1. Manuals
  2. Brands
  3. IAI Manuals
  4. Controller
  5. SCON-CB Series
  6. Instruction manual

IAI SCON-CB Series Instruction Manual

Servo press function
Hide thumbs Also See for SCON-CB Series:
Table of Contents

Advertisement

Quick Links

Download this manual
Ｓ Ｓ Ｃ Ｃ Ｏ Ｏ Ｎ Ｎ -Ｃ Ｃ Ｂ Ｂ
Ｓ Ｓ
Servo Press Function
Instruction Manual
Series Controller
Seventh Edition
CB-F/CGB-F
LC-F/LCG-F
ME0345-7A
Controller Overview
Chapter
Specifications
Chapter
Check
Wiring
Chapter
Operation
Chapter
Various Functions
Chapter
Parameter
Chapter
Maintenance and
Chapter
Inspection
Troubleshooting
Chapter
Construction of
Chapter
Safety Circuit
Appendix
Chapter
Warranty
Chapter
1
2
3
4
5
6
7
8
9
10
11

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the SCON-CB Series and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for IAI SCON-CB Series

Summary of Contents for IAI SCON-CB Series

  • Page 1 Ｓ Ｓ Ｃ Ｃ Ｏ Ｏ Ｎ Ｎ -Ｃ Ｃ Ｂ Ｂ Series Controller Ｓ Ｓ Servo Press Function CB-F/CGB-F LC-F/LCG-F Instruction Manual Seventh Edition ME0345-7A Controller Overview Chapter Specifications Chapter Check Wiring Chapter Operation Chapter Various Functions Chapter Parameter Chapter Maintenance and 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 SCON-CB/CGB Servo Press Specification Instruction Manual Configuration Control Product name Instruction manual name number SCON-CB/CGB/LC/LCG-F This document ME0345 IA-OS First Step Guide PC Software ME0391 * For how to operate, refer to the guiding IA-OS features installed in IA-OS RCM-101-MW/RCM-101-USB PC Software for RC/EC ME0155 Instruction Manual...

  • Page 5: Table Of Contents

    Contents Safety Guide ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-1 Precautions for Handling ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-9 International Standard Compliance ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-13 Actuator Coordinate System ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-14 Chapter 1 Controller Overview Overview ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-1 System Configuration ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-2 Name for Each Parts and Their Functions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-4 Starting Procedures ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 6 Noise Elimination and Mounting Method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-24 2.7.1 Noise Elimination ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-24 2.7.2 Installation and Mounting ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-25 Chapter 3 Wiring Servo Press Controller for Motors of up to 750W (PIO Control) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-1 3.1.1 Wiring Diagram (Connection of Construction Devices) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-1 3.1.2 Wiring ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 7 4.3.3 Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-39 4.3.4 Example of Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-43 Operation of Field Network Type ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-45 Operation in Pressing Direct Mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-46 4.5.1 Pressing Direct Mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-46 4.5.2 Applicable Models and Operation Mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-47 4.5.3 Signal Assignment and Input/Output Signals ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-48 Absolute Reset ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 8 Chapter 8 Troubleshooting Action to Be Taken upon Occurrence of Problem ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-1 Fault Diagnosis ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-3 8.2.1 Impossible Operation of Controller ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-3 8.2.2 Generation of Noise and/or Vibration ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-4 About Alarms ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-5 8.3.1 Alarm Level ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-5 8.3.2 Alarm Details ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 9 Chapter 11 Warranty 11.1 Warranty Period ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-1 11.2 Scope of the Warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-1 11.3 Honoring the Warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-1 11.4 Limited Liability ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-2 11.5 Conformance with Applicable Standards/Regulations, etc., and Application Conditions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-2 11.6 Other Items Excluded from Warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-2 Revision History ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 10 ME0345-7A...

  • Page 11: Operation Description

    Safety Guide Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
  • Page 12 Safety Guide Operation Description Description Transportation ● When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader”...
  • Page 13 Safety Guide Operation Description Description Installation and (2) Cable Wiring Start ● Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. ● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
  • Page 14 Safety Guide Operation Description Description Installation and (4) Safety Measures Start ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers.
  • Page 15 Safety Guide Operation Description Description Trial Operation ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers. ●...
  • Page 16 Safety Guide Operation Description Description Maintenance ● When the work is carried out with 2 or more persons, make it clear who is to and Inspection be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers. ●...

  • Page 17: Alert Indication

    Safety Guide Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the instruction manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger Danger product is not handled correctly, will result in death or serious injury.
  • Page 18 Safety Guide Intro-8 ME0345-7A...

  • Page 19: Precautions For Handling ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-9

    Precautions for Handling Precautions for Handling 1. Make sure to follow the usage condition, environment and specification range of the product. In case it is not secured, it may cause a drop in performance or malfunction of the product. 2. Use the correct teaching tool. Refer to the following item and use compatible tools for PC software and teaching pendant usable for this controller.
  • Page 20 Precautions for Handling 5. 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 21 Precautions for Handling 7. 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 22  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 23: International Standard Compliance ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-13

    International Standard Compliance International Standard Compliance This product complies with the following overseas standards. Refer to the Overseas Standard Compliance Manual (ME0287) for more detailed information. ○: Applicable ×: Not Applicable Controller RoHS3 Directive CE Directive ~ 750W ○ ○ (Note 1) ○...

  • Page 24: Actuator Coordinate System ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Intro-14

    The home return direction is defined with the motor end as the home position in the linear axis. Caution Homing direction cannot be changed with some models. For models with which change is not possible, the actuator must be replaced. Contact IAI if anything is unclear. The "0" in the figure below shows home. Rod type Intro-14...

  • Page 25: Chapter 1 Controller Overview

    SCON-CB/LC Chapter Controller Overview Overview ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-1 System Configuration ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-2 Name for Each Parts and Their Functions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-4 Starting Procedures ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-13 Step 1 Confirm all the necessary things are prepared ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-13 Step 2 Installation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-14 Step 3 Wiring ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

  • Page 27: Overview

    * Keep this manual to a place easy to access when necessary to read again. * The contents in this manual should cover everything considerable, however, please contact IAI in case of any awareness to mistakes or consideration. Caution In this manual, each type of CB/CGB is stated as CB.

  • Page 28: System Configuration

    1.2 System Configuration 1.2 System Configuration The following shows the system configuration. ● ~ 750W Type Connectable actuators Field network Teaching tool Teaching RCS Series Loadcell Equipped Type PC software Pendant Model: IA-OS Model: TB-02 RCM-101-* TB-03 24V DC power supply Regenerative resistor unit Model: PSA-24 Model: RESU-2...
  • Page 29 1.1 Overview ● 3000W ~ Type Connectable actuators Field network Teaching tool Teaching PC software RCS Series Loadcell Equipped Type Pendant Model: IA-OS Model: TB-02 RCM-101-* TB-03 24V DC power supply Model: PSA-24 Regenerative resistor unit Model: RESU-35T AC200V Absolute battery Battery Unit: AB-5 With battery holder: AB-5-CS3 ME0345-7A...

  • Page 30: 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 For the specifications of the safety type STO/SS1-t, refer also to [9.2.7 I/O Connectors for Safety Features]. ● ~ 750W Type ME0345-7A...
  • Page 31 1.3 Name for Each Parts and Their Functions 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. Refer to [2.7 Noise Elimination and Mounting Method] 2.
  • Page 32 1.3 Name for Each Parts and Their Functions 7. Axis No. Setting Switch (ADRS) This switch is used to set an axis number in multi-axis operation through serial communication. Using the SIO converter allows multiple axes to be controlled on a teaching tool such as a PC software without connection/disconnection of the connection cable connector.
  • Page 33 1.3 Name for Each Parts and Their Functions 9. Multi-Function Connector (MF I/F) It is a connector to use the feedback pulse output, analog output of loadcell load data and SIO communication function (SIO2). Refer to [3.3.5 Multi-function Connector] 10. PIO Connector (PIO) The PIO connector is used for control I/O signals.
  • Page 34 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 [3.3.3 Connection to Actuator] 16. Absolute Battery Connector In the absolute specification, the connector is connected with the absolute battery. 17.
  • Page 35 1.3 Name for Each Parts and Their Functions ● 3000W ~ Type 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. Refer to [2.7 Noise Elimination and Mounting Method] Power Supply Connector (PWR) It is the connector to supply the power to the controller and to the control board.
  • Page 36 1.3 Name for Each Parts and Their Functions Axis Number Setting Switch (ADRS) This switch is used to set an axis number in multi-axis operation through serial communication. Using the SIO converter allows multiple axes to be controlled on a teaching tool such as a PC without connection/disconnection of the connection cable connector.
  • Page 37 1.3 Name for Each Parts and Their Functions Internal Regenerative Resistor Valid Connector Short-circuit cable is connected at delivery. Caution Make sure to use the unit in the condition that the short-circuit cable is connected. Use the unit without this connected may damage the device. 10.
  • Page 38 1.3 Name for Each Parts and Their Functions 13. Operation Mode Setting Switch (MANU/AUTO) The switch for interlock. Setting to Available Operation switch Allows auto operation by PIO signals. The teaching tool can only operate the AUTO monitor. MANU It is available to make operations from a teaching tool. 14.

  • Page 39: Starting Procedures

    6. Each Field Network Instruction Manual (ME0254, etc.) Field Network Setting File (e.g. EDS 7. Each Instruction Manual of the Actuator File) Download it in IAI homepage www.iai-robot.co.jp/knowledge/ support/network/index.html Check the operation modes and control methods available on the controller you have purchased.

