9,600 to 230,400 38,400 Set the SIO baud rate for the startup. Set an appropriate value in accordance with the communication speed of the host. One of 9,600, 14,400, 19,200, 28,800, 38,400, 76,800, 115,200 and 230,400 bps can be selected as the communication speed.
Page 175 6.1 Parameter [11] Overrun sensor input polarity (Parameter No.19) Name Unit Input Range Default factory setting Overrun sensor input ― 0 to 2 In accordance with actuator polarity A parameter to select input polarity of the overrun sensor. This parameter is set properly prior to the shipment according to the specification of the actuator. Set value Content Standard specification...
Page 176 Have enough margin. After the setting, repeat home return several times to confirm that the actuator always returns to the same home position. Caution If the homing offset has been changed, the software limit parameter also needs to be reviewed. If the value must be set above the default setting, contact IAI. 6-14 ME0470-1B...
Page 177 6.1 Parameter [15] PIO pattern selection (Parameter No.25) Name Unit Input Range Default factory setting ― PIO pattern selection 0 to 7 0 (Standard Type) It is not necessary to change from the initial setting. [16] PIO jog velocity (Parameter No.26), PIO jog velocity 2 (Parameter No.47) Name Unit Input Range...
Page 178 6.1 Parameter [18] Velocity loop integral gain (Parameter No.32, 123, 129, 135) Name Unit Input Range Default factory setting ― Velocity loop integral gain 1 to 99,999,999 In accordance with actuator Velocity loop integral gain 1 ― 1 to 99,999,999 In accordance with actuator Velocity loop integral gain 2 ―...
Page 179 6.1 Parameter [20] Press velocity (Parameter No.34) Name Unit Input Range Default factory setting 1 to actuator's max. Press 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. For details, refer to [10.3 List of Specifications of Connectable Actuators].
Page 180 6.1 Parameter [23] Select enable/disable operating-mode input (Parameter No.41) Name Unit Input Range Default factory setting Select enable/disable ― 0: Enabled, 1: Disabled operating-mode input This parameter defines whether the operation mode input signal RMOD is disabled or enabled. Normally this parameter need not be changed. [24] Enable function (Parameter No.42) Name Unit...
Page 181 6.1 Parameter [27] Current-control width number (Parameter No.54, 125, 131, 137) Name Unit Input Range Default factory setting Current-control width ― 0 to 15 In accordance with actuator number Current-control width ― 0 to 15 In accordance with actuator number 1 Current-control width ―...
Page 182 6.1 Parameter [31] Feedback pulse form polarity (Parameter No.70) Name Unit Input Range Default factory setting Feedback pulse form 0: Positive Logic ― polarity 1: Negative Logic It is a parameter for the feedback pulse. Refer to [5.1 Feature of Multi-function Connector] [32] Positional Feedforward Gain (Parameter No.71, 121, 127, 133) Name Unit...
Page 183 6.1 Parameter The feedback control providing control in accordance with the result causes control delay to occur. This conducts the supportive control independent from the control delay. Speed Speed command value (trapezoid pattern) Actual speed Time [33] The timer value for monitoring the drive source cutoff relay welding (Parameter No.72) Name Unit Input Range...
Page 184 6.1 Parameter [35] PIO power supply supervision (Parameter No.74) Name Unit Input Range Default factory setting PIO power supply － 0: Enabled, 1: Disabled supervision (Note 1) A power monitor function is provided to prevent incorrect operations, burning of the I/O board and/or breakdown of parts caused by an abnormal voltage of the 24V DC for PIO power supply.
Page 185 6.1 Parameter [38] Fieldbus Node Address (Parameter No.85) This parameter is exclusively used for the controller of field network specification. Check the applicable instruction manual number in [4.4 Operation of Field Network Type] and refer to each instruction manual. [39] Fieldbus baud rate (Parameter No.86) This parameter is exclusively used for the controller of field network specification.
Page 186 6.1 Parameter [43] Force gain (Parameter No.94) Name Unit Input Range Default factory setting ― Force gain 100 to 999,999 In accordance with actuator The gain may be adjusted when the rigidity of the pressing target is extremely large or small. The relation among the rigidity of pressing target, the response of pressing operation using force sensor system and pressing operation using force sensor gain differs depending on the actuator, and is as shown in the table next section.
