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IAI SCON-CB Series Instruction Manual

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Ｓ Ｓ Ｃ Ｃ Ｏ Ｏ Ｎ Ｎ - - Ｃ Ｃ Ｂ Ｂ
Instruction Manual
Series Controller
Ninth Edition
CB/CGB
LC/LCG
ME0340-9C
Controller Overview
Specifications
Check
Wiring
Operation
Various Functions
Parameter
Maintenance and
Inspection
Troubleshooting
Construction of
Safety Circuit
Appendix
Chapter
Warranty
Chapter
1
Chapter
2
Chapter
3
Chapter
4
Chapter
5
Chapter
6
Chapter
7
Chapter
8
Chapter
9
Chapter
10
11

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Summary of Contents for IAI SCON-CB Series

  • Page 1 Ｓ Ｓ Ｃ Ｃ Ｏ Ｏ Ｎ Ｎ - - Ｃ Ｃ Ｂ Ｂ CB/CGB Series Controller LC/LCG Instruction Manual Ninth Edition ME0340-9C Controller Overview Chapter Specifications Chapter Check Wiring Chapter Operation Chapter Various Functions Chapter Parameter Chapter Maintenance and Chapter Inspection Troubleshooting...

  • 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/LC/LCG Instruction Manual Configuration Control Product name Instruction manual name number SCON-CB/CGB/LC/LCG This document ME0340 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 ME0155 PC Software Instruction Manual TB-01/01D/01DR Touch Panel Teaching Pendant...

  • Page 5: Table Of Contents

    Contents Safety Guide ················································································ Intro-1 Precautions for Handling ··································································· Intro-8 International Standards Compliances ··················································· Intro-14 Actuator Coordinate System ······························································ Intro-13 Chapter 1 Controller Overview Overview ················································································ 1-1 System Configuration ································································ 1-3 Name for Each Parts and Their Functions ····································· 1-4 Starting Procedures ··································································...
  • Page 6 Installation and Storage Environment ··········································· 2-32 2.7.1 Installation Environment ········································································· 2-32 2.7.2 Storage and Preservation Environment ····················································· 2-32 Noise Elimination and Mounting Method ······································· 2-33 2.8.1 Noise Elimination ·················································································· 2-33 2.8.2 Installation and Mounting ········································································ 2-34 Chapter 3 Wiring Positioner Mode (PIO Control) (Controller for Motors of up to 750W) ··· 3-1 3.1.1 Wiring Diagram (Connection of Construction Devices) ··································...
  • Page 7 Chapter 4 Operation Basic Operation ······································································· 4-1 4.1.1 How to Turn on Power ············································································ 4-1 4.1.2 Basic Operation Methods ······································································· 4-3 4.1.3 Parameter Settings ················································································ 4-9 Operation in Positioner Mode ····················································· 4-10 4.2.1 Set of Position Table ·············································································· 4-14 4.2.2 Control of Input Signal ············································································ 4-23 4.2.3 Operation Ready and Auxiliary Signals (Common to Patterns 0 to 7) ···············...
  • Page 8 Requests When Replacing Units ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-4 Consumable Partsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-5 Component Replacement ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-6 7.4.1 Replacement of Absolute Battery ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-6 7.4.2 Fan Unit Replacing Procedure (SCON-CB 3000W and above) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-7 7.4.3 Fan Unit Replacing Procedure (SCON-CB 400W to 750W) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-10 Preventive Maintenance Function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 9 Chapter 10 Appendix 10.1 Way to Set Multiple Controllers with 1 Teaching Tool ························ 10-1 10.1.1 Connecting Example ·············································································· 10-2 10.1.2 Detailed Connection Diagram of Communication Lines ································· 10-3 10.1.3 Axis No. Setting ···················································································· 10-4 10.1.4 Handling of e-CON Connector (How to Connect) ········································· 10-5 10.1.5 SIO Converter ······················································································...
  • Page 10 ME0340-9C...

  • 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: Precautions For Handling

    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 19 Precautions for Handling Calendar function time setting Gateway alarm 069 "Real Time Clock Oscillation Stop Detected" may occur when turning the power on for the first time after delivery. In that case, set the current time with the teaching tool. When fully charged, time data can be retained approximately 10 days after the power is turned OFF.
  • Page 20 Precautions for Handling Actuator would not operate without Servo-ON and pause signals. (1) Servo ON Signal (SON) Servo ON signal (SON) is selectable from “Enable” or “Disable” by using a parameter. It is settable by parameter No. 21 “selection of servo-on signal disable”. If it is set to “Enable”, the actuator would not operate unless turning this signal ON.
  • Page 21 Precautions for Handling 10. Limitations on operation of rotary actuator in index mode Rotary actuators of 360-degree specification can select the normal mode for finite rotations or the index mode enabling multi-rotation control by using parameter No.79 “Rotary axis mode selection”.
  • 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 In such a case, adjust the unit movement amount to appropriate. Also, contact IAI if the usage condition of wish cannot be satisfied. 4) There is the manufacturing number of the connectable actuator printed on the front panel of the controller.

  • Page 24: International Standards Compliances

    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 RoHS3 Controller Directive Directive SCON-CB/LC/LCG ~ 750W ○ ○ (Note 1) ...

  • Page 25: Actuator Coordinate System

     For models with which change is not possible, the actuator must be replaced. Contact IAI if anything is unclear. The "0" in the figure below shows home. The parentheses show home reverse specification. (1) Rod type...
  • Page 26 Actuator Coordinate System (2) Slider type (3) Table type (4) Arm type ＋ Intro-16 ME0340-9C...
  • Page 27 Actuator Coordinate System (5) Gripper type ＋ ＋ Note: The finger attachment is not an accessory for the actuator. It is to be prepared by the customer. (6) Rotary Type (300° Rotation Specification) (360° Rotation Specification) For RS (360° Rotation Specification) For DD (A) For Multiple Rotation Type with the origin reversed type, the directions of + and –...
  • Page 28 Actuator Coordinate System Intro-18 ME0340-9C...

  • Page 29: Controller Overview

    SCON-CB/LC Chapter Controller Overview 1.1 Overview ····································································· 1-1 1.2 System Configuration ····················································· 1-3 1.3 Name for Each Parts and Their Functions ·························· 1-4 1.4 Starting Procedures ······················································· 1-14 Step 1 Confirm all the necessary things are prepared ······························ 1-14 Step 2 Installation ············································································· 1-15 Step 3 Wiring ··················································································...

  • Page 31: Overview

    1.1 Overview 1.1 Overview This product is a controller dedicated for the AC servo motor specifications actuators, and which follows the foot prints of the existing SCON controllers in the features, but also has applied some new features to improve convenience and safety further more. It is applicable for the battery-less absolute encoder which enables to retain the position data without using battery in standard.
  • Page 32 Therefore, take the things that are not described in this manual as an “impossible” thing. * Keep this manual to a place easy to access when necessary to read again. * The contents in this manual should cover everything considerable, however, please contact IAI in case of any awareness to mistakes or consideration.

  • Page 33: System Configuration

    1.2 System Configuration 1.2 System Configuration The following shows the system configuration. Connectable actuators Field network Teaching tool IS series RCＳseries Teaching PC teaching software IF series DD series NS series Pendant Model : IA-OS Model : TB-01 RCM-101-* TB-02 TB-03 24V DC power supply Regenerative resistor unit...

  • Page 34: 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 9) [CB/CGB Type] Connector for Pulse 8) Status Indicator Train Control...

  • Page 35: Ground Screw

    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 [2.8 Noise Elimination and Mounting Method] 2) Power Supply Connector (PWR) It is the connector to supply the power to the controller and to the control board.

  • Page 36: Operation Status

    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 9) Connector for Pulse Train Control (PULSE) The pulse train I/O connector is used in the pulse train control mode. Feedback pulse is also effective in positioner mode. (It should not be enclosed to the field network type.) Refer to [3.3 Pulse Train Control Mode (Only for Motors of up to 750W)] Multi-Function Connector (MF I/F)
  • Page 38 1.3 Name for Each Parts and Their Functions 14) Brake Power Supply Connector (BK PWR) For the actuator equipped with a brake, the connector supplies the power (24V DC) to release the brake. Refer to [3.5.1 Wiring of Power Circuit] 15) Encoder Connector (PG) This connector is used to connect the encoder cable of the actuator.
  • Page 39 1.3 Name for Each Parts and Their Functions ● 3000W ~ Type 10) Status Indicator LED 9) Charge Status Display LED 11) Multi-Function Connector 12) PIO Connector 6) Motor Connector 13) Operation Mode Setting Switch 5) Piano Switch 14) SIO Connector (Not to use) 15) Brake Release 4) Axis No.
  • Page 40 1.3 Name for Each Parts and Their Functions 4) 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 without connection/disconnection of the connection cable connector.
  • Page 41 1.3 Name for Each Parts and Their Functions 9) Charge Status Display LED It shows the status of electric charge in the controller. Caution ● While this LED lamp is on, do not attempt to touch controller or regenerative resistor units to prevent electric shock.
  • Page 42 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 AUTO the monitor. MANU It is available to make manual operations from a teaching tool. 14) SIO Connector (SIO) Refer to [3.6.7 SIO Connector Connection] The SIO connector is used to connect the controller with a teaching tool as PC software through...
  • Page 43 1.3 Name for Each Parts and Their Functions ● RCON Connection Type The interface is basically the same as normal SCON products. However, following switches and connectors should be inactivated due to the specifications of the product. Inactivated ~ 750W 3000W ~ Switch / Restrictions...

  • Page 44: Starting Procedures

    5) Touch Panel Teaching Pendant TB-03 Instruction Manual (ME0376) File (e.g. EDS File) 6) LC Ladder Programming Manual (ME0329) 7) Each Field Network Instruction Manual (ME0254, etc.) Download it in IAI homepage 8) Each Instruction Manual of the Actuator 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 45: Step 2 Installation

    1.4 Starting Procedures Step 2 Installation External Dimensions Refer to [2.4 Appearance] ・ • Noise Elimination Grounding (Frame Ground) Connect the ground line together to the main unit using the fixing screw. Copper Wire: Connect to a ground cable with diameter 2mm (AWG14) or more Earth Terminal...
  • Page 46 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. Ensure enough Space for wiring.

  • Page 47: Step 3 Wiring

    1.4 Starting Procedures Step 3 Wiring [Positioner Operation] Refer to [Sections 3.1 and 3.5] * Refer to 3.1.3 [5] and 3.2.3 [5] for wiring ~ 750W Type Refer to [Sections 3.2 and 3.6] layout as the signals/features differ for 3000W ~ Type [Pulse Train Control] Refer to [Sections 3.3 and 3.5] each PIO pattern (selected in...