  • Page 40: Step 2 Installation

    1.4 Starting Procedures Step 2 Installation External Dimensions Refer to [2.3 Appearance] ・ • Noise Elimination Grounding (Frame Ground) Connect the ground line together to the main unit using the fixing screw (M4×8). Copper Wire: Connect to a ground cable with diameter 2mm (AWG14) or more Earth Terminal...
  • Page 41 1.4 Starting Procedures 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. 10mm or more Air Flow 100mm...

  • Page 42: Step 3 Wiring

    1.4 Starting Procedures Step 3 Wiring [PIO Specification] ~ 750W Type Refer to [Sections 3.1 and 3.3] 3000W ~ Type Refer to [Sections 3.2 and 3.4] [Field Network Specification] Refer to [Section 3.5] • Example for Basic Connection 1 (~ 750W) Regenerative Resistor Unit (REU-2: Option) Required depending on Usage condition...

  • Page 43: Step 4 Operation Ready

    1.4 Starting Procedures Step 4 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 Field Network communication is used instead of connected with and controlled by PIO.

  • Page 44: Step 5 Operate Unit

    1.4 Starting Procedures Step 5 Operate Unit How you should look in the instruction manuals will differ depending on the operation modes and control methods you choose. Establish the settings for your operation needs. ● For Press Program Operation Refer to [Chapter 4 Operation] ●...

  • Page 45: Specifications Check

    SCON-CB/LC Chapter Specifications Check Product Check ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-1 2.1.1 Parts ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-1 2.1.2 Teaching Tool ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-3 2.1.3 How to Read the Model Plate ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-4 2.1.4 How to Read the Model ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-5 Basic Specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-7 2.2.1 List of Basic Specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-7 2.2.2 Power Capacity and Heat Generation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 46 External Interface Specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-13 2.4.1 Standard Input Output Interface Specification (Multi-Function Connector) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-13 2.4.2 PIO Input and Output Interface ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-15 Options ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-16 2.5.1 Pulse Converter (Model: JM-08) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-16 2.5.2 Regenerative Resistor Unit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-17 2.5.3 Brake Box: RCB-110-RA13-0 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

  • Page 47: 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 48 2.1 Product Check Part Name Shape Remarks PC5/6-STF-7.62 (Supplier: Phoenix Contact) AC Power Supply Applicable cable size Connector Control: 0.75mm (AWG18) (For 3000W ~ type) Motor: 3.3mm (AWG12) GIC2,5/2-STF-7.62 External Regenerative (Supplier: Phoenix Contact) Resistor Unit Connecting Applicable cable size Connector 0.75mm (AWG18)

  • Page 49: 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. Part Name Model Instruction Manual IA-OS ME0391 PC software RCM-101-* ME0155 TB-02（D） ME0355 Teaching pendant TB-03 ME0376 * The instruction manual (first step guide) for IA-OS introduces only the way to install and launch.

  • Page 50: How To Read The Model Plate

    2.1 Product Check 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. Connected axis model Actuator Type : RCS3-RA6R-WA-60-1.5-115-T2-S-B-CJT-LCT-MR Model MODEL : SCON-CB-60WAIF-CC-0-1 SERIALNo.

  • Page 51: How To Read The Model

    Shown below is how to read the model codes. S C O N – C B- 6 0 W A I F - N P - 3 - 1 - STO - ** <Identification for IAI use only> <Series> * There is no identification in some cases.
  • Page 52 2.1 Product Check List of Applicable Field Networks Applicable for the field network shown in the list below. Except for RS-485 (Modbus), it is the option which can be selected when purchasing. It cannot be changed after the product is delivered. Also, for the field network other than RS-485, PIO cannot be equipped.

  • Page 53: Basic Specifications

    2.2 Basic Specifications 2.2 Basic Specifications 2.2.1 List of Basic Specifications SCON-CB/CGB/LC/LCG-F Item Less than 400W 400 to 750W 3,000W or more Corresponding Motor Capacity 30 to 399W 400 to 750W 3,000 to 3,300W Single-Phase 100 to 115V AC Single-Phase 200 to 230V AC 3-Phase 200 to 230V AC Single-Phase 200 to 230V AC Power-supply Voltage...
  • Page 54 2.2 Basic Specifications SCON-CB/CGB/LC/LCG-F Item Less than 400W 400 to 750W 3,000W or more 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) Force Operation Mode Control, Position Stop Mode 6) Force Control, Distance Stop Mode 7) Force Control, Load Stop Mode 8) Force Control, Incremental Load Stop Mode...

  • Page 55: 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 Control Rated Peek Max. Motor Power Peek Max.

  • Page 56: Selection Of Circuit Interrupter

    2.2 Basic Specifications 2.2.3 Selection of Circuit Interrupter 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 57: Appearance

    2.3 Appearance 2.3 Appearance 2.3.1 SCON-CB/CGB/LC/LCG Less than 400W When installing the absolute battery 2.3.2 SCON-CB/CGB/LC/LCG 400W to 750W When installing the absolute battery 2-11 ME0345-7A...

  • Page 58: Scon-Cgb 3000W And Above

    2.3 Appearance 2.3.3 SCON-CGB 3000W and above 2-12 ME0345-7A...

  • Page 59: External Interface Specifications

    2.4 External Interface Specifications 2.4 External Interface Specifications 2.4.1 Standard Input Output Interface Specification (Multi-Function Connector) There are 3 types in the external interface mounted in the standard. Serial Communication Interface 2 (For display device etc.) Analog Output (Load of loadcell) Encoder Feedback Pulse Output 1.
  • Page 60 2.4 External Interface Specifications Analog Output Type It outputs the load data as an analog signal from the loadcell. Item Specification Output Current 4 to 20mA Output in ratio to the loadcell rated capacity 4mA ＝ -30% 7mA ＝ 17mA ＝ 100% 20mA ＝...

  • Page 61: Pio Input And Output Interface

    2.4 External Interface Specifications 2.4.2 PIO Input and Output Interface Input Section Output Section Input Voltage 24V DC ±10% Load Voltage 24V DC Peak Load Input Current 4mA 1circuit Electric 50mA 1circuit Current Specification ON/OFF ON Voltage Min. 18V DC Leakage Max.

  • Page 62: 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 63: 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 [3.3.6, 3.4.6 Connectable Regenerative Resistor Units] for the number of connectable units. ● ~750W type Model Accessories SCON controller connection Cable Screw attachment small type RESU-2...
  • Page 64 2.5 Options ● 3000W ~ Accessories Model RESU-35T None [Specifications] Item Specification Body Size [mm] W45 × H300 × D197 Body Mass [kg] Approx. 1.8 Internal Regenerative Resistor 30Ω 450W Max. Heat Radiation Operation Temp. 130°C±5°C Built-in Temp. Contact Format Contact b Sensor Contact Open-...

  • Page 65: Brake Box: Rcb-110-Ra13-0

    2.5 Options 2.5.3 Brake Box: RCB-110-RA13-0 1 unit of Brake Box possesses brakes for 2 shafts. This is necessary when connecting an actuator with indication to connect a brake box. [Specification] Item Specification Body Size 162 × 94 × 65.5mm Power Voltage and Current 24V DC ±10% 1A Connection Cable...

  • Page 66: Loadcell

    2.5 Options 2.5.4 Loadcell This is the pressing force detection unit that is used for the pressing operation using force sensor. 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 67: Absolute Battery

    Item Specifications Battery classification Thionyl chloride lithium batteries TOSHIBA HOME APPLIANCES CORP Battery manufacturer’s name Or, Maxell, Ltd. Battery model (IAI model) AB-5 Battery nominal voltage 3.6V Battery standard capacity 2,000mAh 2 years after use (If left unused without power supply to...
  • Page 68 2.5 Options Absolute Battery (without holder) Type : AB-5 (with holder) Type : AB-5-CS (~ 750W) AB-5-CS3 (3000W ~) Voltage PIO Signals Alarm 3.1V (Reference value) Voltage drop alert signal ― *BALM (Note 2) 2.5V (Reference value) Alarm signal *ALM (Note 2) OEE “Absolute Encoder Error Detection 2”...

  • Page 69: 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 70: 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) Other Controller equipment Use the grounding screw (M4x8) Controller on the main unit to connect. Use a copper wire cable with its width Other Other Controller...

  • Page 71: Installation And Mounting

    2.7 Noise Elimination and Mounting Method 2.7.2 Installation and Mounting (1) Heat Radiation and Installation Consider such facts as size of control panel, layout of a controller and cooling performance in design and setup so the ambient temperature falls into the range from 0 to 40°C. ●...
  • Page 72 2.7 Noise Elimination and Mounting Method ● For Controller for Motors of 3000W and above 100mm or more 150mm or more 50mm or more 30mm or more 50mm or more 30mm or more Air Flow 2-26 ME0345-7A...

  • Page 73: Servo Press Controller For Motors Of Up To 750W (Pio Control)

    SCON-CB/LC Chapter Wiring Servo Press Controller for Motors of up to 750W (PIO Control) ꞏꞏ 3-1 3.1.1 Wiring Diagram (Connection of Construction Devices) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-1 3.1.2 Wiring ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-3 3.1.3 PIO Circuit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-11 Servo Press Controller for Motors of 3000W and above (PIO Control) 3-16 3.2.1 Wiring Diagram (Connection of Construction Devices) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 74 Wiring (Controller for Motors of 3000W and above) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-48 3.4.1 Wiring for Power Supply Circuit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-48 3.4.2 Wiring of Emergency Stop Circuit (System I/O) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-52 3.4.3 Connection to Actuator ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-54 3.4.4 Connection of PIO ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-56 3.4.5 Multi-function Connector ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

  • Page 75: Wiring Diagram (Connection Of Construction Devices)

    3.1 Servo Press Controller for Motors of up to 750W (PIO Control) 3.1 Servo Press Controller for Motors of up to 750W (PIO Control) The servo press type SCON can select PIO or field network as the control method of the host controller*.
  • Page 76 3.1 Servo Press Controller for Motors of up to 750W (PIO Control) If using RCS2-RA13R for the actuator and the option shown in the table is applied, the wiring between the actuator and the controller will differ from the basic wiring layout. Shown in the table is the relation of the option and wiring layout.