Page 187 6.1 Parameter RA6R (Default factory setting =10,000) Rigidity of pressing target Hard ← Rigidity → Soft 7,000 14,000 28,000 56,000 112,000 224,000 8,000 16,000 32,000 64,000 128,000 256,000 9,000 18,000 36,000 72,000 144,000 288,000 10,000 20,000 40,000 80,000 160,000 320,000 11,000 22,000 44,000...
Page 188 6.1 Parameter [46] Monitoring Cycle (Parameter No.113) Name Unit Input Range Default factory setting Monitoring Cycle 1 to 60,000 Sets initial value (Note 1) of time cycle (sampling cycle) to obtain data when monitoring mode is selected. Data obtaining interval can be extended by increasing the value of this parameter. It is set to 1 ms in the initial setting.
Page 189 6.1 Parameter [49] Loadcell calibration time (Parameter No.119) Name Unit Input Range Default factory setting Loadcell calibration time 1 to 9,999 This parameter defines the adjustment data acquisition time in loadcell calibration. Normally, setting change is not necessary. Refer to [4.3.2 Operation Ready and Auxiliary Signals] [50] Servo gain switchover time constant (Parameter No.138) Name Unit...
Page 190 0.0.0.0 to IP Address ― 192.168.0.1 255.255.255.255 It is the parameter dedicated for Field Network (EtherNet/IP). For details, refer to [SCON2 Field Network Instruction Manual (ME0469)] provided separately. [53] Subnet mask (Parameter No.141) Name Unit Input Range Default factory setting 0.0.0.0 to...
Page 191 Default gateway ― 0.0.0.0 255.255.255.255 It is the parameter dedicated for Field Network (EtherNet/IP). For details, refer to [SCON2 Field Network Instruction Manual (ME0469)] provided separately. [55] Overload Load Level Ratio (Parameter No.143) Name Unit Input Range Default factory setting...
Page 192 6.1 Parameter [56] Total Travel Count Threshold (Parameter No.147) Name Unit Input Range Default factory setting Total Travel Count times 0 to 999,999,999 0 (Disabled) Threshold When total travel count exceeds the set value of this parameter, alarm 04E “Travel Count Threshold Over”...
Page 193 6.1 Parameter [60] Force control band (Parameter No.164) Name Unit Input Range Default factory setting Force control band red/s 1 to 99 Setting is established for the band used as the force control. Do not change the setting from the initial setting. [61] Delay time after shutdown release (Parameter No.165) Name Unit...
Page 194 6.1 Parameter [62] Force control transition threshold (Parameter No.173) Name Unit Input Range Default factory setting Force control transition ％ 10 to 90 In accordance with actuator threshold The threshold setting for transition from a normal movement to a force control movement considering the loadcell load data should be established.
Page 195 [68] Network Number (Parameter No.188) Name Unit Input Range Default factory setting Network Number － 1 to 239 This parameter is exclusively used for the Field Network (CC-Link IE Field). Refer to separate volume, [SCON2 Field Network Instruction Manual (ME0469)] 6-33 ME0470-1B...
Page 196 6.1 Parameter [69] Direct Command Pressurizing Load Unit (Parameter No.189) Name Unit Input Range Default factory setting Direct Command ― 0 to 3 In accordance with actuator Pressurizing Load Unit The unit for “Pressurizing Load” and “Load Zone Boundary +/-” in the pressing direct command can be selected.
Page 197 [76] Port number for UDP search frame (Parameter No.208) Name Unit Input Range Default factory setting Port number for UDP ― 49152 to 65535 49152 search frame It is a port number that IA-OS searches the IP address of SCON2 in the Ethernet connection. 6-35 ME0470-1B...
Page 198 6.1 Parameter [77] System I/O enable feature (Parameter No.209) Name Unit Input Range Default factory setting System I/O enable 0: Always enabled, ― feature 1: Disabled Enable / disable of the enable terminal in the system I/O connector can be set up. Enable / disable of the enable terminal in the system I/O connector is determined only with this parameter.