  • Page 48: 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 Positioner Operation ☆ ☆ What is Pulse Train Control (~ 750W Type Only) Operate the registered position data with PIO signal...

  • Page 49: 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 Positioner Operation Basic Operation Methods ⇒ ⇒ 4.2 Operation in Positioner Mode ●...
  • Page 50 1.4 Starting Procedures 1-20 ME0340-9C...
  • Page 51 SCON-CB/LC Chapter Specifications Check 2.1 Product Check ····························································· 2-1 2.1.1 Parts ······················································································ 2-1 2.1.2 Teaching Tool ··········································································· 2-3 2.1.3 How to Read the Model Plate ······················································ 2-4 2.1.4 How to Read the Model ····························································· 2-5 2.2 Operation Modes and Functions ······································· 2-6 2.2.1 Operation Mode of Controller ······················································...
  • Page 52 2.4 Appearance ································································· 2-18 2.4.1 SCON-CB/CGB/LC/LCG Less than 400W ··································· 2-18 2.4.2 SCON-CB/CGB/LC/LCG 400W to 750W * ··································· 2-18 2.4.3 SCON-CGB 3000W and above ················································· 2-19 2.5 I/O Specifications ·························································· 2-20 2.5.1 PIO Input and Output Interface ···················································· 2-20 2.5.2 Pulse Train Input Output Interface ················································ 2-21 2.6 Options ·······································································...

  • Page 53: Product Check

    2.1 Product Check 2.1 Product Check 2.1.1 Parts Shown in the table below are the product structures in the standard types. Check the accessories in the packaging details. If you find any fault in the contained model or any missing parts, contact us or our distributor. Part Name Shape Remarks...
  • Page 54 2.1 Product Check Part Name Shape Remarks PC5/6-STF-7.62 (Maker : Phoenix Contact) Applicable wire size AC power supply control : 0.75mm (AWG18) connector Motor : 3.3mm (For 3000W ~ type) (AWG12) GIC2,5/2-STF-7.62 (Maker : Phoenix Contact) External regenerative resistor unit connecting Applicable wire size : connector 0.75mm...

  • Page 55: Teaching Tool

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

  • Page 56: 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 : RCS4-SA4C-WA-60-16-200-T2-S Model MODEL : SCON-CB-60WAI-CC-0-1 SERIALNo.

  • Page 57: 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 H A - N P - 3 - 1 - STO - ** <Identification for IAI use only> <Series>...

  • Page 58: Operation Modes And Functions

    2.2 Operation Modes and Functions 2.2 Operation Modes and Functions The controller is compatible with 8 types of operation patterns to support various applications. The operation pattern setting should be established in Parameter No. 25 “PIO Pattern”. 2.2.1 Operation Mode of Controller There are two types of operation modes equipped in this product.
  • Page 59 2.2 Operation Modes and Functions Value set in Type parameter Operation mode Control mode No. 25 Pulse train control mode Pattern 0 (Note 2) for incremental Pulse Train Control Mode Pulse train control mode Pattern 1 (Note 2) for absolute Note 1 It should not be used on an actuator not equipped with a loadcell.

  • Page 60: Positioner Mode (Scon-Cb I/O Type : Np/Pn)

    2.2 Operation Modes and Functions 2.2.2 Positioner Mode (SCON-CB I/O Type : NP/PN) Refer to [3.1.3 [5], 3.2.3 [5] PIO Circuit] for wiring for each PIO pattern and [4.2 Operation in Positioner Mode] for details of how to operate and the main features. [1] PIO Patterns in Positioner Mode Value set in Type...
  • Page 61 2.2 Operation Modes and Functions [2] List of Main Features in Each PIO Pattern : Valid function  PIO Pattern (Parameter No.25) Force Force Solenoid Solenoid Sensor Sensor Positioning Teaching 256-point 512-point Used Used Valve Valve Mode mode mode mode mode Pressing Pressing...

  • Page 62: Pulse Train Control Mode (Scon-Cb I/O Type : Np/Pn)

    2.2 Operation Modes and Functions 2.2.3 Pulse Train Control Mode (SCON-CB I/O Type : NP/PN) SCON-CB is capable of switchover between Positioner Mode and Pulse Train Control Mode on the Operation Mode Changeover Switch equipped on the front side of the controller. There are two types of control systems in the pulse train control mode.

  • Page 63: Field Network Operation Modes And Features

    2.2 Operation Modes and Functions 2.2.4 Field Network Operation Modes and Features In the field network, there are following operation modes available to select from and used for operation. (Motion network excluded) Data necessary for operation (e.g. target position, velocity, acceleration and pressing current) should be written in the determined addresses from PLC connected to the host and make operation can be made.
  • Page 64 2.2 Operation Modes and Functions [2] List of Applicable Field Networks Applicable for the field network shown in the list below. Except for RS-485 (Modbus), it is the option which can be selected when purchasing. It cannot be changed after the product is delivered. Also, for the field network other than RS-485, PIO cannot be equipped.

  • Page 65: Basic Specifications

    2.3 Basic Specifications 2.3 Basic Specifications 2.3.1 List of Basic Specifications SCON-CB/CGB/LC/LCG Item Less than 400W 400 to 750W 3,000W or more Corresponding Motor Capacity 12 to 399W 400 to 750W (Note 1) 3000 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...
  • Page 66 2.3 Basic Specifications SCON-CB/CGB/LC/LCG Item Less than 400W 400 to 750W 3,000W or more 24V DC general-purposed signal I/O (Selection of NPN/PNP) PIO Type … Input 16 points max., output 16 points max. Insulation with Photocoupler DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, Field Network Type MECHATROLINK-I/II, EtherCAT, EtherNet/IP, PROFINET IO Serial...
  • Page 67 2.3 Basic Specifications Note 1 When connecting DDA and LSA, use a controller with motor capacities of 100S, 200S, and 300S, which are the same sizes as 400W to 750W. Note 2 In-rush current will flow for approximately 20ms after the power is turned ON (at 40°C). Note that the value of in-rush current differs depending on the impedance and the internal element temperature (thermistor type in-rush current control circuit) of the power supply line.

  • Page 68: Power Capacity And Heat Generation

    2.3 Basic Specifications 2.3.2 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 69: Selection Of Circuit Interrupter

    2.3 Basic Specifications 2.3.3 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 70: Appearance

    2.4 Appearance 2.4 Appearance 2.4.1 SCON-CB/CGB/LC/LCG Less than 400W When installing the absolute battery 2.4.2 SCON-CB/CGB/LC/LCG 400W to 750W * When installing the absolute battery When connecting DDA and LSA, controllers with motor capacities of 100S, 200S, and 300S have the same external dimensions as 400W to 750W. 2-18 ME0340-9C...

  • Page 71: Scon-Cgb 3000W And Above

    2.4 Appearance 2.4.3 SCON-CGB 3000W and above 2-19 ME0340-9C...

  • Page 72: I/O Specifications

    2.5 I/O Specifications 2.5 I/O Specifications 2.5.1 PIO Input and Output Interface Input Section Output Section Input Voltage 24V DC ±10% Load Voltage 24V DC Peak Load Input Current 4mA 1circuit Electric 50mA 1circuit Current Specification ON/OFF ON Voltage MIN. 18V DC Leakage MAX.

  • Page 73: Pulse Train Input Output Interface

    2.5 I/O Specifications 2.5.2 Pulse Train Input Output Interface Line Driver Input Output Input pulse equivalent to Line Driver Output pulse equivalent to Line Receiver 26C31 26C32 (differential voltage: approx. 4V) (differential voltage: approx. 4V) 26C32 or equiv Internal Specification 26C31 or equiv circuit Internal...

  • Page 74: Options

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

  • Page 75: Pulse Converter (Model : Jm-08)

    2.6 Options 2.6.2 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. Item Specification Input Power...

  • Page 76: Regenerative Resistor Unit

    2.6 Options 2.6.3 Regenerative Resistor Unit This is a unit that converts the regenerative current to heat when the motor decelerates. Refer to [3.5.7, 3.6.6 Connectable Regenerative Resistor Units] for the number of connectable units. ● Types up tp 750W Model Codes Specifications of Enclosed Items REU-2...
  • Page 77 2.6 Options ● Types for 3000W and above Model Accessories RESU-35T None [Specifications] Item Specification Main Unit Dimension [mm] W45 × H300 × D197 Main Unit Mass [g] Approx.1.8k Built-in Regenerative Resistor 30Ω 450W Max. Heat Radiation Operation Temp. 130°C ±5°C Built-in Temp.

  • Page 78: Brake Box

    2.6 Options 2.6.4 Brake Box [1] 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] Specification Item Body Size 162 × 94 × 65.5mm Power Voltage and Current 24V DC ±10% 1A Connection Cable...
  • Page 79 2.6 Options [Connectors 1 and 2 for external brake release switch connection] Short circuit of pin No. 1 and 2 of this connector releases the brake compulsorily. Same as the brake release switch ON controller unit, it is possible to release the brake. Do not keep the compulsory release condition while in automatic operation.
  • Page 80 2.6 Options [External dimensions] 2-28 ME0340-9C...

  • Page 81: Loadcell (Excluding Rcs3-Ra15R And Rcs3-Ra20R)

    2.6 Options 2.6.5 Loadcell (Excluding RCS3-RA15R and RCS3-RA20R) 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 (Note) corresponding to the pressing operation using force sensor.

  • Page 82: Absolute Battery

    Item Specifications Battery classification Thionyl chloride lithium batteries TOSHIBA LIFESTYLE CORP Battery manufacturer’s name Or, Hitachi Maxell, Ltd. Battery model (IAI model) AB-5 Battery nominal voltage 3.6V Current standard capacity 2000mAh 2 years after use (if left unused without power supply to controller)
  • Page 83 2.6 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 84: Installation And Storage Environment

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

  • Page 85: Noise Elimination And Mounting Method

    2.8 Noise Elimination and Mounting Method 2.8 Noise Elimination and Mounting Method 2.8.1 Noise Elimination (1) Noise Elimination Grounding (Frame Ground) Connect using FG connection Other Controller equipment terminal on the main unit. Controller Use a copper wire cable with its width 2.0mm (AWG14) or more with rated temperature 60deg or...