  • Page 77: Wiring

    3.1 Servo Press Controller for Motors of up to 750W (PIO Control) 3.1.2 Wiring [1] Main Power Circuit L1 L2 Circuit Breaker SCON Power Supply Input Connector Earth Leakage Breaker Motor Power Unit Noise Filter Control Power Supply Surge Protector Grounding resistance at 100Ω...
  • Page 78 3.1 Servo Press Controller for Motors of up to 750W (PIO Control) [3] Actuator emergency stop circuit (System I/O Connector) As an example of a circuit, cases of 4 conditions are shown. Select from 3 or 4 for CGB/LCG type. 1.
  • Page 79 3.1 Servo Press Controller for Motors of up to 750W (PIO Control) 3. Stop supplying external motor power at emergency stop input Emergency stop switch for the teaching pendant Emergency Emergency EMG A EMG B stop reset stop switch switch System I/O connector SIO connector (Note 3)
  • Page 80 3.1 Servo Press Controller for Motors of up to 750W (PIO Control) 4. Shut off the motor power externally by inputting the emergency stop with using two units of controllers or more. Emergency stop switch for the teaching pendant Emergency stop Emergency stop reset switch switch...

  • Page 81: Actuator Type

    3.1 Servo Press Controller for Motors of up to 750W (PIO Control) [4] Motor • Encoder Circuit Connection of Short-Axis Robot (excluding RCS2-RA13R) SCON 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-RCS3-PLA□□□...
  • Page 82 3.1 Servo Press Controller for Motors of up to 750W (PIO Control) Connection when RCS2-RA13R with loadcell (with no brake) RCS2-RA13R SCON (Equipped with loadcell) Brake Power Supply Connector Encoder CB-RCS2-PLLA□□□ Connector CB-RCC-MA□□□ Motor Connector CB-LDC-CTL□□□ (Cable in the cable track) 3.
  • Page 83 3.1 Servo Press Controller for Motors of up to 750W (PIO Control) [5] Regenerative Resistor Units Circuit SCON Regenerative Resistor Units RESU-2, RESUD-2 CB-SC-RESU010 Regenerative RB-IN Resistor Units Connector CB-ST-RESU010 RB-OUT Regenerative Resistor Units RESU-1, RESUD-1 RB-IN RB-OUT ME0345-7A...
  • Page 84 3.1 Servo Press Controller for Motors of up to 750W (PIO Control) [6] Feedback Pulse Readout Circuit When Host Inputting Feedback Pulse with Line Receiver (Note) Connect cable also to 0V if there is 0V (COM) on the host unit. When Host Inputting Feedback Pulse with Open Collector It is necessary to pulse converter (JM-08: Option).

  • Page 85: Pio Circuit

    3.1 Servo Press Controller for Motors of up to 750W (PIO Control) 3.1.3 PIO Circuit [1] PIO Circuit in CB/CGB Type ● List of Control Signal Assignments and Features The signal assignment of flat cable is as shown below. Follow the following table to connect the external equipment (such as PLC).
  • Page 86 3.1 Servo Press Controller for Motors of up to 750W (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...
  • Page 87 3.1 Servo Press Controller for Motors of up to 750W (PIO Control) ● Examples for Connection Circuit Use the attached cable for the I/O connection. Model: CB-PAC-PIO□□□ (□□□ indicates the cable length L. Example. 020 = 2m) Caution ● When having a conduction check on the flat cable, make sure not to spread out the inside of the connector female pins.
  • Page 88 3.1 Servo Press Controller for Motors of up to 750W (PIO Control) PIO Circuit in LC/LCG Type ● List of Control Signal Assignments and Features The table below shows the signal assignment of the flat cable. Follow the following table to connect the external equipment (such as PLC).
  • Page 89 3.1 Servo Press Controller for Motors of up to 750W (PIO Control) ● Examples for Connection Circuit Use the attached cable for the I/O connection. Model: CB-PAC-PIO□□□ (□□□ indicates the cable length. Example. 020 = 2m) Caution ● When having a conduction check on the flat cable, make sure not to spread out the inside of the connector female pins.

  • Page 90: Servo Press Controller For Motors Of 3000W And Above (Pio Control)

    3.2 Servo Press Controller for Motors of 3000W and above (PIO Control) 3.2 Servo Press Controller for Motors of 3000W and above (PIO Control) 3.2.1 Wiring Diagram (Connection of Construction Devices) ● Basic Wiring Diagram Caution ● 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 91: Wiring

    3.2 Servo Press Controller for Motors of 3000W and above (PIO Control) 3.2.2 Wiring [1] Main Power Circuit 3ɸ200V Circuit Breaker SCON Clamp Filter Power Supply Connector 1.L1C Leakage Breaker Noise Filter 2.L2C 3.L1 4.L2 5.L3 Clamp Filter 6.PE Surge Electromagnetic Contactor Absorber [2] Brake Power Supply Circuit...

  • Page 92: System I/O Connector

    3.2 Servo Press Controller for Motors of 3000W and above (PIO Control) [3] Actuator Emergency Stop Circuit (System I/O Connector) As an example of a circuit, cases of 2 conditions are shown. * The controller for motors of 3000W and above is not equipped with the built-in SIO connector connection detection circuit and drive cutoff circuit.
  • Page 93 3.2 Servo Press Controller for Motors of 3000W and above (PIO Control) 1) Stop supplying external motor power at emergency stop input PC Software Cable or Dummy plug Short-circuit in PC software cable Emergency Emergency stop reset stop switch switch System I/O connector SIO connector Emergency...
  • Page 94 3.2 Servo Press Controller for Motors of 3000W and above (PIO Control) 2) Example for Wiring for Equivalent to Safety Category 4 In order to construct a system applicable for the Safety Categories, use the TP adaptor (RCBLB-TGS) and establish the circuit construction following the example below. 3-20 ME0345-7A...
  • Page 95 3.2 Servo Press Controller for Motors of 3000W and above (PIO Control) [4] Motor • Encoder Circuit Use the dedicated connection cables for the connection between an actuator and controller. * In the case of brake specification, please provide the 24V DC to the actuator and controller. Refer to [3.4.1 Wiring of Power Circuit] for details.
  • Page 96 3.2 Servo Press Controller for Motors of 3000W and above (PIO Control) [5] Circuit of Regenerative Resistor Units Refer to [[3] Actuator Emergency Stop Circuit (System I/O Connector)] in this chapter for connection of temperature sensor contact (TM1 and 2). Unit SCON Regenerative Unit Connector...
  • Page 97 3.2 Servo Press Controller for Motors of 3000W and above (PIO Control) [6] Feedback Pulse Readout Circuit When Host Inputting Feedback Pulse with Line Receiver (Note) Connect cable also to 0V if there is 0V (COM) on the host unit. When Host Inputting Feedback Pulse with Open Collector It is necessary to pulse converter (JM-08: Option).

  • Page 98: Pio Circuit

    3.2 Servo Press Controller for Motors of 3000W and above (PIO Control) 3.2.3 PIO Circuit [1] PIO Circuit in CGB Type ● List of Control Signal Assignments and Features The signal assignment of flat cable is as shown below. Follow the following table to connect the external equipment (such as PLC).
  • Page 99 3.2 Servo Press Controller for Motors of 3000W and above (PIO Control) Signal Category Signal Name Function Description Abbreviation This signal turns ON to show that the press program has Program Finished in finished in normal condition and moved to the standby stage. PCMP Normal Condition It is kept on till the next press program execution, axis...
  • Page 100 3.2 Servo Press Controller for Motors of 3000W and above (PIO Control) ● Examples for Connection Circuit Use the attached cable for the I/O connection. Model: CB-PAC-PIO□□□ (□□□ indicates the cable length L. Example. 020 = 2m) Caution ● When having a conduction check on the flat cable, make sure not to spread out the inside of the connector female pins.
  • Page 101 3.2 Servo Press Controller for Motors of 3000W and above (PIO Control) [2] PIO Circuit in LCG Type ● List of Control Signal Assignments and Features The table below shows the signal assignment of the flat cable. Follow the following table to connect the external equipment (such as PLC).
  • Page 102 3.2 Servo Press Controller for Motors of 3000W and above (PIO Control) ● Examples for Connection Circuit Use the attached cable for the I/O connection. Model: CB-PAC-PIO□□□ (□□□ indicates the cable length. Example. 020 = 2m) Caution ● When having a conduction check on the flat cable, make sure not to spread out the inside of the connector female pins.