Page 199: Servo Adjustment
Also, make sure to keep a record as you work so that it can be restored at any time. If you face problems which cannot be resolved, contact IAI. Adjustment method...
Page 200 6.2 Servo Adjustment Situation that requires Adjustment method adjustment Vibration is generated at ● This may be caused by excessive acceleration/deceleration “Acceleration/Deceleration Setting,” or inadequate rigidity of the device on which the actuator is mounted. ● Lower “Acceleration/Deceleration Setting”. ● Lower Parameter No. 7 “Servo Gain Number”. However, if Parameter No.
Page 201 SCON2-CG Chapter Maintenance and Inspection 7.1 Periodic Inspection ························································ 7-1 7.1.1 Periodic Inspection Items ························································ 7-2 7.2 Requests When Replacing Units ······································ 7-4 7.3 Consumable Parts ························································ 7-5 7.4 Component Replacement ··············································· 7-6 7.4.1 Replacement of Absolute Battery ·············································· 7-6 7.4.2...
Page 203: 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 204: 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 205 7.1 Periodic Inspection Inspection Judgment Inspection details Countermeasures items criteria Wiring connectors Connection loose? status (Motor encoder cable, No looseness Insert until the lock engages. field network cable, stop circuit and absolute battery, etc.) No visual Wiring cable frayed? Check visually and replace the cable. abnormalities The expiry date is 3 years and...
Page 206: 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 207: 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 208: Component Replacement
7.4 Component Replacement 7.4 Component Replacement 7.4.1 Replacement of Absolute Battery When replacing the battery, leave the power to the controller ON, remove the battery connector and replace with a new battery. To replace the old absolute battery with a new one with the controller power being OFF, complete the replacement within 15 minutes from the removal of the old battery.
Page 209: Fan Unit Replacing Procedure
7.4 Component Replacement 7.4.2 Fan Unit Replacing Procedure Fan Unit for Replacement: SCON2-FU Take off the Fan unit Release the lock feature by pressing the snap feature on the fan unit with a tool such as a flathead screwdriver. Once the locking feature is released, pull the unit upwards.
Page 210: 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 211 7.5 Preventive Maintenance Function Note 1: Setting should be established in the following parameters or the maintenance information screen in the teaching tool. ● Parameter No. 147 “Total travel count target value” ● Parameter No. 148 “Total travel distance target value” Note 2: Outputs a message level alarm 04E “Travel count target value exceeded”...
Page 212 7.5 Preventive Maintenance Function [Maintenance Information Setting in Teaching Tool] Maintenance information can be checked and set with the following procedures. ● TB-02/TB-03 Information → Maintenance information ● PC software Maintenance → Maintenance information → Axis selection As a reference, shown below is how to operate using a teaching pendant TB-03 (TB-02). Refer to an [instruction manual for each teaching tool] for detail.
Page 213 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 key.
Page 214: Predictive Maintenance Function
7.6 Predictive Maintenance Function 7.6.1 SCON2 monitors the revolution of fan. A message level alarm is generated (alarm 04C “Fan rotation speed drop”) and Light error alarm *ALML when the fan rotation speed decreases 30%. When an alarm is generated, although the fan will not have stopped completely, we recommend replacing it as soon as possible.
Page 215: Overload Warning
7.6 Predictive Maintenance Function 7.6.2 Overload Warning Using this function enables monitoring of motor temperature changes caused by dried-up grease or wear and tear on parts. A warning is output when the preset value is exceeded. This enables detection of abnormalities before a breakdown or a malfunction occurs. Load Alarm Occurred Alarm Output...
Page 216 7.6 Predictive Maintenance Function [Light error alarm output select (Parameter No. 151)] Name Unit Input range Default initial value setting 0: Battery voltage drop / Fan revolution drop / At overload warning Light error alarm output output select 1: Output when message level alarm is generated in addition to error in 0...
Page 217 SCON2-CG Chapter Troubleshooting 8.1 Action to Be Taken upon Occurrence of Problem ··················· 8-1 8.2 Fault Diagnosis ······························································ 8-3 8.2.1 Impossible Operation of Controller ··········································· 8-3 8.2.2 Generation of Noise and/or Vibration ········································ 8-5 8.2.3 Impossible Communication ···················································· 8-5 8.3 About Alarms ································································· 8-6 8.3.1...