  • Page 86: Installation And Mounting

    2.8 Noise Elimination and Mounting Method 2.8.2 Installation and Mounting (1) Heat Radiation and Installation Consider such facts as size of control panel, layout of a controller and cooling performance in design and setup so the ambient temperature falls into the range from 0 to 40°C. ●...
  • Page 87 2.8 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 2-35 ME0340-9C...
  • Page 88 2.8 Noise Elimination and Mounting Method 2-36 ME0340-9C...
  • Page 89 SCON-CB/LC Chapter Wiring 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-1 3.1.1 Wiring Diagram (Connection of Construction Devices) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-1 3.1.2 PIO Pattern Selection and PIO Signal ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-3 3.1.3 Wiring ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-8 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) ꞏ 3-22 3.2.1 Wiring Diagram (Connection of Devices) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 90 3.4.3 Wiring ···················································································· 3-58 3.5 Wiring Method (Controller for Motors of up to 750W) ············ 3-68 3.5.1 Wiring of Power Circuit ······························································ 3-68 3.5.2 Wiring for Emergency Stop Circuit (System I/O) ······························ 3-73 3.5.3 Connection to Actuator ······························································ 3-75 3.5.4 Connection of PIO ···································································· 3-77 3.5.5 Pulse Train Signal Input and Feedback Pulse Output (CB/CGB Type) ·...

  • Page 91: Chapter 3 Wiring

    3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) 3.1.1 Wiring Diagram (Connection of Construction Devices) [1] Basic Wiring Diagram If using RCS2-RA13R or NS Type 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.
  • Page 92 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) [2] Wiring Layout for RCS2-RA13R or NS Type with Option (between actuator and controller) 1. RCS2-RA13R Equipped with Brake, with no Loadcell, or NS Actuators with Brake CB-RCS2-PLA010 (enclosed to Brake Box) Connect to back side For LS...

  • Page 93: Pio Pattern Selection And Pio Signal

    3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) 3.1.2 PIO Pattern Selection and PIO Signal [1] PIO Pattern (Control Pattern) Selection Possesses 8 types of control logics, PIO Patterns 0 to 7. Set the most suitable PIO pattern with the actual use to Parameter No.
  • Page 94 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) [2] PIO Patterns and Signal Assignment The signal assignment of I/O flat cable by the PIO pattern is as shown below. Follow the following table to connect the external equipment (such as PLC). Parameter No.25 (PIO Pattern) Selection Category PIO Functions...
  • Page 95 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) Parameter No.25 (PIO Pattern) Selection Category PIO Functions Pressing Operation Pressing Operation Solenoid Valve Mode 1 Solenoid Valve Mode 2 Using Force Sensor Using Force Sensor Mode 1 Mode 2 Number of 7 points...
  • Page 96 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) [3] List of PIO Signals The table below lists the functions of PIO signals. Refer to the section shown in Relevant Sections for the details of the control of each signal. Signal Relevant Category...
  • Page 97 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) Signal Relevant Category Signal Name Function Description Abbreviation Sections Turns ON in the positioning band range after actuator 4.2.3 operation. The INP signal will turn OFF if the position PEND/INP Position complete 4.2.4...

  • Page 98: Wiring

    3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) 3.1.3 Wiring [1] Main Power Circuit Earth Leakage Breaker SCON Power Supply Connector Circuit Breaker Motor Power Supply Noise Filter Control Power Supply Surge Protector (Note) The power voltage of the controller (100V AC or 200V AC) cannot be changed. [2] Brake Power Supply Circuit 24V DC SCON...
  • Page 99 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) [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 100 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) 3. Stop supplying external motor power at emergency stop input Note 1 The power rating of the motor power-off relay turning ON/OFF with contact CR1 is 30V DC and 100mA or less.
  • Page 101 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) 4. Shut off the motor power externally by inputting the emergency stop with using two units of controllers or more. Note 1 The power rating of the motor power-off relay turning ON/OFF with contact CR1 is 30V DC and 100mA or less.
  • Page 102 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) [4] Motor • Encoder Circuit 1. Connection of Short-Axis Robot (excluding RCS2-RA13R equipped with brake/loadcell and NS Series equipped with brake) SCON Encoder cable (Note 1) Encoder Connector Motor Connector Motor Cable...
  • Page 103 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) 2. Connection of RCS2-RA13R actuator equipped with brake or NS-type equipped with brake Brake Box (RCB-110-RA13) CB-RCS2-PLA□□□ • NS Type • RCS2-RA13R CB-RCS2-PLA□□□ ACTUATOR2 Motor Encoder Output Connector Connector CB-RCC-MA□□□...
  • Page 104 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) [5] PIO 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 105 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) PIO Pattern 1 ············ Teaching mode (Teaching type) “*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.
  • Page 106 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) PIO Pattern 3 ··········· 512-point mode (Number of positioning points : 512-point type) “*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF.
  • Page 107 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) PIO Pattern 4 ··········· Solenoid Valve Mode 1 (7-point type) “*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.
  • Page 108 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) PIO Pattern 5 ··········· Solenoid Valve Mode 2 (3-point type) “*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.
  • Page 109 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) PIO Pattern 6 ··········· Pressing Operation Using Force Sensor Mode 1 (Standard type) “*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF.
  • Page 110 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) PIO Pattern 7 ············ Pressing Operation Using Force Sensor Mode 2 (Solenoid valve type) “*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF.
  • Page 111 3.1 Positioner Mode (PIO Control) (Controller for Motors of up to 750W) [7] Feedback Pulse Readout Circuit ● When Host Unit in Differential System (Note) Connect cable also to 0V if there is 0V (COM) on the host unit. ● When Host Unit in Open Connector System JM-08 (option) is necessary.

  • Page 112: Positioner Mode (Pio Control) (For Motors Of 3000W And Above)

    3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) 3.2.1 Wiring Diagram (Connection of Devices) [1] 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 113: Pio Pattern Selection And Pio Signal

    3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) 3.2.2 PIO Pattern Selection and PIO Signal [1] PIO Pattern (Control Pattern) Selection Possesses 6 types of control logics, PIO Patterns 0 to 5. Set the most suitable PIO pattern with the actual use to Parameter No.
  • Page 114 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) [2] PIO Patterns and Signal Assignment The signal assignment of I/O flat cable by the PIO pattern is as shown below. Follow the following table to connect the external equipment (such as PLC). Parameter No.25 (PIO Pattern) Selection Category PIO Functions...
  • Page 115 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) Parameter No.25 (PIO Pattern) Selection Category PIO Functions Solenoid Valve Solenoid Valve Mode 1 Mode 2 Number of 7 points 3 points positioning points Home return signal ×  Jog Signal ×...
  • Page 116 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) [3] List of PIO Signals The table below lists the functions of PIO signals. Refer to the section shown in Relevant Sections for the details of the control of each signal. Signal Relevant Category...
  • Page 117 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) Relevant Signal Category Signal Name Function Description Abbreviation Sections Turns ON in the positioning band range after actuator 4.2.3 operation. The INP signal will turn OFF if the position PEND/INP Position Complete 4.2.4...

  • Page 118: Wiring

    3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) 3.2.3 Wiring [1] Main Power Circuit 3Φ200V Leakage Breaker SCON Clamp Filter Power Supply Connector 1.L1C Noise Filter 2.L2C Circuit Breaker 3.L1 4.L2 Clamp Filter 5.L3 6.PE Surge Electromagnetic Absorber Contactor [2] Brake Power Supply Circuit...
  • Page 119 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) [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 120 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) 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 stop circuit...
  • Page 121 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) 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 (RCB- LB-TGS) and establish the circuit construction following the example below. 3-31 ME0340-9C...
  • Page 122 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) [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. Refer to [3.5.1 Wiring of Power Circuit] for details.
  • Page 123 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) [5] PIO 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 124 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) 1. PIO Pattern 0 ················ Positioning Mode (Standard Type) “*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.
  • Page 125 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) 2. PIO Pattern 1 ··········· Teaching mode (Teaching type) “*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.
  • Page 126 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) 3. PIO Pattern 2 ··········· 256-point mode (Number of positioning points: 256-point type) “*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF.
  • Page 127 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) 4. PIO Pattern 3 ··········· 512-point mode (Number of positioning points: 512-point type) “*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF.
  • Page 128 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) 5. PIO Pattern 4 ··········· Solenoid Valve Mode 1 (7-point type) “*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.
  • Page 129 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) 6. PIO Pattern 5 ··········· Solenoid Valve Mode 2 (3-point type) “*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.
  • Page 130 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) [6] Circuit of Regenerative Resistor Units Refer to [3] Actuator Emergency Stop Circuit in this chapter for connection of temperature sensor contact (TM1 and 2). Unit RESU-35T CON Regenerative Resistor Unit Connector Unit RESU-35T...
  • Page 131 3.2 Positioner Mode (PIO Control) (For Motors of 3000W and above) [7] Multi-function Connector 1. When Host Inputting Feedback Pulse with Line Receiver (Note) Connect cable also to 0V if there is 0V (COM) on the host unit. * The analog output of the load data is effective only in use of an actuator equipped with a loadcell.

  • Page 132: Pulse Train Control Mode (Only For Motors Of Up To 750W)

    3.3 Pulse Train Control Mode (Only for Motors of up to 750W) 3.3 Pulse Train Control Mode (Only for Motors of up to 750W) 3.3.1 Wiring Diagram (Connection of Construction Devices) Power Source for (Note1) I/O Control 24V DC AK-04 (option) Necessary when PLC is open collector output (Note1)
  • Page 133 3.3 Pulse Train Control Mode (Only for Motors of up to 750W) RCS2-RA13R Equipped with Brake, with no Loadcell, or NS Actuators with Brake CB-RCS2-PLA010 (enclosed to Brake Box) Connect to back side For LS (option) Brake Box Model: RCB-110-RA13 Absolute Battery For LS (option) (for Absuolute Type)

  • Page 134: I/O Signals In Pulse Train Control Mode

    3.3 Pulse Train Control Mode (Only for Motors of up to 750W) 3.3.2 I/O Signals in Pulse Train Control Mode The table below shows the signal assignment of the flat cable in the pulse train control mode. Have the PIO Pattern setting revised considering the actuator specifications (Incremental/Absolute). Follow the following table to connect the external equipment (such as PLC).