  • Page 103: Wiring Method (Controller For Motors Of Up To 750W)

    3.3 Wiring Method (Controller for Motors of up to 750W) 3.3 Wiring Method (Controller for Motors of up to 750W) 3.3.1 Wiring of Power Circuit Power Supply Type Specifications Motor Power Supply 100V Specification: 100 to 115V AC ±10% 50/60Hz 200V Specification: 200 to 230V AC ±10% 50/60Hz Control Power Supply [1] Main Power Supply Circuit (Power Supply Connector)
  • Page 104 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...
  • Page 105 3.3 Wiring Method (Controller for Motors of up to 750W) ● Wiring Method Connect the power supply to the enclosed connector (Model code: MSTB2.5/6-STF-5.08: Phoenix Contact). See below for how to lay out the power supply wires. 1) Loosen the terminal screw with using such as a slotted screwdriver to open up the inlet. 2) Reveal the sheath for 7mm on the cable that satisfies the cable diameter complies the specification shown in the table below and put it in the inlet.
  • Page 106 3.3 Wiring Method (Controller for Motors of up to 750W) [2] Brake Power Supply (Power Supply Connector) Supply 24V DC ±10% and 1A max. when using an actuator equipped with a brake. ● Wiring Image 24V DC power Supply (Please prepare separately) Brake Power Supply Connector ●...
  • Page 107 3.3 Wiring Method (Controller for Motors of up to 750W) ● For Actuators Necessary to Have Brake Box When connecting RCS2-RA13R, it is necessary to have a brake box (RCB-110-RA13-0) connected. Refer to [2.5.3 Brake Box: RCB-110-RA13-0] for details. Supply 24V DC and 1A max. as the power supply for the brake box. The way to layout wires on the connector enclosed in the brake box (MC1.5/2-STF-3.5: Phoenix Contact) is the same as that described in [2].

  • Page 108: Wiring Of Emergency Stop Circuit (System I/O)

    3.3 Wiring Method (Controller for Motors of up to 750W) 3.3.2 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. ●...
  • Page 109 3.3 Wiring Method (Controller for Motors of up to 750W) ● Wiring Method Connect the wires for operation stop (System I/O Connector) to the enclosed connector (Model code: FMC1.5/4-ST-3.5: Phoenix Contact). See below for how to lay out the power supply wires.

  • Page 110: Connection To Actuator

    3.3 Wiring Method (Controller for Motors of up to 750W) 3.3.3 Connection to Actuator Connect the motor cable to the MOT connector. Connect the encoder cable to the PG connector. Connect the brake box if using RCS2-RA13R equipped with brake. Refer to [2.5.3 Brake Box: RCB-110-RA13-0] Motor Cable (Motor Connector)
  • Page 111 Controller Side GIC2.5/4-GF-7.62 Pin No. Signal Name Contents Applicable cable diameter Protective ground line Motor drive phase U Cable dedicated for IAI actuators Motor drive phase V Motor drive phase W Encoder Connector (PG) Model Remarks Cable Side 10126-3000VE 10226-6202JL...

  • Page 112: Connection Of Pio

    3.3 Wiring Method (Controller for Motors of up to 750W) 3.3.4 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 113: Multi-Function Connector

    3.3 Wiring Method (Controller for Motors of up to 750W) 3.3.5 Multi-function Connector The multi-function connector is equipped with following interfaces. Analog output of the load data Feefback pulse output Serial communication port 2 (SIO2) ● Image of wiring Load Display Device (Please prepare separately) [1] Multi-function connector (MF I/F) Model...
  • Page 114 3.3 Wiring Method (Controller for Motors of up to 750W) ● Wiring Method Caution ● Enclosed only in plug and shell. Do the same wiring layout as the following option. Connect the multi-function connector to the enclosed connector (Model: 10114-3000PE). See below for how to lay out the power supply wires.
  • Page 115 3.3 Wiring Method (Controller for Motors of up to 750W) [2] Connector with Cable (Option) Model: CB-SC-PIOS□□□ □□□ is cable length: e.g. 020 = 2m Cable length: For differential system, MAX. 10m For open collector, MAX. 2m (Note) There is no connector equipped on the host controller (PLC, etc.) side. Make an appropriate treatment that suits the host controller (PLC, etc.).
  • Page 116 3.3 Wiring Method (Controller for Motors of up to 750W) [3] Pulse Converter : JM-08 The pulse converter converts command pulses in the those in the differential mode to open collector mode. Use this converter if the host controller sends output pulses in the applicable for open collector (24V type).
  • Page 117 3.3 Wiring Method (Controller for Motors of up to 750W) A recommended installation sample is shown in the figure below. • Make the cable length between the host controller and pulse converter as short as possible. Host Controller Cable length: Recommended 50mm or less •...

  • Page 118: Connectable Regenerative Resistor Units

    3.3 Wiring Method (Controller for Motors of up to 750W) 3.3.6 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) [1] Wiring Image RB IN Regenerative...
  • Page 119 3.3 Wiring Method (Controller for Motors of up to 750W) [3] Reference number of connectable unit Excluding RCS2-RA13R Connectable Number of Motor Output Regenerative Resistor Units To 100W Not Required Horizontal Mount 101 to 400W /Vertical Mount 401 to 750W RCS2-RA13R Connectable Number of Motor Output...
  • Page 120 3.3 Wiring Method (Controller for Motors of up to 750W) [4] Controller Link Cable Regenerative resistance connection cable for SCON (CB-SC-REU□□□) □□□ indicates the cable length (Example) 010 = 1m 3-46 ME0345-7A...

  • Page 121: Sio Connecter Connection

    Contents Applicable cable diameter Name Teaching Tool Signal + Teaching Tool Signal - Teaching Tool Power Supply Enable Signal Input Cable dedicated for IAI EMGA Emergency Stop Signal A products Power Supply for Teaching Tool EMGB Emergency Stop Signal B...

  • Page 122: Wiring (Controller For Motors Of 3000W And Above)

    3.4 Wiring (Controller for Motors of 3000W and above) 3.4 Wiring (Controller for Motors of 3000W and above) 3.4.1 Wiring for Power Supply Circuit Supply the power stated below. The load current will differ depending on the connected actuators and so on. Select and prepare circuit breaker and leakage breaker suitable to the specifications.
  • Page 123 3.4 Wiring (Controller for Motors of 3000W and above) Caution ● In case the components stated in the previous section are not installed, this controller may cause operation error due to noise influence. Apply these components considering the noise environment and power supply circumstances. It is not compulsory, but is recommended to install them.
  • Page 124 3.4 Wiring (Controller for Motors of 3000W and above) Brake Power Supply (Brake Power Connector) Supply 24V DC ±10% and 0.1A at maximum to the controller and 24V DC ±10% and 1.5A at maximum to the actuator when an actuator equipped with a brake is used. ●...
  • Page 125 3.4 Wiring (Controller for Motors of 3000W and above) Actuator side: Model code : FMC1.5/3-STF-3.5: Phoenix Contact 1) Push in the protruded portion on the terminal with a tool such a tool as a slotted screwdriver to open up the inlet. 2) Reveal the sheath for 10mm on the cable that satisfies the cable diameter complies the specification shown in the table below and put it in the inlet.

  • Page 126: Wiring Of Emergency Stop Circuit (System I/O)

    3.4 Wiring (Controller for Motors of 3000W and above) 3.4.2 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. ●Image of Wiring SCON PC Software Connection Cable or Dummy Plug...
  • Page 127 3.4 Wiring (Controller for Motors of 3000W and above) ● Wiring Method Connect the wires for operation stop (System I/O Connector) to the enclosed connector (Model code: FMC1.5/6-ST-3.5: Phoenix Contact). See below for how to lay out the power supply wires. 1) Push in the protruded portion on the terminal with a tool such a tool as a slotted screwdriver to open up the inlet.

  • Page 128: Connection To Actuator

    3.4 Wiring (Controller for Motors of 3000W and above) 3.4.3 Connection to Actuator Connect the motor cable to the MOT connector. Connect the encoder cable to the PG connector. ● Image of wiring Motor Cable (Motor Connector) (Encoder Connector) Encoder Cable Caution ●...
  • Page 129 IPC5/4-STF-7.62 Controller Side IPC5/4-GF-7.62 Pin No. Signal Name Contents Applicable cable diameter Protective ground line Motor drive phase U Cable dedicated for IAI actuators Motor drive phase V Motor drive phase W Encoder Connector (PG) Remarks Model Cable Side 10126-3000PE...

  • Page 130: Connection Of Pio

    3.4 Wiring (Controller for Motors of 3000W and above) 3.4.4 Connection of PIO For the signal assignment of each wire, refer to [3.1.3, 3.2.3 PIO Circuit]. 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.

  • Page 131: Multi-Function Connector

    3.4 Wiring (Controller for Motors of 3000W and above) 3.4.5 Multi-function Connector The multi-function connector is equipped with following interfaces. Analog output of the load data Feedback pulse output Serial communication port 2 (SIO2) ● Image of wiring Load Display Device (Please prepare separately) ●...
  • Page 132 3.4 Wiring (Controller for Motors of 3000W and above) ● Wiring Method Caution ● Enclosed only in plug and shell. Do the same wiring layout as the following option. Connetct the enclosed connector (Model: 10114-3000PE). See below for how to lay out the power supply wires.
  • Page 133 3.4 Wiring (Controller for Motors of 3000W and above) [5] Pulse Converter: JM-08 The pulse converter converts command pulses in the those in the differential mode to open collector mode. Use this converter if the host controller sends output pulses in the applicable for open collector (24V type).
  • Page 134 3.4 Wiring (Controller for Motors of 3000W and above) • 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. 3-60 ME0345-7A...