Page 219: Action To Be Taken Upon Occurrence Of Problem
8.1 Action to Be Taken upon Occurrence of Problem 8.1 Action to Be Taken upon Occurrence of Problem If a problem occurs, check the following points first in order to ensure quick recovery and prevent recurrence of the problem. (1) Status Display LED on Controller and PIO Check Indication Status Green Light is turned ON.
Page 220 8.1 Action to Be Taken upon Occurrence of Problem Note 1: 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 221: Fault Diagnosis
LEDs does If the PWR LED does not go on despite not go ON. normal power voltage and correct wiring, please contact IAI. Refer to [3.2.1 Wiring of Power Circuit.] STOP on the status indicator During emergency-stop. 1. Release the emergency stop switch.
Page 222 8.2 Fault Diagnosis Situation Possible cause Check/Treatment Operation is not performed Cable treatment or mode selection. 1. Supply 24V DC to STOP terminal of the even though the teaching tool 1. Emergency stop condition power connector. is connected, and power to the 2.
Page 223: Generation Of Noise And/Or Vibration
8.2 Fault Diagnosis 8.2.2 Generation of Noise and/or Vibration Situation Possible cause Check/Treatment Generation of noise and/or Condition of load, condition actuator Servo adjustment may improve the situation. vibration from actuator. installation, stiffness of device for the Refer to [6.2 Servo Adjustment.] actuator to be mounted to, etc.
Page 224: About Alarms
● If the same error occurs again after resetting the alarm, it means that the cause of the alarm has not been removed. ● If a controller or actuator is found malfunctioned, consider to repair or replace it. You will be able to apply for a repair in the IAI homepage. https://www.iai-robot.co.jp/support/repair/index.html ME0470-1B...
Page 225: Alarm Details
No.112 “Monitoring mode” to “0”. 3. If the operation is not improved in use of the servo monitoring function in spite of measures against noise, Please contact IAI. Cause : The calendar function is stopped and the current time data is Detection of real-time lost.
Page 226 Cause : The maintenance information (total movement count, total Maintenance information operated distance) is lost. data error Treatment : Please contact IAI. 100 to Alarm on teaching tool Refer to the [Instruction Manual of teaching tool.] [2] Operation cancel level...
Page 227: Press Program Alarm Details
8.3 About Alarms Alarm Alarm Name Cause/Treatment Code Cause : It shows there was an alarm issued during press program execution Press program alarm Treatment : Refer to the press program alarm list below to have an detected appropriate treatment. Refer to [8.3.3 Press Program Alarm Details] Cause : Software reset was performed while the software reset is...
Page 228 3. Installation failure, breakdown or disconnection of the home sensor Treatment : In the case that the work does not interfere with anything, the cause 2. or 3. is supposed. In such case, please contact IAI. Cause : Home return does not complete after elapse of a certain period after the start of home return.
Page 229 4., or 5. is a likely cause. 3. Check the home position. Conduct the absolute reset again if it is the absolute type. 4. 5. is suspected, please contact IAI. Cause : 24V power supply for PIO is not connected. The voltage is I/O 24V power supply error extremely low.
Page 230 8.3 About Alarms Alarm Alarm Name Cause/Treatment Code Cause : This alarm indicates that the position deviation counter has overflowed. 1. The speed dropped or the actuator stopped due to the effect of external force or overload. 2. The excited-phase detection operation following the power- on is unstable.
Page 231 8.3 About Alarms [3] Cold start level Alarm Alarm Name Cause/Treatment Code Cause : 1. The connection status and the settings in the parameters in a controller and the safety unit do not match with each other. 2. A parameter on an encoder not available to use in the safety unit is set.
Page 232 If the error occurs even when the servo is ON, the cable breakage or disconnection is considered. Check the cable connection. Please contact IAI if there is no failure in the cable and connector connections. 8-14 ME0470-1B...