  • Page 135: Wiring

    3.3 Pulse Train Control Mode (Only for Motors of up to 750W) 3.3.3 Wiring [1] Main Power Circuit Earth Leakage Breaker SCON Power Supply Connector Circuit Breaker Motor Power Supply Noise Filter Control Power Supply Surge Protector (Note) The power voltage of the controller (100V AC or 200V AC) cannot be changed. [2] Brake Power Supply Circuit 24V DC SCON...
  • Page 136 3.3 Pulse Train Control Mode (Only for Motors of up to 750W) [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 137 3.3 Pulse Train Control Mode (Only for Motors of up to 750W) 3. Stop supplying external motor power at emergency stop input Note 1 The power rating of the motor power-off relay turning ON/OFF with contact CR1 is 30V DC and 100mA or less.
  • Page 138 3.3 Pulse Train Control Mode (Only for Motors of up to 750W) 4. Shut off the motor power externally by inputting the emergency stop with using two units of controllers or more. Note 1 The power rating of the motor power-off relay turning ON/OFF with contact CR1 is 30V DC and 100mA or less.
  • Page 139 3.3 Pulse Train Control Mode (Only for Motors of up to 750W) [4] Motor • Encoder Circuit Connection of Short-Axis Robot (excluding RCS2-RA13R equipped with brake/loadcell and NS Series equipped with brake) SCON Encoder cable (Note 1) Encoder Connector Motor Connector Motor Cable (Note 2)
  • Page 140 3.3 Pulse Train Control Mode (Only for Motors of up to 750W) 2. Connection of RCS2-RA13R actuator equipped with brake or NS-type equipped with brake 3-50 ME0340-9C...
  • Page 141 3.3 Pulse Train Control Mode (Only for Motors of up to 750W) [5] PIO 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 142 3.3 Pulse Train Control Mode (Only for Motors of up to 750W) [6] Circuits for Pulse Train Control ● When Host Unit is Differential System (Note) Lay out also 0V (COM) if it exists on the host unit. ● When Host Unit is Open Collector System AK-04 (option) is required for pulse train input.
  • Page 143 3.3 Pulse Train Control Mode (Only for Motors of up to 750W) [7] Regenerative Resistor Units Circuit 3-53 ME0340-9C...

  • Page 144: Scon-Lc/Lcg Type

    3.4 SCON-LC/LCG Type 3.4 SCON-LC/LCG Type 3.4.1 Wiring Diagram (Connection of Construction Devices) [1] Basic Wiring Diagram Note 1 Please prepare separately. 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. Inserting or removing the connector while the power is turned ON causes a controller failure.
  • Page 145 3.4 SCON-LC/LCG Type If using RCS2-RA13R or NS Type 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 146 3.4 SCON-LC/LCG Type 2. RCS2-RA13R Equipped with no Brake, with Loadcell Encoder Cable with Loadcell wiring Model CB-RCS2-PLLA□□□ Model CB-LDC-CTL□□□ (enclosed to Actuator) RCS2-RA13R (With Loadcell) Motor Cable Model CB-RCC-MA□□□ 3. RCS2-RA13R Equipped with Brake and Loadcell Encoder Cable with Loadcell wiring Model CB-RCS2-PLLA010 Power Supply for Brake (enclosed to Brake Box)

  • Page 147: I/O Signals In Lc Type

    3.4 SCON-LC/LCG Type 3.4.2 I/O Signals in LC Type The table below shows the signal assignment of the flat cable. Follow the following table to connect the external equipment (such as PLC). Refer to LC Ladder Programing Manual (ME0329) provided separately for how to assign memories in built-in ladder or how to use it.

  • Page 148: Wiring

    3.4 SCON-LC/LCG Type 3.4.3 Wiring [1] Main Power Circuit Earth Leakage Breaker SCON Power Supply Connector Circuit Breaker Motor Power Supply Control Power Supply Noise Filter Surge Protector (Note) The power voltage of the controller (100V AC or 200V AC) cannot be changed. [2] Brake Power Supply Circuit 24V DC SCON...
  • Page 149 3.4 SCON-LC/LCG Type [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. Operate the actuator using only the emergency stop input on the teaching tool 2.
  • Page 150 3.4 SCON-LC/LCG Type 3. Stop supplying external motor power at emergency stop input Note 1 The power rati ng of the motor power-off relay turning ON/OFF with contact CR1 is 30V DC and 100mA or less. Note 2 Connect such as a connector to L1/L2 terminals when cutting off the motor power source externally.
  • Page 151 3.4 SCON-LC/LCG Type 4. Shut off the motor power externally by inputting the emergency stop with using two units of controllers or more. Note 1 The power rating of the motor power-off relay turning ON/OFF with contact CR1 is 30V DC and 100mA or less.
  • Page 152 3.4 SCON-LC/LCG Type [4] Motor • Encoder Circuit 1. Connection of Short-Axis Robot (excluding RCS2-RA13R equipped with brake/loadcell and NS Series equipped with brake) 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 Single Axis Robot...
  • Page 153 3.4 SCON-LC/LCG Type 2. Connection of RCS2-RA13R actuator equipped with brake or NS-type equipped with brake 3-63 ME0340-9C...
  • Page 154 3.4 SCON-LC/LCG Type [5] PIO 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 155 3.4 SCON-LC/LCG Type “*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.
  • Page 156 3.4 SCON-LC/LCG Type [6] Regenerative Resistor Units Circuit 3-66 ME0340-9C...

  • Page 157: Multi-Function Connector

    3.4 SCON-LC/LCG Type [7] Multi-function Connector 1. When Host Inputting Feedback Pulse with Line Receiver Controller Serial RS-485 Communication 2 Transceiver (SIO2) A-Phase Feedback Pulse /AFB (Line receiver B-Phase Feedback Pulse /BFB 26C32 or equivalent) Z-Phase Feedback Pulse /ZFB 0V(COM) 2.

  • Page 158: Wiring Method (Controller For Motors Of Up To 750W)

    3.5 Wiring Method (Controller for Motors of up to 750W) 3.5 Wiring Method (Controller for Motors of up to 750W) 3.5.1 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 159 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. NAC-10-472 Normal Mode ■Attenuation Characteristics (Static Characteristics)
  • Page 160 3.5 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 161 3.5 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) ●...
  • Page 162 3.5 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 [2.6.4 Brake Box] 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 163: Wiring For Emergency Stop Circuit (System I/O)

    3.5 Wiring Method (Controller for Motors of up to 750W) 3.5.2 Wiring for 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 164 3.5 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 165: Connection To Actuator

    3.5 Wiring Method (Controller for Motors of up to 750W) 3.5.3 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, NS Type or DDA equipped with brake. Refer to [2.6.4 Brake Box] Motor Cable (Motor Connector)
  • Page 166 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 10126-3000VE Cable Side 10226-6202JL...

  • Page 167: Connection Of Pio

    3.5 Wiring Method (Controller for Motors of up to 750W) 3.5.4 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 168: Pulse Train Signal Input And Feedback Pulse Output (Cb/Cgb Type)

    3.5 Wiring Method (Controller for Motors of up to 750W) 3.5.5 Pulse Train Signal Input and Feedback Pulse Output (CB/CGB Type) Implement the wiring layout to the enclosed plug when it is necessary to read the feedback pulse and to send the command pulse in pulse train control mode. ●...
  • Page 169 3.5 Wiring Method (Controller for Motors of up to 750W) [2] Cable with Connectors for Pulse Train Control (Option) Model : CB-SC-PIOS□□□ □□□ indicates the cable length Example) 020 = 2m Cable length : 10m MAX. in differential mode 2m MAX. in open collector mode (Note) There is no connector equipped on the host controller (PLC, etc.) side.
  • Page 170 3.5 Wiring Method (Controller for Motors of up to 750W) A recommended installation sample is shown in the figure below. • Make the wiring between the host controller and the pulse converter as short as possible. Host Cable length recommended 50mm or less Controller •...
  • Page 171 3.5 Wiring Method (Controller for Motors of up to 750W) Caution ● Pay attention not to insert wrongly because it is the same e-CON connector as input and output. Putting the power on with the insertion being wrong will burn JM-08. ●...

  • Page 172: Multi-Function Connector (Lc/Lcg Type)

    3.5 Wiring Method (Controller for Motors of up to 750W) 3.5.6 Multi-function Connector (LC/LCG Type) The multi-function connector is equipped with following interfaces. Feefback pulse output Serial communication port 2 (SIO2) [1] Image of wiring Positioning Unit (Please prepare separately) [2] Multi-function connector (MF I/F) Model Remarks...
  • Page 173 3.5 Wiring Method (Controller for Motors of up to 750W) [3] 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 174 3.5 Wiring Method (Controller for Motors of up to 750W) [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 175: Connectable Regenerative Resistor Units

    3.5 Wiring Method (Controller for Motors of up to 750W) 3.5.7 Connectable Regenerative Resistor Units Connect regenerative resistor unit (s) with attached cables as shown in the figure below. When connecting 1 unit : Connect with enclosed cable (CB-SC-REU) When connecting 2 or more units : Connect with enclosed cable (CB-ST-REU) ●...
  • Page 176 3.5 Wiring Method (Controller for Motors of up to 750W) ● [Reference number of connectable unit: Excluding RCS2-RA13R] Connectable Number of Regenerative Motor Output Resistor Units To 100W Not Required (Note) Horizontal Mount 101 to 400W /Vertical Mount 401 to 750W (Note) One unit is necessary for LSA/LSAS-N10S Types.
  • Page 177 3.5 Wiring Method (Controller for Motors of up to 750W) [1] Controller Link Cable Regenerative resistance connection cable for SCON (CB-SC-REU□□□) □□□ indicates the cable length (Example) 010 = 1m Regenerative resistance connection cable for XSEL (CB-ST-REU□□□) □□□ indicates the cable length (Example) 010 = 1m 3-87 ME0340-9C...

  • Page 178: Sio Connecter Connection

    Signal Name Contents Applicable cable diameter 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 179: Wiring (Controller For Motors Of 3000W And Above)

    3.6 Wiring (Controller for Motors of 3000W and above) 3.6 Wiring (Controller for Motors of 3000W and above) 3.6.1 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 180 3.6 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 181 3.6 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 182 3.6 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 183: Wiring Of Emergency Stop Circuit (System I/O)

    3.6 Wiring (Controller for Motors of 3000W and above) 3.6.2 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 Note 1 It is not equipped with a relay that automatically identifies that a teaching tool was inserted and switches over the wiring layout.
  • Page 184 3.6 Wiring (Controller for Motors of 3000W and above) ● Wiring Method Connect the wiring of 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 such as a slotted screwdriver to open up the inlet.

  • Page 185: Connection To Actuator

    3.6 Wiring (Controller for Motors of 3000W and above) 3.6.3 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 186 IPC5/4-STF-7.62 Controller Side IPC5/4-GF-7.62 Pin No. Signal name Contents Applicable cable diameter Protective grounding wire Motor drive U-phase Dedicated cable for IAI actuator Motor drive V-phase Motor drive W-phase Encoder Connector (PG) Model Remarks Cable Side 10126-3000PE Controller Side 10226-6202JL Applicable cable Pin No.