  • Page 135: Connectable Regenerative Resistor Units

    3.4 Wiring (Controller for Motors of 3000W and above) 3.4.6 Connectable Regenerative Resistor Units Lay out necessary number of regenerative resistor units. [1] Image of wiring To Drive Cutoff Circuit Temperature Sensor Contact (Contact opens when excessive temperature rise Regenerative Resistor Unit Connector * Terminal resistor is not required.
  • Page 136 3.4 Wiring (Controller for Motors of 3000W and above) [3] Wiring Method on Controller Side Connect the wiring of the enclosed connector (Model code: GIC2,5/2-STF-7,62: Phoenix Contact). See below for how to lay out the power supply wires. 1) Loosen the terminal screw with using such as a slotted screwdriver to open up the inlet. 2) Reveal the sheath for 7mm on the cable that satisfies the cable diameter complies the specification shown in the table below and put it in the inlet.
  • Page 137 3.4 Wiring (Controller for Motors of 3000W and above) [4] Wiring on Regenerative Resistor Unit Side Perform wiring with crimping a conforming cable described below to an M4 solderless terminal. Specifications for External Regenerative Resistor Unit Connection Terminal Block Item Specification Terminal Screw Applicable Cable Diameter AWG18...

  • Page 138: Sio Connector Connection

    3.4 Wiring (Controller for Motors of 3000W and above) 3.4.7 SIO Connector Connection SIO connectors can be used not only for the connection of teaching tool, but also for the connection of the host controller (PLC, touch panel and PC). For the operation, refer to the instruction manual of each module.

  • Page 139: Field Network Connector Of Pio

    3.5 Field Network Connector of PIO 3.5 Field Network Connector of PIO For how to lay out cables for each field network, refer to the following instruction manuals to proceed the work. Supported models Field Network Name Description Details Refer to the other 〇...
  • Page 140 3.5 Field Network Connector of PIO 3-66 ME0345-7A...

  • Page 141: Operation

    SCON-CB/LC Chapter Operation Basic Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-1 4.1.1 How to Turn on Power ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-1 4.1.2 Operation Mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-2 4.1.3 Basic Operation Setting ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-11 4.1.4 Detailed Settings ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-20 Trial Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-27 4.2.1 Manual Operation (Jog etc) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-28 4.2.2 Press Program Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 142 4.5.2 Applicable Models and Operation Mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-47 4.5.3 Signal Assignment and Input/Output Signals ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-48 Absolute Reset ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-69 4.6.1 How to Perform Absolute Reset ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-70...

  • Page 143: Basic Operation

    4.1 Basic Operation 4.1 Basic Operation 4.1.1 How to Turn on Power 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 144: 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 145 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 146 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 147 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 . With the load (Note 1) at the time of reaching the set position as the target load, stop (Note 2) is conducted with the pressing force kept constant.
  • Page 148 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 . With the load (Note 1) 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 149 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 . Stop is (Note 1) 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 150 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 . With the load (Note 1) 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 151 4.1 Basic Operation Force Control Position Stop 2 With the target load setting set in the pressurizing condition as the target, pressing operation is conducted under condition that the load reaches the target load by the pressurizing complete position. Once it reaches the setting position, stop is performed with the position retained constant.
  • Page 152 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 153: 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 154 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 ME0345-7A...
  • Page 155 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 156 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 157 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 158 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 159 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 160 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 161 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 162: 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 163 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 164 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 165 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 166 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 167 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 168 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 169: 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 170: 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. 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 PIO Status Display...

  • Page 171: 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 172 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 173: 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 174 4.3 Operation with PIO ○: Selected or set to ON, ×: Unselected or set to OFF Condition Status PIO Operation ○ ○ ○ ○ × × × × Teaching tool such Invalid (Note) as PC software PIO Operation × × ×...
  • Page 175 4.3 Operation with PIO [2] Servo ON (SON, SV) Input PIO signal Output 1. Servo ON signal “SON” is the input signal making the servo motor of the actuator operable. 2. If the servo-on is performed to enable operation, the SV output signal is turned ON. 3.

  • Page 176: Home Return (Home, Hend)

    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 177 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 178 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 179 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 180 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 181: 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 182 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 183 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) Input...
  • Page 184 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 PIO signal Output JDNG Normal (JDOK) or error (JDNG) turns on following the result of pressing operation. Time Prg home [1] Approach...

  • Page 185: 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 186 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 187: 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 188: Operation In Pressing Direct Mode

    4.5 Operation in Pressing Direct Mode 4.5 Operation in Pressing Direct Mode Servo Pressing Direct Mode is a mode to have "Pressurizing Stage" in the pressing program operated by indicating values directly from the field network. The pressing direct operation and positioning direct operation are available in this mode.

  • Page 189: Applicable Models And Operation Mode

    4.5 Operation in Pressing Direct Mode 4.5.2 Applicable Models and Operation Mode Controller: SCON-CB/CGB servo press type Field Network: CC-Link, DeviceNet, PROFIBUS-DP, CompoNet, EtherNet/IP, EtherCAT, PROFINET IO and CC-Link IE Field Pressing Direct Mode Applicable Firmware Versions Device Part name / Model Supported version Controller SCON-CB-F...

  • Page 190: Signal Assignment And Input/Output Signals

    4.5 Operation in Pressing Direct Mode 4.5.3 Signal Assignment and Input/Output Signals (1) PLC address configuration Refer to [the instruction manual for each field network]. (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of sixteen input words (16-words = 32 bytes) and four output words in the I/O areas.

  • Page 191: I/O Signal Allocation

    4.5 Operation in Pressing Direct Mode (3) I/O Signal Allocation Upper PLC Output → SCON-CB Input ● 0, 1 ０ RWw0 Target Position <PCMD> [0.001mm] (Upper word) 2, 3 RWw1 Target Position <PCMD> [0.001mm] (Lower word) 4, 5 RWw2 Speed <VCMD> [0.01mm/s] (Upper word) 6, 7 RWw3 Speed <VCMD>...
  • Page 192 4.5 Operation in Pressing Direct Mode (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Symbol Function 32-bit signed integer Indicate the target position on the absolute coordinates. The unit is 0.001mm, while the specifiable range is -999,999 to 999,999.
  • Page 193 4.5 Operation in Pressing Direct Mode (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Symbol Function 16-bit integer The zone boundaries for the load available for change from the host PLC should be indicated. The unit can be selected from 0.01N to 10N in Parameter No.
  • Page 194 4.5 Operation in Pressing Direct Mode (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Symbol Function DSTR Positioning start: when the movement command is ON JOG- - Jog: “ON” for Movement to the Home Direction JOG+ + Jog: “ON”...
  • Page 195 4.5 Operation in Pressing Direct Mode SCON-CB output → PLC Input ● ０ 0, 1 RWw0 Current position <PNOW> [0.001mm] (Upper word) 2, 3 RWw1 Current position <PNOW> [0.001mm] (Lower word) 4, 5 RWw2 Feedback current <CNWF> [0.1％] (Upper word) 6, 7 RWw3 Feedback current <CNWF>...
  • Page 196 4.5 Operation in Pressing Direct Mode (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Function 32-bit signed integer The unit is 0.001mm. Current (Example) Reading: 000003FF = 1023 (decimal) 32bits data ...
  • Page 197 4.5 Operation in Pressing Direct Mode (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol Function Emergency stop: EMGS An emergency stop is being executed when the signal is ON. Alarm: The signal turns ON when an alarm occurs. Light failure alarm: ALML The signal turns ON when an light failure alarm occurs.
  • Page 198 4.5 Operation in Pressing Direct Mode (3) Operation in Pressing Direct Mode Here, shows an example of having an operation equivalent to a pressing program in a condition of the servo turned on, home-return operation completed and the loadcell calibration completed.
  • Page 199 4.5 Operation in Pressing Direct Mode Axis Movement Permission ENMV (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller) Deceleration Data (PLC→Controller) * T1 Positioning Command DSTR (PLC→Controller) Positioning Completion PEND (Controller→PLC) Current Load FBFC (Controller→PLC) Current Position PNOW (Controller→PLC) * ≤...
  • Page 200 4.5 Operation in Pressing Direct Mode Search Conduct the searching operation while the positioning complete signal (PEND) is on. Turn ON (operation enable) axis movement permission signal (ENMV). Set the pressurizing operation control mode signal (PRMD) to “0: Velocity Control Mode”.
  • Page 201 4.5 Operation in Pressing Direct Mode Axis Movement Permission ENMV (PLC→Controller) Pressurizing Operation Control Mode: Velocity Control Mode (PLC→Controller) Pressurizing Operation Stop System: Stop with Load (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller) Deceleration Data (PLC→Controller) Pressurizing Load Data (PLC→Controller) * T1...
  • Page 202 4.5 Operation in Pressing Direct Mode Pressurize Conduct the pressurizing operation while the pressurizing operation termination signal (DPED) is on. Turn ON (operation enable) axis movement permission signal (ENMV). Set the pressurizing operation control mode signal (PRMD) in a purpose of your use. Pressurizing Operation PRMD Control Mode...
  • Page 203 4.5 Operation in Pressing Direct Mode Axis Movement Permission ENMV (PLC→Controller) Pressurizing Operation Control Mode: [Set it as required for your use] (PLC→Controller) Pressurizing Operation Stop System: [Set it as required for your use] (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller)
  • Page 204 4.5 Operation in Pressing Direct Mode Stop Have the host PLC perform a stop control with a timer. Depressurize There are two ways to depressurize. Use "(A) Positioning Direct" when velocity is to be prioritized for depressurizing. Use "(B) Pressing Direct" when it is required to control sudden depressurizing. (A) Positioning Direct Depressurizing operation should be conducted while the pressurizing operation termination signal (DPED) is on.
  • Page 205 4.5 Operation in Pressing Direct Mode Axis Movement Permission ENMV (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller) Deceleration Data (PLC→Controller) * T1 Positioning Command DSTR (PLC→Controller) Pressurizing Operation Terminated DPED (Controller→PLC) Positioning Completion PEND (Controller→PLC) Current Load FBFC (Controller→PLC) Current Position...
  • Page 206 4.5 Operation in Pressing Direct Mode (B) Pressing Direct Depressurizing operation should be conducted while the pressurizing operation termination signal (DPED) is on. Turn ON (operation enable) axis movement permission signal (ENMV). Set the pressurizing operation control mode register (PRMD) to “1: Force Control Mode”. Pressurizing Operation PRMD Control Mode...
  • Page 207 4.5 Operation in Pressing Direct Mode Axis Movement Permission ENMV (PLC→Controller) Pressurizing Operation Control Mode: Force Control Mode (PLC→Controller) Pressurizing Operation Stop System: Stop with Load (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller) Deceleration Data (PLC→Controller) Pressurizing Load Data (PLC→Controller) * T1...
  • Page 208 4.5 Operation in Pressing Direct Mode Return Turn ON (operation enable) axis movement permission signal (ENMV). Set the target position data in the target position register (PCMD). Set the velocity data in the velocity register (VCMD). Set the Acceleration data in the acceleration register (ACMD). Set the deceleration data in the deceleration register (DCMD).
  • Page 209 4.5 Operation in Pressing Direct Mode Axis Movement Permission ENMV (PLC→Controller) Target Position Data (PLC→Controller) Speed Data (PLC→Controller) Acceleration Data (PLC→Controller) Deceleration Data (PLC→Controller) * T1 Positioning Command DSTR (PLC→Controller) Positioning Completion PEND (Controller→PLC) Current Load FBFC (Controller→PLC) Current Position PNOW (Controller→PLC) * ≤...
  • Page 210 4.5 Operation in Pressing Direct Mode How to Make Operation Equivalent to Pressing Program in Pressing Direct Mode (Example) No. Operation Command Type Command Details Termination Judgment Terminated PEND turns on in Normal Target position should be position to Approach Positioning Direct terminate approach (velocity cannot be Terminated...