Page 233 2. Error in relative resistor of motor. Treatment : This alarm will not be generated in normal operation. It can be considered as the insulation degradation of the motor winding or malfunction of the controller. Please contact IAI. Overcurrent Caution Before resuming operation, make sure to remove the cause of the error.
Page 234 2. If this error occurs often, there is a concern of a controller malfunction. Please contact us. Cause : The belt of the ultra-high thrust RCS2-RA13R is broken. Belt breaking sensor Treatment : Belt must be replaced. Please contact IAI. detected 8-16 ME0470-1B...
Page 235 8.3 About Alarms Alarm Alarm Name Cause/Treatment Code Cause : 1. The work weight exceeds the rated weight, or an external force is applied and the load increased. 2. If the actuator is equipped with a brake, the brake is not released.
Page 236 For the case of 2, 3 or 4, it is necessary either to clean the code wheel, adjust the installation position, replace the motor unit or replace the actuator. In any case, please contact IAI. Cause : Encoder signals cannot be detected correctly.
Page 237 If a spare controller is available, replace the problem controller with the spare controller. A recurring error with the spare controller suggests presence of noise. If the cause cannot be identified, please contact IAI. Cause : The CPU is not operating properly.
Page 238 (Note) Error will not be detected when Parameter No. 180 “AC Expanded device error Output” is set invalid. Treatment : Check in wiring for analog output. Contact IAI if no failure is found in wiring. 300 to Alarm on teaching tool...
Page 239 8.3 About Alarms 8.3.3 Press Program Alarm Details A controller alarm (094: Press Program Alarm Detection) is issued when an alarm is generated during the press program execution. Also, the program alarm code and the alarm occurrence program number are stored in the detail code of 094 Alarm. •...
Page 240 8.3 About Alarms Alarm Name Genre Remarks Code Cause : The approach acceleration exceeds the actuator max. acceleration. Treatment : Refer to the catalog and actuator instruction Approach acceleration error manual, and make sure not to exceed the max. acceleration. (Note) Error detection will not take place if the approach stage is not held.
Page 241 8.3 About Alarms Alarm Name Genre Remarks Code Cause : The set probing limit position is out of the range of the soft limit. Treatment : Revise the setting so it gets in the soft limit Probing limit position error range.
Page 242 8.3 About Alarms Alarm Name Genre Remarks Code Cause : The pressurize speed exceeds the actuator pressing speed. Pressurize speed error Treatment : Refer to the catalog and actuator instruction manual, and make sure not to exceed the pressing speed. Cause : The pressurize acceleration speed exceeds the actuator max.
Page 243 8.3 About Alarms Alarm Name Genre Remarks Code Cause : The set load judgement upper limit is out of the range of the soft limit. Load judgment upper limit error Treatment : Refer to the catalog and actuator instruction manual, and make sure not to exceed the specification.
Page 244 Treatment : Check that a work piece does not interfere with the loadcell. After that, have the loadcell calibrated. Contact IAI if the problem does not get solved. Position (distance) judgement Cause : Failure was detected in the position (distance) judgment.
Page 245: Drive Recorder Feature
8.4 Drive Recorder Feature 8.4 Drive Recorder Feature The drive recorder feature is a feature to support cause analysis and early recovery of machinery by recording behavior of an actuator when an alarm is generated. This feature should be categorized into the following two features. 1) Graph Display Feature It is a feature to save the operation data for a few tens of seconds before an alarm is generated and show it in a graph.
Page 246: How To Display Graph
8.4 Drive Recorder Feature 8.4.2 How to Display Graph Select Display in “Alarm Monitor” in the teaching tool, and a graph should appear. 8-28 ME0470-1B...
Page 247: Parameter
8.4 Drive Recorder Feature 8.4.3 Parameter The parameters related to the drive recorder feature should be as follows. [1] Drive recorder mode select (Parameter No.210) Name Unit Input Range Default factory setting Drive recorder mode 0: Disabled, 1: 4CH ― select 2: 8CH, 3: 2CH The number of data to be acquired in the drive recorder feature should be selected.