  • Page 187: Connection Of Pio

    3.6 Wiring (Controller for Motors of 3000W and above) 3.6.4 Connection of PIO For the signal assignment of each wire, refer to [2.2.3 [5] 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 188: Multi-Function Connector

    3.6 Wiring (Controller for Motors of 3000W and above) 3.6.5 Multi-function Connector The multi-function connector is equipped with following interfaces. Feedback pulse output Serial communication port 2 (SIO2) [1] Image of wiring Positioning Unit (Please prepare separately) [2] Multi-function connector (MF I/F) Item Contents and Model Connector Name...
  • Page 189 3.6 Wiring (Controller for Motors of 3000W and above) [3] Wiring Method Caution ● Enclosed only in plug and shell. Do the same wiring layout as the following option. Connect the enclosed connector (Model: 10114-3000PE). See below for how to lay out the power supply wires.
  • Page 190 3.6 Wiring (Controller for Motors of 3000W and above) [5] Pulse Converter: 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 output pulses in the applicable for open collector (24V type).

  • Page 191: Connection Of Regenerative Resistor Units

    3.6 Wiring (Controller for Motors of 3000W and above) 3.6.6 Connection of Regenerative Resistor Units Lay out necessary number of regenerative resistor units. ● Image of wiring To Drive Cutoff Circuit Temperature Sensor Contact (Contact opens when excessive temperature rise Regenerative Resistor Unit Connector...
  • Page 192 3.6 Wiring (Controller for Motors of 3000W and above) ● 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 193: Specification

    3.6 Wiring (Controller for Motors of 3000W and above) ● 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...

  • Page 194: Sio Connector Connection

    3.6 Wiring (Controller for Motors of 3000W and above) 3.6.7 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 195: Field Network Connector Of Pio

    3.7 Field Network Connector of PIO 3.7 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 196: Connection To R-Unit

    3.8 Connection to R-Unit 3.8 Connection to R-Unit The SCON extension unit and the SCON-CB controller are connected with a dedicated cable (model: CB-RE-CTL). When connecting two or more SCON-CB controllers, connect the SCON-CB units together with a dedicated cable. Up to 16 axes can be controlled by combining with a driver unit and the connected axis.

  • Page 197: Operation

    SCON-CB/LC Chapter Operation 4.1 Basic Operation ···························································· 4-1 4.1.1 How to Turn on Power ······························································· 4-1 4.1.2 Basic Operation Methods ··························································· 4-3 4.1.3 Parameter Settings ··································································· 4-9 4.2 Operation in Positioner Mode ·········································· 4-10 4.2.1 Set of Position Table ·································································· 4-14 4.2.2 Control of Input Signal ·······························································...
  • Page 198 4.3.4 Settings of Basic Parameters Required for Operation ······················· 4-122 4.3.5 Output Setting of Feeldback Pulse ··············································· 4-126 4.3.6 Parameter Settings Required for Advanced Operations ···················· 4-130 4.4 Operation of Field Network Type ······································ 4-133 4.5 Absolute Reset ····························································· 4-134 4.5.1 How to Perform Absolute Reset ···················································...

  • Page 199: Basic Operation

    4.1 Basic Operation 4.1 Basic Operation Caution ● For SCON-LC/-LCG Types, get knowledge for how to operate in this chapter, and see [Ladder Programming Manuals]. Refer to [RCON System Instruction Manual] for how to operate RCON Connection Type. 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.
  • Page 200 4.1 Basic Operation [3] Timing to Supply Power for RCON Connection Type Supply power to RCON after power is supplied to SCON. ＜電源投入シーケンス＞ <Power Supply Sequence> SCON電源 SCON Power Supply (100/200V AC) (AC100/200V) RCON Power Supply FCON電源 (24V DC) (DC24V) ＜トータルフレーム通信＞...

  • Page 201: Basic Operation Methods

    4.1 Basic Operation 4.1.2 Basic Operation Methods There are two types, Positioner Mode and Pulse Train Control Mode, for the operation. Select the suitable one considering the system function. (Types for 3000W and above should not be equipped with Pulse Train Control Mode) There are various types of actuators including slider, rod, rotary and gripper types.
  • Page 202 4.1 Basic Operation • Procedure 3 : Turn the servo ON, and have a home-return operation. 1) Press the “Servo” Select Position → 2) Turn on the Servo lamp Edit / Teach in Menu Open Position Table 3) Press the “Home” 4) Turn on the Home lamp (after actuator is stopped) •...
  • Page 203 4.1 Basic Operation  Operation Ready････Resistration of Position Data (Example of Resistration IA-OS) • Procedure 1: Turn on the power to the controller. • Procedure 2: Start up the IA-OS and establish the connection to the controller. Press” Yes” (Safety circuit confirmation) Select the communication Select a controller to connect with and system (online)
  • Page 204 4.1 Basic Operation • Procedure 4 : Define the destination (position) of the slider or rod of the actuator. The destination can be defined by using the following two methods: 1. Read out the coordinate values from such a tool as CAD. 2.
  • Page 205 4.1 Basic Operation  Operation････Example for Parameters (PIO Patterns 0) at Delivery • Procedure 1 : Input the position number at which positioning is desired to be performed in the binary data (PC1 to PC32) from a tool such as the host controller, and then turn the start signal (CSTR) ON.
  • Page 206 4.1 Basic Operation [2] Pulse Train Control Mode (Only for Types up to 750W)  Operation････Example for When the Parameter Settings at Delivery • Procedure 1 : Establish the settings for the pulse train form and electronic gear ratio (to determine how many millimeters the actuator moves when 1 pulse is given) to the controller parameters by using a teaching tool such as PC Software.

  • Page 207: Parameter Settings

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

  • Page 208: Operation In Positioner Mode

    4.2 Operation in Positioner Mode 4.2 Operation in Positioner Mode The front of controller switch has a function to switch over the mode between Positioner Mode and Pulse Train Control Mode. In the positioner mode, the following 8 types of PIO pattern can be selected with a proper parameter.

  • Page 209: Pio Pattern Selection And Main Functions

    4.2 Operation in Positioner Mode [1] PIO Pattern Selection and Main Functions  : Shows Effective Feature PIO Pattern (Parameter No.25) Force Force Solenoid Solenoid Sensor Sensor Positioning Teaching 256-point 512-point Mode valve valve Used Used mode mode mode mode Pressing Pressing mode 1...

  • Page 210: Overview Of Major Functions

    4.2 Operation in Positioner Mode [2] Overview of Major Functions Major functions Description Number of positioning points Number of positioning points which can be set in the position table. Operation with the Position No. Normal operation started by turning the start signal ON after position Input No.

  • Page 211: Operation In Positioner Mode

    4.2 Operation in Positioner Mode [3] Operation Modes of Rotary Actuator in Multiple Rotation Mode and Command Limitations An actuator of multi-rotation specification includes two operation modes, the normal mode enabling only a limited number of rotations and the index mode enabling a number of (Note 1) rotations.

  • Page 212: Set Of Position Table

    4.2 Operation in Positioner Mode 4.2.1 Set of Position Table The values in the position table can be set as shown below. For only positioning, only the position data may be written if specifying the speed, acceleration, and deceleration is not required.
  • Page 213 4.2 Operation in Positioner Mode (2) Position [mm] : Positioning coordinate value. Enter it as the distance from the home position. For pitch feed (relative movement = incremental feed), enter the pitch width. A value with – indicates that the actuator moves toward the home position. A value without –...
  • Page 214 4.2 Operation in Positioner Mode Reference ● How to set the acceleration is described below. The same idea can be applied to the deceleration. 1G=9,800mm/s : Accelerated to 9,800mm/s per second 0.3G: Accelerated to 9,800mm/s × 0.3 = 2,940mm/s per second Velocity 9,800mm/s 2,940mm/s...
  • Page 215 4.2 Operation in Positioner Mode Input "Pressing Force [%]" of the position data in the IA-OS, and the converted "Target Load (Target Pressing Force) [N]" should be shown. Target load should be shown in [unit: N] * There is the same feature equipped in the teaching pendant TB-02/TB-03. Caution ●...
  • Page 216 4.2 Operation in Positioner Mode Reference ● Output Range of LS Signal (Example of PIO pattern 5) The figure below shows the position table and the position at which each of the LS signals is turned ON. If the actuator passes any of the positioning bands in the operation by another position number or manual operation in the servo-off state, the relevant LS signal is always turned ON.

  • Page 217: Operation

    4.2 Operation in Positioner Mode (11) Acceleration / deceleration mode : Select a proper acceleration/deceleration pattern depending on the load. Acceleration/ Deceleration Operation Value Pattern Velocity Trapezoid Time Velocity S-motion Time Set the S-motion rate with parameter No.56. Velocity First-Order Delay Filter Time Set the delay time constant with parameter No.55.
  • Page 218 4.2 Operation in Positioner Mode (12) Incremental : Set to 1 for pitch feed (relative movement = incremental feed). The set value for (1) indicates the pitch feed distance. When this is set to 0, positioning to a position set in (1) withe the absolute coordinates should be performed.
  • Page 219 4.2 Operation in Positioner Mode It is able to establish the gain set that corresponds to the position number to be operated to the indicated gain set. Refer to [8.3 Servo Adjustment] for each gain parameter details. Setting Selected parameter set parameter No.
  • Page 220 4.2 Operation in Positioner Mode (15) Vibration suppress No. : Suppresses vibration (sympathetic vibration) of the load installed on the actuator. The vibration suppress No. can accept three types of vibrations. Four parameters are defined for a single vibration to form a single set. In the position table, parameter sets are defined to correspond to position numbers for which vibrations must be suppressed.

  • Page 221: Control Of Input Signal

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

  • Page 222: Operation Ready And Auxiliary Signals (Common To Patterns 0 To 7)

    4.2 Operation in Positioner Mode 4.2.3 Operation Ready and Auxiliary Signals (Common to Patterns 0 to 7) [1] Emergency Stop Status (*EMGS) Output PIO signal *EMGS Common to  Patterns 0 to 7 : Available, ×: Unavailable 1. The emergency stop status EMGS is turned ON when in normal condition and turned OFF when EMG terminal on [3.1.3 [3] Actuator emergency stop circuit] is 0V (emergency stop condition or disconnected).
  • Page 223 4.2 Operation in Positioner Mode Because the RMDS signal is set to ON with the "MANU" mode selected by using the signal, make the operation sequence interlocked. The table below lists the switches ON the front panel, the modes selected by the RMOD signal and the corresponding output states of the RMDS signal.
  • Page 224 4.2 Operation in Positioner Mode [3] Servo ON (SON, SV, PEND) Input Output PIO signal PEND Other than pattern 5    Pattern 5 ×   : Available, ×: Unavailable 1. Servo ON signal “SON” is the input signal making the servo motor of the actuator operable. 2.
  • Page 225 4.2 Operation in Positioner Mode [4] Home Return (HOME, HEND, PEND, MOVE) Input Output PIO signal HOME HEND PEND MOVE Patterns 0 and 1     Patterns 2 to 4 ×    Pattern 5 × × ×...
  • Page 226 4.2 Operation in Positioner Mode [Home Return Operation of Slider Type/Rod Type Actuator] Mechanical end Home 1) With the HOME signal being ON, the actuator moves toward the mechanical end at the home return speed. The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators. 2) The actuator is turned at the mechanical end and stopped at the home position.
  • Page 227 4.2 Operation in Positioner Mode [Actuator Movement for Spurious Absolute Type] Approx. 16mm 1) With HOME Signal ON, the actuator moves towards the home-return direction set in Parameter No.5 at 3mm/s (fixed). 2) Move back and forth in approximately 16mm (to confirm the current position). 3) Home return operation is completed after the actuator confirms the current position.
  • Page 228 4.2 Operation in Positioner Mode [Home Return Operation of Rotary Actuator] 1) The actuator rotates in CCW (counterclockwise) direction from the view point of the load side. The velocity is either 20deg/s or 5deg/s. (It depends on the setting of each actuator.) 2) At the home sensor input, the actuator is turned in the reverse direction and stopped at the home position.
  • Page 229 4.2 Operation in Positioner Mode [Home Return Operation of Actuator of Gripper Type] (Note 1) Finger attachment is not included in the actuator package. Please prepare separately. 1) If the HOME signal is turned ON, the actuator moves toward the mechanical end (to end side) at the home return speed (20mm/s).