  • Page 211: Absolute Reset

    4.6 Absolute Reset 4.6 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 212: How To Perform Absolute Reset

    4.6 Absolute Reset 4.6.1 How to Perform Absolute Reset The absolute reset is performed by using a teaching tool such as PC software or PIO. Each of the absolute reset procedures is described below. [1] Absolute Reset Procedure from Teaching Tool 1) Connect the controller with the actuator.
  • Page 213 4.6 Absolute Reset After turning the servo ON with the Servo , press the Home Click Click [For PC Software (IA-OS)] Refer to [First Step Guide (ME0391)] for how to install the PC software IA-OS. Open “Press program” screen and click Click Click located on the right of “Alarm”...
  • Page 214 4.6 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 215 4.6 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...
  • Page 216 4.6 Absolute Reset [Absolute Reset Process] Emergency stop actuated or cancelled Safety Circuit Condition (Status of power supply to the motor drive source) (Note 1) 24V DC PIO Power Input Brake Power Input (Note 2) Control Power Input Motor Power Input Alarm reset [Procedures 4] Alarm Signal...

  • Page 217: Absolute Reset Using Pio

    4.6 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 218 4.6 Absolute Reset 4-76 ME0345-7A...

  • Page 219: Various Functions

    SCON-CB/LC Chapter Various Functions Feature of Multi-function Connector ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5-1 5.1.1 Overview ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5-1 5.1.2 How to Set up ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5-2 Analog Output of Load Data ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5-6 5.2.1 Specification ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5-6 5.2.2 Setting ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5-7 5.2.3 Rated Capacity of Loadcell Mounted to Each Actuator ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5-7 Serial Communication 2 (SIO2) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

  • Page 221: 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, analog output and serial communication 2 equipped in the multi-function connector (MF I/F). 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 222: 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 223 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 224 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 225 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 (4,096 or less when the controller version is earlier than V0005) and make them to be integral numbers. (Do not stop reducing the fraction on the way.) (Do not stop reducing the fraction on the way.) ●...

  • Page 226: 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 227: 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 228: Serial Communication 2 (Sio2)

    5.3 Serial Communication 2 (SIO2) 5.3 Serial Communication 2 (SIO2) This controller is equipped with SIO2 line as well as SIO line for teaching so connection can be established to such as a general-purposed touch panel. Communication conducted with Modbus protocol like one for teaching.

  • Page 229: Setting

    5.3 Serial Communication 2 (SIO2) 5.3.2 Setting [1] Baud rate setting Establish the SIO2 baud rate setting in Parameter No. 169. Name Unit Input Range Default factory setting Select the SIO2 Baud 9,600 to 230,400 38,400 Rate Apply the baud rate of the connecting unit. [2] Unit Number Setting Set the unit number of SIO2 in Parameter No.
  • Page 230 5.3 Serial Communication 2 (SIO2) 5-10 ME0345-7A...
  • Page 231 SCON-CB/LC Chapter Parameter Parameter ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6-1 6.1.1 Parameter List ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6-2 6.1.2 Detail of Parameters ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6-8 Servo Adjustment ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6-39...
  • Page 233 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 234: 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 235 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 6.1.2 [14] (Note1) -9,999.99 to Zone Boundary 2+ Actual stroke on + side...
  • Page 236 6.1 Parameter I/O Parameter List (Continued) Relevant Name Unit Input Range Default factory setting sections 0: Enabled, Feedback pulse output 6.1.2 [29] 1: Disabled Feedback pulse train 0 to 2 6.1.2 [30] 0: Positive Logic Feedback pulse form polarity 1: Negative 6.1.2 [31] Logic 6.1.2 [32]...
  • Page 237 6.1 Parameter I/O Parameter List (Continued) Relevant Name Unit Input Range Default factory setting sections 0: Not Applicable Calendar function 6.1.2 [48] 1: Use Monitoring Cycle 1 to 1000 6.1.2 [49] Electronic gear numerator 1 to 6.1.2 [50] (Feedback Pulse) 99,999,999 (Note3) Electronic gear denominator...
  • Page 238 6.1 Parameter I/O Parameter List (Continued) Relevant Name Unit Input Range Default factory setting sections 6.1.2 [27] (Note1) Current control width number 3 0 to 15 In accordance with actuator Servo gain switchover time 10 to 2,000 6.1.2 [53] constant -9,999.99 to (Note1) Home preset value...
  • Page 239 6.1 Parameter I/O Parameter List (Continued) Relevant Name Unit Input Range Default factory setting sections Load detection Filter 1 to 10 6.1.2 [71] 0: Return to Return operation initial value at home 6.1.2 [72] press program alarm 1: Stop at the point 0: Return to Return operation initial value at...
  • Page 240 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. 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 241 6.1 Parameter 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 0.3 mm is added to the outside of the effective actuator stroke for the default setting.
  • Page 242 6.1 Parameter 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 243 6.1 Parameter 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 244 6.1 Parameter 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 245 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 246 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 ME0345-7A...
  • Page 247 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 248: Input Range

    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 249 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 250 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 251 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 252 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 253 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 Caution ● Anti-vibration control function is unavailable when the feed-forward gain is used (with the settings except for 0).
  • Page 254 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 255 6.1 Parameter [37] Belt breaking s ensor input polarity (Parameter No.76) Name Unit Input Range Default factory setting Belt breaking s ensor input － 0 to 2 In accordance with actuator polarity Set the sensor input polarity for Alarm Code 0D7 “Belt Break Detection” for Ultra-High Thrust Type RCS2-RA13R.
  • Page 256 6.1 Parameter [39] Fieldbus operation mode (Parameter No.84) This parameter is exclusively used for the controller of field network specification. Check the applicable instruction manual number in [4.4 Operation of Field Network Type] and refer to each instruction manual. [40] Fieldbus Node Address (Parameter No.85) This parameter is exclusively used for the controller of field network specification.
  • Page 257 6.1 Parameter [44] Allowable time of exceeding torque allowing continuous pressing (Parameter No.89) Name Unit Input Range Default factory setting Allowable time of exceeding torque allowing 0 to 300 In accordance with actuator continuous pressing This is the parameter to limit the continuous pressing time when using RCS2-RA13R with the pressing setting of 71% or more.
  • Page 258 6.1 Parameter RA15R, RA20R (Default factory setting = 1,000) Rigidity of pressing target Hard ← Rigidity → Soft 1,050 2,100 4,200 8,400 16,800 1,200 2,400 4,800 9,600 19,200 1,350 2,700 5,400 10,800 21,600 1,500 3,000 6,000 12,000 24,000 1,650 3,300 6,600 13,200 26,400...
  • Page 259 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...
  • Page 260 6.1 Parameter In use of RTC, the alarm occurrence time in the alarm list is the time at which an alarm has occurred. If RTC is not used, the time of alarm issuance shown in the alarm list counts the time passed since the power is supplied to the controller counted as 0 second.
  • Page 261 6.1 Parameter [51] Automatic loadcell calibration at start (Parameter No.117) Name Unit Input Range Default factory setting Automatic loadcell 0: Does not perform － calibration at start 1: Perform This parameter is exclusively used for pressing operation using force sensor. Refer to [4.3.2 Operation Ready and Auxiliary Signals] [52] Loadcell calibration time (Parameter No.119) Name...
  • Page 262 6.1 Parameter [54] Home preset value (Parameter No.139) Name Unit Input Range Default factory setting Home preset value -9,999.99 to 9,999.99 In accordance with actuator For the actuator of absolute specification, set this parameter so that (home return offset + value of this parameter) is within the range between 0 and the ball screw lead.
  • Page 263 6.1 Parameter [55] IP Address (Parameter No.140) Name Unit Input Range Default factory setting 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 [Ether Net/IP Instruction Manual (ME0278)] provided separately. [56] Subnet mask (Parameter No.141) Name Unit...
  • Page 264 6.1 Parameter [Applied: prevention function] By setting this parameter, warning output (*BALM/*OVLW/*ALML Signal) notifies you before the equipment stops by error in case that the motor temperature rises due to load condition change caused by dry-up of grease or wear-out of components. Load Alarm Occurred Alarm Output...
  • Page 265 6.1 Parameter [61] Light error alarm output select (Parameter No.151) Name Unit Input Range Default factory setting 0: Battery voltage drop warning output Light error alarm output 1: Output of battery － select voltage drop warning or message-level alarm If it is set to “0”, *BALM Signal should be output when there occurred the battery voltage drop or when it exceeded the setting set in Parameter No.
  • Page 266 6.1 Parameter Example of use) When drive cutoff is constructed externally [65] SIO2 communication speed disable (Parameter No.169) Name Unit Input Range Default factory setting SIO2 communication 9,600 to 230,400 38,400 speed disable Set the SIO2 baud rate for the startup. Set an appropriate value in accordance with the communication speed of the host.
  • Page 267 6.1 Parameter [66] SIO2 minimum delay time for slave transmitter activation (Parameter No.170) Name Unit Input Range Default factory setting SIO2 minimum delay time for 0 to 255 slave transmitter activation In this setting, set the time from receiving the command (received data) during the SIO2 communication till the response (sent data) is returned to the host side.
  • Page 268 6.1 Parameter [69] 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 269 6.1 Parameter [72] Return operation initial value at press program alarm (Parameter No.178) Name Unit Input Range Default factory setting Return operation initial value － 0 to 1 at press program alarm Establish the setting for operation when a press program alarm is occurred. Setting Description value...
  • Page 270 6.1 Parameter [75] Regenerative control selection (Parameter No.184) Name Unit Input Range Default factory setting Regenerative control 1: ~ 750W － In accordance with actuator selection 2: 3,000W ~ Check the motor output of the actuator to be connected and set it up. [76] Network Number (Parameter No.188) Name Unit...