Page 248: Data Display At Alarm Generation Feature
8.4 Drive Recorder Feature The time available for saving to a controller may differ depending on number of channels and number of histories. Number of Channels Number of Histories 3 history 40sec 20sec 10sec ← Default 6 history 20sec 10sec 5sec 12 history 10sec...
Page 249: Caution
8.4 Drive Recorder Feature 8.4.5 Caution The data saved in the drive recorder should deleted when a certain sorts of operation is made. The deleted data could be both the graph displayed data and data at alarm generation, or it could be the graph displayed data only, depending on what operation has been made.
Page 250 8.4 Drive Recorder Feature ● When Firmware Version Changed When the internal structure of the graph display data is changed due to the change in the firmware version, the graph display data should be deleted. * The data at alarm generation should not be deleted. If a tool gets disconnected while the servo monitoring window is in display, the controller should get remained in the servo monitoring mode, and the record data gets unable to be recorded when an alarm is generated.
Page 251 SCON2-CG Chapter Construction of Safety Circuit 9.1 Conformity to Safety Category ········································· 9-1 9.1.1 System Configuration ····························································· 9-1 9.1.2 Wiring and Setting of Safety Circuit ··········································· 9-2 9.1.3 Examples of Safety Circuits ····················································· 9-4 9.1.4 TP Adapter and Related Components ········································ 9-10 9.2 Safety Function SS1-t Specification ··································...
Page 253: Conformity To Safety Category
9.1 Conformity to Safety Category 9.1 Conformity to Safety Category In this section shows an example of a circuit using the dedicated teaching pendant. However, it is not possible for us to check the conformity of our product to the condition of your system. Therefore, it is necessary that the user construct the circuit considering the condition of use and the categories to be applied.
Page 254: Wiring And Setting Of Safety Circuit
9.1 Conformity to Safety Category 9.1.2 Wiring and Setting of Safety Circuit [1] Power supply To use safety relays and/or contactors of 24V DC specification in the safety circuit, the control power supply should be used only for the circuit as much as possible. For example, to supply power to the safety circuit, do not use the power supply driving our robo-cylinder controller ACON or PCON.
Page 255 9.1 Conformity to Safety Category Insertion Error Prevention Key Insertion Error Prevention Key TP Adaper Siede View [3] Connection of dummy plug of TP adapter When operating the controller with AUTO Mode, make sure to connect the enclosed dummy plug (DP-4S).
Page 256: Examples Of Safety Circuits
9.1 Conformity to Safety Category 9.1.3 Examples of Safety Circuits [1] In case of category 1 ME0470-1B...
Page 257 9.1 Conformity to Safety Category ● Detailed category 1 circuit example RCB-LB-TGS Controller ））））（（））））））（（））））（（ ENBSTR ））（（）） Emergency Stop SW EMGA...
Page 258 9.1 Conformity to Safety Category [2] In case of category 2 ME0470-1B...
Page 259 9.1 Conformity to Safety Category ● Detailed category 2 circuit example RCB-LB-TGS Controller ））））（（））））））（（））））（（ ENBSTR ））（（）） Emergency Stop SW EMGA...
Page 260 9.1 Conformity to Safety Category [3] In case of category 3 or 4 ME0470-1B...
Page 261 9.1 Conformity to Safety Category ● Detailed category 3 or 4 circuit example RCB-LB-TGS Controller ））））（（））））））（（））））（（ ENBSTR ））（（）...
Page 262: Tp Adapter And Related Components
9.1 Conformity to Safety Category 9.1.4 TP Adapter and Related Components [1] TP adapter external dimensions 9-10 ME0470-1B...
Page 263 9.1 Conformity to Safety Category [2] Connection Cable ● Controller/TP Adaptor Connection Cable Use this cable to connect the controller and TP adapter (RCB-LB-TG). Model: CB-CON-LB005 (standard cable length: 0.5m) ● Teaching pendant/TP Adaptor Connection Cable Use this cable to connect the teaching pendant and TP adapter. Model: CB-TB1-GC□□□...
Page 264 9.1 Conformity to Safety Category [3] Dummy plug Connect a dummy plug to the teaching pendant connecting connector. Make sure to connect a dummy plug if the AUTO mode is specified. Without the connection, it will be the emergency stop condition. Model: DP-4S DP-4S Signal...