  • Page 230: Zone Signal And Position Zone Signal (Zone1, Zone2, Pzone)

    4.2 Operation in Positioner Mode [5] Zone Signal and Position Zone Signal (ZONE1, ZONE2, PZONE) Output PIO signal ZONE1 PZONE (Note 2) ZONE2 (Note 2) Pattern 0    Pattern 1 (Note 2) ×   Pattern 2 × (Note 2) ...
  • Page 231 4.2 Operation in Positioner Mode Zone signa (ZONE1, ZONE2) Set the zone range to the relevant parameter. Parameter No.1 : Zone boundary 1+ Parameter No.2 : Zone boundary 1− Parameter No.23 : Zone boundary 2+ Parameter No.24 : Zone boundary 2− The zone signal ZONE is kept effective also during the emergency stop unless the memory of the origin is lost due to alarm.
  • Page 232 4.2 Operation in Positioner Mode [Example of rotary actuator of multi-rotation specification in index mode] 0° 0° 315° 315° 70° 70° Set Value Set Value Zone setting + : 70° Zone setting + : 315° Zone setting - : 315° Zone setting - : 70°...
  • Page 233 4.2 Operation in Positioner Mode [6] Alarm, Alarm Reset (*ALM, RES) Input Output PIO signal *ALM Common to   Patterns 0 to 7 : Available, ×: Unavailable 1. Alarm signal *ALM is set to ON in the normal status but turned OFF at the occurrence of an alarm at a level equal to or higher than the operation release level.
  • Page 234 4.2 Operation in Positioner Mode [7] Binary Output of Alarm Data Output (*ALM, PM1 to 8) Output PIO signal *ALM PM1 to 8 Common to   Patterns 0 to 3 Pattern 4 (Note 1) ×  Pattern 5 (Note 1) ×...
  • Page 235 4.2 Operation in Positioner Mode Binary ALM8 ALM4 ALM2 ALM1 Description: Alarm code is shown in ( ). Code (PM8) (PM4) (PM2) (PM1) Actual speed excessive (0C0)      Overrun detected (0C2) Electromagnetic brake unrelease Error (0A5) Dynamic brake not released (0A6) Overcurrent (0C8) Overheat (0CA)

  • Page 236: Brake Release (Bkrl)

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

  • Page 237: Operation With The Position No. Input (Pio Patterns 0 To 3 And 6)

    4.2 Operation in Positioner Mode 4.2.4 Operation with the Position No. Input (PIO Patterns 0 to 3 and 6) This section describes the methods of operations of PIO patterns 0 to 3 and PIO pattern 6. These patterns provide normal controller operation methods in which the controller is operated by turning the start signal ON after a position No.
  • Page 238 4.2 Operation in Positioner Mode ■ Sample use ■ Control method 1) First enter command position No. PC1 to PC** with binary data. Next turn start signal “CSTR” ON. Then the actuator starts acceleration depending on the data in the specified position table for positioning to the target position.
  • Page 239 4.2 Operation in Positioner Mode Command position No. PC1 to PC** (PLC→Controller) T1≥6ms Turned OFF by turning PEND OFF Start signal CSTR (PLC→Controller) Completed position PM1 to PM** PM1 to PM**＝0 (Note 1) PM1 to PM**＝0 (Note 1) (Controller→PLC) Turned ON after Positioning Completion Signal Target entering into...
  • Page 240 4.2 Operation in Positioner Mode [Shortcut control of rotary actuator of multi-rotation specification] Note The shortcut control gets available for setting when the index mode setting is activated. (When Parameter No. 79 “Rotary Axis Mode Select” is set to “1: Index Mode”) Refer to [4.2 [3] Operation Modes of Rotary Actuator in Multiple Rotation Mode and Command Limitations].
  • Page 241 4.2 Operation in Positioner Mode (2) Infinite Rotation Control Making the shortcut selection valid and moving the actuator in a specific direction continuously allows the actuator to be rotated continuously as a motor. The continuous operation can be done as described below. [Operation Examples] This example rotates the actuator by 2 turns and finally stops it at position No.4.

  • Page 242: Speed Change During The Movement

    4.2 Operation in Positioner Mode [2] Speed Change During the Movement ■ Sample use ■ Control method The speed of the actuator can be changed while it moves. Positions are used by the number of speeds. The method of controlling the operation to each position is the same as that described in [1] Positioning.

  • Page 243: Pitch Feeding (Relative Movement = Incremental Feed)

    4.2 Operation in Positioner Mode [3] Pitch Feeding (Relative Movement = Incremental Feed) ■ Sample use (Position No.2 sets pitch feed.) ■ Control method 1) The method of controlling pitch feed is the same as that described in [1] Positioning except the setting of the position table.
  • Page 244 4.2 Operation in Positioner Mode Caution ● If the actuator reaches the software limit corresponding to the stroke end in the pitch feed operation, the actuator stops at the position and positioning complete signal PEND is turned ON. ● When it is required to have pitch feed operation straight after pressing operation (condition kept in pressing), it is necessary to be cautious as the actuator moves directly to the coordinates that the pitch feed distance is added to the base point of pitch.

  • Page 245: Pressing Operation

    4.2 Operation in Positioner Mode [4] Pressing Operation ■ Sample use * Position No.2 sets pressing operation. ■ Control method 1) The method of controlling the pressing operation is the same as that described in [1] Positioning except the setting of the position table. Any setting of “Pressing” in the position table allows the pressing operation to be done.
  • Page 246 4.2 Operation in Positioner Mode Caution ● It is necessary to have the calibration done on the loadcell in order to perform the force sensor used pressing in PIO Pattern 6. Refer to [4.2.7 Preparation for Operation in Force Sensor Pressing (Loadcell Calibration)] 3) The control method is the same as that in [1] Positioning.
  • Page 247 4.2 Operation in Positioner Mode Caution ● The speed during pressing operation is set in Parameter No.34. Check [10.3 List of Specifications of Connectable Actuators] for the pressing operation speed. Do not set any value larger than the value in the list. If the speed set in the position table is equal to or less than the pressing speed, the pressing is performed at the setup speed.
  • Page 248 4.2 Operation in Positioner Mode Judging completion of pressing operation (1) For Standard (PIO Patterns 0 to 3) The operation monitors the torque (current limit value) in percent [%] in “Pressing” of the position table and turns pressing complete signal PEND ON when the load current satisfies the condition shown below during pressing.
  • Page 249 4.2 Operation in Positioner Mode The force judgment margin is be expressed with the base that the pressing current limit when the force sensor is used is considered as 100% (Note 1) . It should be set in Parameters No. 95 and No.
  • Page 250 4.2 Operation in Positioner Mode Step (1) Try to reduce the pressing velocity when overshooting is being occurred. The pressing velocity is determined for each actuator to be used, which should be set in Parameter No. 34. Set the speed lower than the pressing velocity being set temporarily to the position data (Note 3) and perform the pressing operation.
  • Page 251 4.2 Operation in Positioner Mode  RA13R, RA10R (Default on Delivery = 1,500） Stiffness Subject to Pressing Hard ← ← Stiffness → → Soft 1,050 2,100 4,200 8,400 16,800 33,600 1,200 2,400 4,800 9,600 19,200 38,400 1,350 2,700 5,400 10,800 21,600 43,200 1,500...
  • Page 252 4.2 Operation in Positioner Mode  RA6R (Default on Delivery = 10,000） Stiffness Subject to Pressing Hard ← ← Stiffness → → 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...
  • Page 253 4.2 Operation in Positioner Mode Torque Level Detection in Press-fitting Operation It is a signal dedicated for an actuator equipped with a loadcell. Use this as a reference output for other actuators. This is a function to detect whether the specified load is applied to the actuator when having a press-fitting process with the pressing operation.
  • Page 254 4.2 Operation in Positioner Mode ■ Control method It monitors the pressing force set in [%] in “Threshold” in the position data, and turns the torque level status (TRQS) signal ON when the pressing force reaches the following condition. At the same time, load output judge (LOAD) signal also turns ON if it is in the position zone.

  • Page 255: Tension Operation

    4.2 Operation in Positioner Mode [5] Tension Operation Warning ● Do not perform tension operation by pressing operation using force sensor. The pressing operation using force sensor requires an actuator applicable for dedicated loadcell and pressing operation using force sensor. The tension operation by using an actuation equipped with loadcell causes the loadcell to be damaged.
  • Page 256 4.2 Operation in Positioner Mode ■ Control method The method of controlling the tension operation is the same as that described in [4] Pressing operation. The control method is explained below by using the sample position table shown above. 1) Position No.2 indicates the settings of tension operation. The settings of “Position” and “Positioning width”...
  • Page 257 4.2 Operation in Positioner Mode ● The work is pulled also after completion of the tension. The work is drawn back or pulled further if the work is moved. When the work is drawn back before the approach position, alarm 0DC “pressing operation range error” occurs to stop the work. When the work is moved in the tension direction and the load current becomes less than the current limit value (pressing in [%]), PEND is turned OFF.