  • Page 271: 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 272: Adjustment Method

    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 273: Maintenance And Inspection

    SCON-CB/LC Chapter Maintenance and Inspection Periodic Inspection ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-1 7.1.1 Periodic Inspection Items ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-2 Requests When Replacing Units ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-4 Consumable Parts ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-5 Component Replacement ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-6 7.4.1 Replacement of Absolute Battery ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-6 7.4.2 Fan Unit Replacing Procedure (SCON-CB 3000W and above) ꞏꞏꞏꞏꞏꞏꞏ 7-7 Preventive Maintenance Function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

  • Page 275: 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 276: 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 277 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 278: 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 279: 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 280: 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 281: Fan Unit Replacing Procedure (Scon-Cb 3000W And Above)

    Caution ● When a fan unit in 400W to 750W specifications is to be replaced, it is necessary to dismantle the controller main unit. Consult with IAI. Fan Unit for Replacement: MGT6024HB-O10 (SCON-CB) Take off the screws holding the fan cover.
  • Page 282 7.4 Component Replacement Pull the connector off. Fan unit Connector Loosen the screws and take the fan off the fan cover. Bind Machine Screw M4×15 Put on a new fan unit. Note: Pay attention to orientation of attachment. M4 Hexagon nut ME0345-7A...
  • Page 283 7.4 Component Replacement Join the connector. Fan unit Connector Attach the fan unit. Slide it from the side, push it towards the edge of the fan space on the main unit and press it into the space. Note: Pay attention to cables so they would not get pinched. Edge of Fan Space Fix it with screws.

  • Page 284: 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 285 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 286 7.5 Preventive Maintenance Function [Maintenance Information Setting in Teaching Tool] Maintenance information can be checked and set with the following procedures. ● TB-01 Monitor  Maintenance ● TB-02/TB-03 Information  Maintenance information ● PC software Monitor  Maintenance information  Axis selection As a reference, shown below is how to operate using a teaching pendant TB-03 (TB-02).
  • Page 287 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 288: Predictive Maintenance Function

    7.6 Predictive Maintenance Function 7.6 Predictive Maintenance Function 7.6.1 SCON-CB monitors the revolution of fan. A message level alarm is generated (alarm 04C “Fan rotation speed drop”) 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 289: 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 290 7.6 Predictive Maintenance Function [Minor Trouble Alarm Output Select (Parameter No. 151)] Name Unit Input range Default initial value setting 0: At overload warning Minor trouble alarm output output select 1: Message level alarm output If “0” is set, when overload load level ratio (Parameter No. 143) is exceeded, a minor malfunction alarm signal *ALML will be output.

  • Page 291: Troubleshooting

    SCON-CB/LC Chapter Troubleshooting Action to Be Taken upon Occurrence of Problem ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-1 Fault Diagnosis ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-3 8.2.1 Impossible Operation of Controller ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-3 8.2.2 Generation of Noise and/or Vibration ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-4 About Alarms ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-5 8.3.1 Alarm Level ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-5 8.3.2 Alarm Details ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

  • Page 293: 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 294 8.1 Action to Be Taken upon Occurrence of Problem Note1: If parameter No.111 (Selection of using calendar function) is set to “1” (use), it is possible to know the date and time at which the alarm occurred. Set the date and time from the teaching tool such as PC software at the first power-on of the controller.

  • Page 295: Fault Diagnosis

    Check the voltage. status indicator 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 [3.3.1, 3.4.1 Wiring of Power Circuit.] EMG on the status During emergency-stop.

  • Page 296: 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 Condition of load, condition actuator Servo adjustment may improve the situation. and/or vibration from installation, stiffness of device for the Refer to [6.2 Servo Adjustment.] actuator.

  • Page 297: 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 ME0345-7A...

  • Page 298: Alarm Details

    IAI. Maintenance information Cause : The maintenance information (total movement count, total data error operated distance) is lost. Treatment : Please contact IAI. 100 to Alarm on teaching tool Refer to the [Instruction Manual of teaching tool.] ME0345-7A...
  • Page 299 8.3 About Alarms [2] Operation cancel level Alarm Alarm Name Cause/Treatment Code Travel command during Cause : Travel command was issued in servo OFF status. servo OFF Treatment : Execute travel commands after confirming servo ON status (servo ON signal SV or position complete signal (PEND) is ON).
  • Page 300 Cause : The position where the Z-phase is detected before the home return operation, is out of the specified range. Treatment : There is a concern of an encoder error. Please contact IAI. Home sensor Cause : This indicates that the home-return operation of the...
  • Page 301 8.3 About Alarms Alarm Alarm Name Cause/Treatment Code Creep sensor not detected Cause : This indicates the actuator detected the creep sensor (option) before detecting the origin sensor (option), or the actuator reached the mechanical end (or the actuator cannot move anymore because the load is too large). 1.
  • Page 302 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. I/O 24V power supply Cause : 24V power supply for PIO is not connected. The voltage is error extremely low.
  • Page 303 8.3 About Alarms Alarm Alarm Name Cause/Treatment Code Software stroke limit over Cause : The current position of the actuator exceeds the software error stroke limit. Treatment : Return the actuator to be within the range of the software stroke limit. Feedback pulse error Cause : Feedback pulse data cannot be output within the cycle.
  • Page 304 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. Exceeded allowable time...
  • Page 305 U, V and W. There is a concern the insulation is deteriorated if the values are different in large amount. Please contact IAI. Caution Before resuming operation, make sure to remove the cause of the error.
  • Page 306 Cause : The belt of the ultra-high thrust RCS2-RA13R / RCS3- detected RA15R / RCS3-RA20R is broken. Treatment : Belt must be replaced. Please contact IAI. Overload Cause : 1. The work weight exceeds the rated weight, or an external force is applied and the load increased.
  • Page 307 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. 8-15 ME0345-7A...
  • Page 308 : The PCB is not applicable for the connected motor in the startup check. Treatment : The actuator may not match the controller. Check the model. Should this error occur, please contact IAI. Nonvolatile memory write Cause : Mismatch was detected when the data was written to the...
  • Page 309 : Error in load data analog output components (Note) Error will not be detected when Parameter No. 180 DAC Output is set invalid. Treatment : Check in wiring for analog output. Contact IAI if no failure is found in wiring. 300 to...
  • Page 310 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 311 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 312 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 313 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 314 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 315 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 316 8.3 About Alarms 8-24 ME0345-7A...
  • Page 317 SCON-CB/LC Chapter Construction of Safety Circuit Conformity to Safety Category of up to 750W Motor Corresponding SCON ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-1 9.1.1 System Configuration ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-1 9.1.2 Wiring and Setting of Safety Circuit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-2 9.1.3 Examples of Safety Circuits ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-4 9.1.4 TP Adapter and Related Components ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 318 9.2.8 Example for Connection ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-23 9.2.9 Maintenance and Preservation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-24...

  • Page 319: System Configuration

    9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON 9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON 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.

  • Page 320: Wiring And Setting Of Safety Circuit

    9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON 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 321 9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON 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 322: Examples Of Safety Circuits

    9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON 9.1.3 Examples of Safety Circuits [1] In case of category 1 ME0345-7A...
  • Page 323 9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON ● Detailed category 1 circuit example ME0345-7A...
  • Page 324 9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON [2] In case of category 2 ME0345-7A...
  • Page 325 9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON ● Detailed category 2 circuit example ME0345-7A...
  • Page 326 9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON [3] In case of category 3 or 4 ME0345-7A...
  • Page 327 9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON ● Detailed category 3 or 4 circuit example ME0345-7A...