Page 265: Applicable Standards
9.2 Safety Function SS1-t Specification 9.2 Safety Function SS1-t Specification 9.2.1 About SS1-t Function SS1-t feature is a feature that turns OFF (shuts off) the motor energy supply on the electronic circuit inside the controller. In purpose of such as vertical axis, use SS1-t type which has long reaction time, and a workpiece can be prevented from dropping due to delay of retaining brake operation during the safety torque cutoff feature operation.
Page 266: Caution
The equipment organizer should take all the responsibility for the risk evaluation and the related residual risks. Below shows the residual risks related to SS1-t functions. IAI will not take any responsibility on damage or injury caused by the residual risks.
Page 267 9.2 Safety Function SS1-t Specification (2) SS1-t functions are the functions to disable the performance to supply energy to the servomotor electrically, but not to guarantee the process of stopping control or speed reducing control of the servomotor. (3) SS1-t functions would not guarantee that the motor should not be moved by an external force or other influences.
Page 268: Specifications
(Note) In order to satisfy PL e in EN ISO 13849-1 and SIL3 in IEC 61508, it is necessary to have the host device monitor EDM signals. The values in the safety parameters should be applicable only when SCON2 is used by itself. Refer to [Functional Safety Unit Instruction Manual (ME0459)] when in use with the functional safety unit being connected.
Page 269 9.2 Safety Function SS1-t Specification [2] Functional Block Diagram 9-17 ME0470-1B...
Page 270: Operating Sequence
9.2 Safety Function SS1-t Specification 9.2.6 Operating Sequence Type [1] SS1-t Operating Sequence [Normal Operation] [Operation in Fault] * As SS1-t type activates the retaining brake during the reaction time, it is capable to prevent workpiece from dropping. 9-18 ME0470-1B...
Page 271: I/O Connector For Safety Function
9.2 Safety Function SS1-t Specification 9.2.7 I/O Connector for Safety Function [1] Name for Each Parts and Their Functions I/O Connector for Safety Function It is a connector that realizes SS1-t functions. By joining in external safety related devices to this connector, energy supply to the servomotor can be shut off safely.
Page 272 9.2 Safety Function SS1-t Specification [2] Electric Specifications Item Specification Remarks Safety Requirement Input Signal (SRI) ON-Input Voltage Range 24V±10% OFF-Input Voltage Range 0-2V Input Current 7.6mA (Typ) It is a value for 1ch. Reaction Time 500ms or less SS1-t type External Device Monitor Output Signal (EDM) Voltage Range 24V±10%...
Page 273 9.2 Safety Function SS1-t Specification [5] I/O Connector for Safety Function Dummy Plug (Enclosed) It is a short plug in order to inactivate the feature by plugging into the safety feature I/O connector when STO/SS1-t features are not to be in use. Model: DP-6 DP-6 [6] I/O Connector for Safety Function [Cable Side] (To be Prepared by User)
Page 274: Example For Connection
9.2 Safety Function SS1-t Specification 9.2.8 Example for Connection (Note) In order to satisfy PL e in EN ISO 13849-1 and SIL3 in IEC 61508, it is necessary to have the host device monitor EDM signals. It should be categorized as PL c and SIL1 if EDM signals are not monitored by the host device.
Page 275: Maintenance And Preservation
9.2 Safety Function SS1-t Specification 9.2.9 Maintenance and Preservation When the controller is replaced in the startup, maintenance or inspection of the equipment, make sure to check the following operations after wiring is finished. In case of use in wrong way may cause injury or damage on devices. ●...
Page 276 9.2 Safety Function SS1-t Specification 9-24 ME0470-1B...
Page 277 SCON2-CG Chapter Appendix 10.1 Way to Set Multiple Controllers with 1 Teaching Tool ··········· 10-1 10.1.1 Connecting Example ······························································ 10-2 10.1.2 Detailed Connection Diagram of Communication Lines ················· 10-3 10.1.3 Axis No. Setting····································································· 10-4 10.1.4 Handling of e-CON Connector (How to Connect) ························· 10-6 10.1.5 SIO Converter ·······································································...