  • Page 258: Multi-Step Pressing

    4.2 Operation in Positioner Mode [6] Multi-step Pressing ■ Image diagram Position No.1 Position No.2 Position No.3 ■ Control method After pressing, the pressing pressure can only be changed in the pressing force. The method of controlling multi-step pressing is the same as that described in [4] Pressing operation.
  • Page 259 4.2 Operation in Positioner Mode [7] Teaching by PIO (MODE, MODES, PWRT, WEND, JISL, JOG+, JOG-) Input Output PIO signal MODE JISL JOG+ JOG- PWRT MODES WEND Other than pattern 1 × × × × × × × Pattern 1 ...
  • Page 260 4.2 Operation in Positioner Mode (2) Jog/inching switch and jog input 1) Jog/inching switching signal JISL indicates whether the jog operation or inching operation is performed by the jog input signal. JISL signal OFF : Jog operation JISL signal ON : Inching operation 2) There are two jog input signals, or JOG+ for operation in the positive direction and JOG- for operation in the negative direction.
  • Page 261 4.2 Operation in Positioner Mode • Acceleration ··················· Parameter No.9 “Default acceleration/deceleration” • Deceleration ··············· Parameter No.9 “Default acceleration/deceleration” • Positioning width ········· Parameter No.10 “Default positioning width (in-position)” • Acceleration/deceleration mode ·· Parameter No.52 “Default acceleration/deceleration mode” •Stop mode ·················· Parameter No.53 “Default stop mode” 4) At the completion of writing, controller write complete signal WEND is output.

  • Page 262: Pause And Operation Interruption (*Stp, Res, Pend, Move)

    4.2 Operation in Positioner Mode [8] Pause and Operation Interruption (*STP, RES, PEND, MOVE) Input Output PIO signal *STP PEND MOVE Patterns 0 to 1     Patterns 2 to 3 and 6 ×    : Available, ×: Unavailable ■...
  • Page 263 4.2 Operation in Positioner Mode Pause signal *STP (PLC→Controller) PEND not turned ON Positioning Completion Signal PEND (Controller→PLC) PEND turned OFF Moving Signal MOVE (Controller→PLC) Before operation Temp. Cont. Position Operation of actuator Operation Positioning complete state stop complete Turning RES ON here allows continuous operation to be cancelled Caution ●...

  • Page 264: Direct Position Specification (Operation Of Pio Pattern 4 And 7)

    4.2 Operation in Positioner Mode 4.2.5 Direct Position Specification (Operation of PIO Pattern 4 and 7) The start signal is provided for every position number. Only turning ON the relevant input signal according to the table shown below allows the operation based on the data in the target position number to be performed.
  • Page 265 4.2 Operation in Positioner Mode ■ Sample use ■ Control method 1) When start signal ST* is turned ON, the actuator starts acceleration based on the data in the specified position table for positioning to the target position. 2) At the completion of positioning, positioning complete signal PEND is turned ON as well as current position No.
  • Page 266 4.2 Operation in Positioner Mode Caution ● If the ST* signal is turned ON for the position after completion of positioning, both the PE* and PEND signals remain ON (except the pitch feed operation). ● Both the PE* and PEND signals are set to ON in the positioning width zone. Accordingly, they may be turned ON under operation of the actuator if a large positioning width is set.
  • Page 267 4.2 Operation in Positioner Mode [2] Pitch Feeding (Relative Movement = Incremental Feed) ■ Sample use (Position No.2 sets pitch feed.) ■ Control method 1) The method of controlling pitch feed is the same as that described in [1] Positioning except the setting of the position table.
  • Page 268 4.2 Operation in Positioner Mode Caution ● Because pitch feed is repeated, turning ON the ST* signal of the same position after completion of positioning causes both the PE* and PEND signals to be turned OFF at operation start and turned ON again at completion of positioning in the same way as [1] Positioning.
  • Page 269 4.2 Operation in Positioner Mode [3] Pressing Operation ■ Sample use (Position No.2 sets pressing operation.) ■ Control method 1) The method of controlling the pressing operation is the same as that described in [1] Positioning except the setting of the position table. Any setting of “Pressing” in the position table allows the pressing operation to be done.
  • Page 270 4.2 Operation in Positioner Mode Note 1 Base thrust in pressing operation using force sensor : Converted thrust at rating motor output in pressing operation using force sensor (Pressing force at limit current value 100%) Base thrust in pressing operation Actuator using force sensor [N] RCS3-RA4R...
  • Page 271 4.2 Operation in Positioner Mode Caution ● The speed during pressing operation is set in Parameter No.34. Refer to [10.3 List of Specifications of Connectable Actuators] for the pressing operation speed. Do not set any value larger than the value in the list. If the speed set in the position table is equal to or less than the pressing speed, the pressing is performed at the setup speed.
  • Page 272 4.2 Operation in Positioner Mode Judging completion of pressing operation (1) For Standard (PIO Pattern 4) The operation monitors the torque (current limit value) in percent [%] in “Pressing” of the position table and turns pressing complete signal PEND ON when the load current satisfies the condition shown below during pressing.
  • Page 273 4.2 Operation in Positioner Mode The force judgment margin is be expressed with the base that the pressing current limit when the force sensor is used is considered as 100% (Note 1) . It should be set in Parameters No. 95 and No.
  • Page 274 4.2 Operation in Positioner Mode Step (1) Try to reduce the pressing velocity when overshooting is being occurred. The pressing velocity is determined for each actuator to be used, which should be set in Parameter No. 34. Set the speed lower than the pressing velocity being set temporarily to the position data (Note 3) and perform the pressing operation.
  • Page 275 4.2 Operation in Positioner Mode  RA8R (Default factory setting = 3,000) Stiffness Subject to Pressing Hard ← ← Stiffness → → Soft 2,100 4,200 8,400 16,800 33,600 67,200 2,400 4,800 9,600 19,200 38,400 76,800 2,700 5,400 10,800 21,600 43,200 86,400 3,000 6,000...
  • Page 276 4.2 Operation in Positioner Mode  RA4R (Default factory setting = 30,000) Stiffness Subject to Pressing Hard ← ← Stiffness → → Soft 10,500 21,000 42,000 84,000 168,000 336,000 12,000 24,000 48,000 96,000 192,000 384,000 13,500 27,000 54,000 108,000 216,000 432,000 15,000 30,000...
  • Page 277 4.2 Operation in Positioner Mode Torque Level Detection in Pressing Operation It is a signal dedicated for the actuator with loadcell. Use this as a reference output for other actuators. This is a function to detect whether the specified load is applied to the actuator when having a press-fitting process with the pressing operation.
  • Page 278 4.2 Operation in Positioner Mode (1) Torque Level Detection During Pressing Operation (Enabled with PIO Pattern 7) ■ Control method The pressing force set in percent [%] in "Threshold" of the position data should be monitored, and when the pressing force satisfies the following condition, the torque level status (TRQS) signal gets turned on.
  • Page 279 4.2 Operation in Positioner Mode [4] Tension Operation Do not perform tension operation by pressing operation using force sensor. The pressing operation using force sensor requires an actuator applicable for dedicated loadcell and pressing operation using force sensor. The tension operation by using an actuation equipped with loadcell causes the loadcell to be damaged.
  • Page 280 4.2 Operation in Positioner Mode ■ Control method The method of controlling the tension operation is the same as that described in [3] Pressing operation. The control method is explained below by using the sample position table shown above. 1) Position No.2 indicates the settings of tension operation. The settings of “Position” and “Positioning width”...
  • Page 281 4.2 Operation in Positioner Mode ● The work is pulled also after completion of the tension. The work is drawn back or pulled further if the work is moved. When the work is drawn back before the approach position, alarm 0DC “pressing operation range error” occurs to stop the work. When the work is moved in the tension direction and the load current becomes less than the current limit value (pressing in [%]), PEND is turned OFF.
  • Page 282 4.2 Operation in Positioner Mode [5] Multi-step Pressing ■ Image diagram Position No.1 Position No.2 Position No.3 ■ Control method After pressing, the pressing pressure can only be changed in the pressing force. The method of controlling multi-step pressing is the same as that described in [3] Pressing operation.

  • Page 283: Pause And Operation Interruption (St*, *Stp, Res, Pe*, Pend)

    4.2 Operation in Positioner Mode [6] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND) In this mode, the following two methods are possible for pause. 1. Use of pause signal *STP Turning reset signal RES ON during the pause allows the remaining moving distance to be cancelled to interrupt the operation.
  • Page 284 4.2 Operation in Positioner Mode Pause signal *STP (PLC→Controller) PEND and PE not turned ON Positioning Completion Signal PEND (Controller→PLC) PEND turned Current Position No. (Controller→PLC) Before operation Temp. Cont. Position Operation of actuator Operation Positioning complete state stop complete Turning RES ON here allows continuous operation to be canceled Caution...
  • Page 285 4.2 Operation in Positioner Mode (2) Use of start signal ST* ■ Control method If start signal ST* is turned OFF during movement, the actuator can be paused. Use the control method for interlock in case where an object is invaded into the moving direction of the actuator being moved.

  • Page 286: Direct Position Specification (Pio Pattern 5)

    4.2 Operation in Positioner Mode 4.2.6 Direct Position Specification (PIO Pattern 5) The start signal is provided for every position number. Only turning ON the relevant input signal according to the table shown below allows the operation based on the data in the target position number to be performed.
  • Page 287 4.2 Operation in Positioner Mode Warning ● Use this pattern with Parameter No.27 “Move command type” set to “0” (factory setting). When Parameter No.27 is set to “1”, the home return is started as soon as the ST0 signal is turned ON and the operation cannot be stopped even if ST0 is turned OFF. ●...
  • Page 288 4.2 Operation in Positioner Mode [Actuator Movement for Spurious Absolute Type] Approx. 16mm 1) If ST0 Signal gets turned ON when the home-return operation is incomplete, the actuator moves towards the home-return direction set in Parameter No.5 at 3mm/s (fixed). 2) Move back and forth in approximately 16mm (to confirm the current position).
  • Page 289 4.2 Operation in Positioner Mode [Home Return Operation of Rotary Actuator] 1) When the HOME signal is turned on, the actuator rotates in CCW (counterclockwise) direction from the view point of the load side. The velocity is either 20deg/s or 5deg/s. (It depends on the setting of each actuator.) 2) At the home sensor input, the actuator is turned in the reverse direction and stopped at the home position.
  • Page 290 4.2 Operation in Positioner Mode [Home Return Operation of Actuator of Gripper Type] 1) If the ST0 signal is turned ON, the actuator moves toward the mechanical end (to end side) at the home return speed (20mm/s). 2) The actuator is turned at the mechanical end and stopped at the home position. The moving distance is the value set by Parameter No.22 “Home return offset level”.