  • Page 328: Tp Adapter And Related Components

    9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON 9.1.4 TP Adapter and Related Components [1] TP adapter external dimensions RCB-LB-TGS 9-10 ME0345-7A...

  • Page 329: Connection Cable

    9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON [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.
  • Page 330 9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON [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 331: Applicable Standards

    9.2 Specifications for Safety Type STO/SS1-t 9.2 Specifications for Safety Type STO/SS1-t 9.2.1 About STO/SS1-t Functions STO/SS1-t feature is a feature that turns OFF (shuts off) the motor energy supply on the electronic circuit inside the controller. In this production there prepared with two types, STO type and SS1-t type.

  • Page 332: Residual Risk

    The equipment organizer should take all the responsibility for the risk evaluation and the related residual risks. Below shows the residual risks related to STO/SS1-t functions. IAI will not take any responsibility on damage or injury caused by the residual risks.
  • Page 333 9.2 Specifications for Safety Type STO/SS1-t (2) STO/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) STO/SS1-t functions would not guarantee that the motor should not be moved by an external force or other influences.
  • Page 334 9.2 Specifications for Safety Type STO/SS1-t [Reference Data] Amount of Slider Drop when STO Type or SS1-t Type Mounted in Vertical The servomotor should move due to external force (gravity) when an actuator is installed vertically. STO type allows slider drop due to gravity during the reaction time of the electromagnetic brake.

  • Page 335: Specifications

    9.2 Specifications for Safety Type STO/SS1-t 9.2.5 Specifications [1] Safety Parameters As our product will be a part of the constructions in an equipment, calculation of SIL/PL of the whole equipment should consider the values stated in this section. Item Standard Performance Level IEC 61508...

  • Page 336: Operating Sequence

    9.2 Specifications for Safety Type STO/SS1-t 9.2.6 Operating Sequence [1] STO Type Operating Sequence [Normal Operation] [Operation in Fault] 9-18 ME0345-7A...
  • Page 337 9.2 Specifications for Safety Type STO/SS1-t [2] SS1-t Type 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. 9-19 ME0345-7A...
  • Page 338 9.2 Specifications for Safety Type STO/SS1-t 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 STO/SS1-t functions. By joining in external safety related devices to this connector, energy supply to the servomotor can be shut off safely.

  • Page 339: Electric Specifications

    9.2 Specifications for Safety Type STO/SS1-t [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. STO Type 8ms or less Reaction Time SS1-t Type 500ms or less External Device Monitor Output Signal (EDM)
  • Page 340 9.2 Specifications for Safety Type STO/SS1-t [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 341 9.2 Specifications for Safety Type STO/SS1-t 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 342: Maintenance And Preservation

    9.2 Specifications for Safety Type STO/SS1-t 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 343 SCON-CB/LC Chapter Appendix 10.1 Way to Set Multiple Controllers with 1 Teaching Tool ꞏꞏꞏꞏꞏꞏꞏ 10-1 10.1.1 Connecting Example ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-2 10.1.2 Detailed Connection Diagram of Communication Lines ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-3 10.1.3 Axis No. Settingꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-4 10.1.4 Handling of e-CON Connector (How to Connect) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-5 10.1.5 SIO Converter ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

  • Page 345: 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 346: 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) RC/EC PC software Teaching Pendant RCM-101-MW (RS-232C-competible) RCM-101-USB (USB-compatible)

  • Page 347: 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 Double Shield Cable (Note 1) SIO Converter 4-way Junction (Manufactured by : 5-1473574-4) Recommended : Taiyo Cabletec Corp. HK-SB/20276XL (AWG22) J4, J5 (SGA) A (SGB) B Touch Panel Teaching Teaching Pendant...

  • Page 348: Axis No. Setting

    10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.3 Axis No. Setting Set an axis number by using the axis number setting switch on the front panel of SCON. Possible axis numbers range from 0 to F by 16 axes. After the setting, turn off the power of SCON and then on it again.

  • Page 349: 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 350: 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. 7) e-CON Connector 2) Link-connection 1) Power/Emergency Stop Terminal Board (TB1) Terminal Board (TB2) 6) LED Indicators for Monitoring 3) D-sub, 9-pin Connector...
  • Page 351 10.1 Way to Set Multiple Controllers with 1 Teaching Tool 2) Link-connection Terminal Board (TB1) This is the connection port to obtain communication connection with the controller. Connect terminal “A” on the left side to communication line SGA of the controller. (Terminal A is connected to pin 1 of 7) internally.) Connect terminal “B”...

  • Page 352: Communications Cable

    10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.6 Communications Cable Controller Side 200mm e-CON Connector 3-1473562-4 (Housing Color : OR) Mini DIN Connector Signal Signal 10.1.7 External Dimension (Leg Element Bottom Side) (Leg Element Top Side) 10-8 ME0345-7A...

  • Page 353: Example Of Basic Positioning Sequence (Pio Pattern 0 To 3)

    10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) This section shows an example in which a simple operation box directs SCON to move the actuator successively to three positions on an axis. 10.2.1 I/O Assignment Operation Box Operation Box...

  • Page 354: Ladder Sequence

    10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) 10.2.2 Ladder Sequence [1] Servo ON (Emergency Stop) Circuit 1) It is presumed that the emergency stop release circuit installed in the operation box possesses the self-retaining circuit as shown in [3.1.2 [3] Actuator emergency stop circuit (System I/O Connector)].

  • Page 355: Pause Circuit

    10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [3] Pause Circuit Pause is provided by a single pushbutton. In a similar way as use of an alternate switch, push the button to make the actuator pause and push it again to release the pause of the actuator. Pushing the pushbutton leads the “pause command and pause lamp ON”...

  • Page 356: Home Return Circuit

    10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [4] Reset Circuit If the Stop button on the operation box is pushed during pause, the Reset signal sent from PLC to SCON is turned ON and the remaining moving distance is cancelled. In addition, this operation releases the pause.

  • Page 357: Decode Circuit Of Positioning Complete Position No

    10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [6] Decode Circuit of Positioning Complete Position No. The decode circuit converts the binary data of positioning complete position No. sent from SCON to PLC into the corresponding bit data. This is the timer to prevent the code reading error since the scanning is held independently by PLC and RC controller.
  • Page 358 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [8] Position 1 Operation Circuit The main circuit is designed to process and manage signals “start” → “moving” → “positioning complete” to move the actuator to position No.1. Complement ●...
  • Page 359 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [9] Position 2 Operation Circuit The main circuit is designed to process and manage signals “start” → “moving” → “positioning complete” to move the actuator to position No.2. This circuit indicates the same sequence as that of position No.1.
  • Page 360 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [10] Position 3 Operation Circuit The main circuit is designed to process and manage signals “start” → “moving” → “positioning complete” to move the actuator to position No.3. This circuit indicates the same sequence as that of position No.1.
  • Page 361 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [11] Commanded Position No. Output Ready Circuit The ready circuit is designed to hold start command and output commanded position No. in the binary code. Interlock is taken so that position No. command may not be specified incorrectly. Point! ●...
  • Page 362 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [12] Commanded Position No. Output Circuit Depending on the result of the ready circuit, this circuit converts position No. to the binary code and outputs the data from PLC to SCON. [13] Start Signal Output Circuit After 20msec from the output of position No., this circuit outputs the start signal from PLC to SCON.

  • Page 363: Other Display Circuits (Zone 1, Position Zone, And Manual Mode)

    10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [14] Other Display Circuits (Zone 1, Position Zone, and Manual Mode) OUT6 Zone 1 Display ZONE L ZONE1 IN10 OUT6 Position Zone Display PZONE L PZONE Position Zone IN 1 1 OUT7 Manual Mode Display RMDL...
  • Page 364 10.3 List of Specifications of Connectable Actuators 10.3 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 365 10.3 List of Specifications of Connectable Actuators 10.3.2 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. ●...
  • Page 366 10.3 List of Specifications of Connectable Actuators ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA6R Current-Limiting Value [%] ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA7R Current-Limiting Value [%] ■...
  • Page 367 10.3 List of Specifications of Connectable Actuators ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA10R Current-Limiting Value [%] ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA15R Current-Limiting Value [%] ■...
  • Page 368 10.3 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, RCS3- RA15R, RCS3-RA20R.) Condition 2.

  • Page 369: Warranty

    SCON-CB/LC Chapter Warranty 11.1 Warranty Period ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-1 11.2 Scope of the Warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-1 11.3 Honoring the Warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-1 11.4 Limited Liability ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-2 11.5 Conformance with Applicable Standards/Regulations, etc., and Application Conditions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-2 11.6 Other Items Excluded from Warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-2...
  • Page 371 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 372: 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 373 Revision History Revision History Revision date Revised content 2015.08 First Edition 2015.11 1B Edition Deleted 9) and 10) at Note to “Name for Each Parts and Their Functions” 2016.02 Second Edition The contents of the 3000 to 3300W type added 2016.04 Third Edition The Transcription of the LC-F type added...

  • Page 374: Revision Date

    Revision History Revision date Revised content Sixth Edition 2018.06 Models added for 9.3 STO/SS1-t applicable types 6B Edition 2018.08 Applied to CC-Link IE Field Contents revised for 9.3 Specifications for Safety Type STO/SS1-t 2019.05 6C Edition 8.4.1 Description changed for Cause/Treatment in Alarm Codes 0D3 and 0D7 9.3.7.4 Correction made to descriptions of model codes and lengths for safety feature I/O cables 6D Edition...

This manual is also suitable for:

Scon-cb-fScon-cgb-fScon-lc-fScon-lcg-f

Table of Contents