Page 279: Way To Set Multiple Controllers With 1 Teaching Tool
10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1 Way to Set Multiple Controllers with 1 Teaching Tool It is usually necessary to connect the teaching tool to the controllers one by one when making a setup to multiple controllers with one unit of teaching tool. In this section, explains how to perform the settings without connecting and disconnecting the plug.
Page 280: Connecting Example
10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.1 Connecting Example Caution Supply 0V to the SIO converter and each controller from the same power source. PC Software IA-OS (PC Software only) IA-OS-C (Cable included) Teaching Pendant Cable Included in PC software <CB-SEL-USB030、RCB-CV-USB、CB-RCA-SIO□□□>...
Page 281: Detailed Connection Diagram Of Communication Lines
10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.2 Detailed Connection Diagram of Communication Lines 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 282: Axis No. Setting
Setup should be conducted in the PC teaching software or teaching pendant. Possible axis numbers range from 0 to 15 by 16 axes. After the setting, turn off the power of SCON2 and then on it again. Caution The axis number must be unique.
Page 283 10.1 Way to Set Multiple Controllers with 1 Teaching Tool [For teaching pendant (TB-02/TB-03)] Refer to [an instruction manual of a teaching pendant]. 10-5 ME0470-1B...
Page 284: Handling Of E-Con Connector (How To Connect)
10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.4 Handling of e-CON Connector (How to Connect) 1) Check the applicable cable size. Clamp Lever Pin No. Check the applicable cable. If it is not applicable, it may cause a connection failure or a breakage of the connector.
Page 285: Sio Converter
10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.5 SIO Converter The SIO converter converts the communication mode from RS-232C to RS-485 or vice versa. 1) Power/Emergency Stop Terminal Board (TB2) Symbol Description Turn the PORT switch ON to output the emergency stop switch signal, OFF to short-circuit EMG1 and EMG2.
Page 286 10.1 Way to Set Multiple Controllers with 1 Teaching Tool 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 287: Communications Cable
10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.6 Communications Cable 10.1.7 External Dimension (Leg Element Bottom Side) (Leg Element Top Side) 10-9 ME0470-1B...
Page 288: List Of Specifications Of Connectable Actuators
10.2 List of Specifications of Connectable Actuators 10.2 List of Specifications of Connectable Actuators Specifications described in the specification list are limited to the information required to set operation conditions and parameters. For other detailed specifications, refer to brochures and Instruction Manuals of actuators.
Page 289: Push Force And Current Limit Value
10.2 List of Specifications of Connectable Actuators 10.2.2 Push Force and Current Limit Value Caution The correlation of the push force and the current limit value is the rated push speed (in the setting at the delivery) and is a reference value. Use the actuator with the setting above the minimum push force value.
Page 290 10.2 List of Specifications of Connectable Actuators ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA7R Push Command Value [%] ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA8R Push Command Value [%] ■...
Page 291 10.2 List of Specifications of Connectable Actuators [2] Limitation in Operation Keep following three conditions for operation. Condition 1. Pressing time should be within the determined duration. (e.g.: The current and time for pressing is restricted for RCS2-RA13R.) Condition 2. The continuous operation thrust in one cycle should be within the rated thrust of each actuator.
Page 292 10.2 List of Specifications of Connectable Actuators 10-14 ME0470-1B...
Page 293: Warranty
SCON2-CG Chapter Warranty 11.1 Warranty Period ·························································· 11-1 11.2 Scope of the Warranty ·················································· 11-1 11.3 Honoring the Warranty ·················································· 11-1 11.4 Limited Liability ··························································· 11-2 11.5 Conformance with Applicable Standards/Regulations, etc., and Application Conditions ··········································· 11-2 11.6 Other Items Excluded from Warranty ······························· 11-2...
Page 295: 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 296: 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 297: Revision History
Revision History Revision History Revision date Revised content 2023.06 First Edition 2024.04 1B Edition Intro -13 Correction made to contents in accordance with release of Functional Safety Units Intro -14 Change made to situation of compliance to UL in international standard compliance list 2.3.1 Correction made to corresponding motor capacity in the table...

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