  • Page 291: Features Of Ls Signals (Ls0 To 2)

    4.2 Operation in Positioner Mode [2] Features of LS Signals (LS0 to 2) The LS* signals are not complete signals for positioning commands such as those for other PIO patterns. Just as it does in detection with a sensor, the applicable LS* Signal should turn ON once the actuator gets in the range of the setting values regardless of the indicated position number.
  • Page 292 4.2 Operation in Positioner Mode [3] Positioning [Basic] (ST0 to ST2, LS0 to LS2) Position No. Input Output (Note) Pressing and pitch feed are unavailable. ■ Sample use ■ Control method 1) When start signal ST* is turned ON, the actuator starts acceleration based on the data in the specified position table for positioning to the target position.
  • Page 293 4.2 Operation in Positioner Mode (Example) Repetition of ST1 → ST2 → ST1 →• • • Insert timer Δt if necessary. Δt Δt Start signal (PLC→Controller) Δt Start signal (PLC→Controller) Position sensing output (Controller→PLC) Turned ON after Position sensing output entering into positioning width zone (Controller→PLC)
  • Page 294 4.2 Operation in Positioner Mode Caution ● If the ST* signal for the position is turned ON after the completion of positioning, the LS* signal remains ON. ● Both the LS* and PEND signals are set to ON in the positioning width zone. Accordingly, they may be turned ON under operation of the actuator if a large positioning width is set.
  • Page 295 4.2 Operation in Positioner Mode 1) In this example, the speed is changed while the actuator moves from the position of 150mm to the position of 0mm. At first, set the positioning to the target position at the first speed in position No.1.
  • Page 296 4.2 Operation in Positioner Mode [5] Pause and Operation Interruption (ST*, RES, LS*) Turning start signal ST* OFF allows the actuator to be paused while it is moved. To restart it, turn the same ST* signal ON. ■ Control method If start signal ST* is turned OFF during movement, the actuator can be paused.

  • Page 297: Preparation For Operation In Force Sensor Pressing (Loadcell Calibration)

    4.2 Operation in Positioner Mode 4.2.7 Preparation for Operation in Force Sensor Pressing (Loadcell Calibration) With the performance of a loadcell for the feedback control of the pressing force during the pressing operation in operation of the force sensor used pressing (PIO Patterns 6 and 7), pressing operation with high precision should be available.
  • Page 298 4.2 Operation in Positioner Mode (1) Setting for Pressing Control with Loadcell 1) Set “1: Loadcell to be Used” in Parameter No. 92 “Loadcell Use Select”. Set “0” and the loadcell would not activate. 2) Set “1: Control with Force Sensor” in Parameter No. 93 “Pressing Control Select”. Set “0” and the pressing operation with the current limit should activate.
  • Page 299 4.2 Operation in Positioner Mode [2] Loadcell Calibration (CLBR, CEND) A loadcell should be set at the condition with no load as 0 (zero) [N] 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 (0 (zero) [N]).
  • Page 300 4.2 Operation in Positioner Mode [With No Calibration] [With Calibration] [Loadcell Not Used] Pressing Pressing Force Force Setting Setting at 300N at 300N Fixture Fixture Actuator Weight Actuator Weight Pressing Force Pressing Force Approx. Approx. 200N 300N 10kgf 10kgf (100N) (100N) Pressing Pressing...
  • Page 301 4.2 Operation in Positioner Mode Calibration Signal Check Period (Note 1) Calibration Period (Note 2) Calibration Signal CLBR (PLC → Controller) Calibration Complete Signal CEND (Controller → PLC) 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.

  • Page 302: Pulse Train Control Mode

    4.3 Pulse Train Control Mode 4.3 Pulse Train Control Mode This controller can switch over the mode between positioner mode and pulse train control mode with the parameters. In Pulse Train Control Mode, there are 2 types, incremental type for actuator (PIO Pattern 0) and (Battery-less) absolute type for actuator (PIO Pattern 1), the actuator can be operated by the pulse train output of the host controller (PLC) positioning control function.

  • Page 303: Function Name

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

  • Page 304: I/O Signal Controls

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

  • Page 305: Operation Ready And Auxiliary Signals

    4.3 Pulse Train Control Mode 4.3.2 Operation Ready and Auxiliary Signals [1] System Ready (PWR) Output PIO signal The signal is turned ON if the controller can be controlled after main power-on. It is turned ON once the initialization terminates normally after main power-on and SCON can be controlled regardless of alarm and servo status.
  • Page 306 4.3 Pulse Train Control Mode However, the controller is subject to link connection to connect with a teaching tool such as (Note 1) the PC dedicated teaching software by using a SIO converter, the controller may be far apart from the teaching tool.
  • Page 307 4.3 Pulse Train Control Mode [4] Compulsory Stop (CSTP) Input PIO signal CSTP This signal is used to forcibly stop the actuator. Input the CSTP signal continuously for 16ms or longer. Once the CSTP signal is received, the actuator decelerates and stops with the maximum torque, and then turns the servo OFF. At this time, the deviation counter is cleared.
  • Page 308 4.3 Pulse Train Control Mode Lock Brake Status Release 26ms PEND (Note 2) T (before detecting excitation) (Note 1) = SON signal identification (6ms) + Excitation detection time (T1 + T2) × Number of retry (10 times Max.) + Servo ON delay time (T3) T (after detecting excitation) (Note 1) = SON signal identification (6ms) + Servo ON delay time (T3)
  • Page 309 4.3 Pulse Train Control Mode [6] Home Return (HOME, HEND) Input Output PIO signal HOME HEND The HOME signal is intended for home return. When the HOME signal is turned ON, the command will be processed at the leading edge (ON edge) of the signal and the actuator will perform home return operation.
  • Page 310 4.3 Pulse Train Control Mode [Home Return Operation of Slider Type/Rod Type Actuator] Mechanical end Home 1) With the HOME signal being ON, the actuator moves toward the mechanical end at the home return speed. The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators.
  • Page 311 4.3 Pulse Train Control Mode [Home Return Operation of Actuator of Gripper Type] 1) If the HOME signal is turned ON, the actuator moves toward the mechanical end (to end side) at the home return speed (20mm/s). 2) The actuator is turned at the mechanical end and stopped at the home position. The moving distance is the value set by Parameter No.22 “Home return offset level”.
  • Page 312 4.3 Pulse Train Control Mode [7] Datum Position Move (RSTR, REND) Input Output PIO signal RSTR REND RSTR Signal is a command signal to move (Note 1) to the datum position * set at any point. This command is processed at the startup (ON-edge) and operation to the datum position is conducted.
  • Page 313 4.3 Pulse Train Control Mode [8] Zone Signal (ZONE1, ZONE2) Output PIO signal ZONE1 ZONE2 Each of the signals turns ON when the current actuator position is inside the range specified by the relevant parameter. Two zones, ZONE1 and ZONE2, can be set. When the current position of the actuator is in ZONE1, it is turned ON if it is in the range of Parameter No.1 “Zone Boundary 1 Positive Side”...
  • Page 314 4.3 Pulse Train Control Mode Caution ● These signals become effective after the coordinate system is established following home return. Turning on the power is not enough to output these signals. ● These signals are not available if the home return function of the controller is not used. ●...
  • Page 315 4.3 Pulse Train Control Mode [11] Brake Release (BKRL) Input PIO signal BKRL The brake can be released while BKRL signal is turned ON. For the actuator equipped with a brake, the brake can be controlled by turning the servo ON/OFF, however, a release of the brake may be necessary in the case of installing the unit to a system so the slider or rod can be moved by hand.

  • Page 316: Pulse Train Input Operation

    4.3 Pulse Train Control Mode 4.3.3 Pulse Train Input Operation [1] Command Pulse Input (PP • /PP, NP • /NP) In the differential type, it is able to have 200kpps of pulse train input at maximum. When the host controller possesses only the pulse output function of the open collector, it is able to input 200kpps pulse at maximum by connecting AK-04 (option).
  • Page 317 4.3 Pulse Train Control Mode Caution ● Consider the electric gear ratio of the host side and that of the controller side via the following calculation. [Reference] Acceleration/deceleration settings of general positioning device Motor Rotation Velocity [mm/s] × 60 Motor Rotation [rpm] = Ball Screw •...
  • Page 318 4.3 Pulse Train Control Mode [2] Position Complete (INP) Output PIO signal This signal will turn ON when the remaining travel pulses (accumulated pulses) on the deviation counter enters the positioning width. When the servo is ON, this signal turns ON when the accumulated pulses on the deviation counter are within the number of pulses set in Parameter No.10 “Default positioning width”.
  • Page 319 4.3 Pulse Train Control Mode [4] Deviation Counter Clear (DCLR) Input PIO signal DCLR This is the signal to clear the deviation counter that stores the specified pulse until its process is completely finished (positioning is completed) once a command pulse is input. It is used when the deviation is desired to be cleared after the pressing by TL signal is complete (TLR signal ON).

  • Page 320: Settings Of Basic Parameters Required For Operation

    4.3 Pulse Train Control Mode 4.3.4 Settings of Basic Parameters Required for Operation It is a mandatory parameter to perform an operation. (The parameters listed in the table below may only be set if the actuator performs only positioning operation.) Parameter Name Details...
  • Page 321 ISB, the electric gear ratio setting may exceed the upper limit of the internal arithmetic. In such a case, adjust the unit movement amount to appropriate. Also, contact IAI if the usage condition of wish cannot be satisfied.
  • Page 322 4.3 Pulse Train Control Mode ● Use rotary actuators of multi-rotation specification within the range where the following formula is satisfied. Moreover, the maximum rotation angle is ±9999 deg (maximum software stroke limit) (Note 1) Maximum rotation angle [deg] ± 2 ≧...

  • Page 323: Format Settings Of Command Pulse Train

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

  • Page 324: Output Setting Of Feeldback Pulse

    4.3 Pulse Train Control Mode 4.3.5 Output Setting of Feeldback Pulse This is a parameter to set when outputting the feedback pulse to the host controller (PLC, etc.). This function is also available in Positioner Mode. [1] Setting Feedback Pulse Output Effective Set it if the feedback pulse is to be used.
  • Page 325 4.3 Pulse Train Control Mode Command Pulse Setting Input Terminal In Normal Rotation In Reverse Rotation String Mode Value Normal Rotation AFB • /AFB Pulse String Reverse Rotation BFB • /BFB Pulse String The normal rotation pulse string shows the motor rotation amount in normal direction, and reverse rotation pulse string shows the motor rotaion amount in reverse direction.
  • Page 326 4.3 Pulse Train Control Mode (1) Feedback Pulse Gear Ratio Specification Selection (Parameter No.114) Name Unit Input Range Default factory setting Feedback Pulse Form 0, 1 − Polarity 0: It outputs the pulse equivalent to the input pulse. If the movement amount of input pulse is 0.01mm, 1 pulse is output when moved for 0.01mm.
  • Page 327 4.3 Pulse Train Control Mode  Formula for velocity: The velocity of the actuator is in proportion to the frequency of the output pulse. Velocity = Movement amount per pulse × Output Pulse Frequency [Hz]  Examples of electronic gear ratio calculations: When outputting the feedback pulse of the actuator equipped with an encoder with 10mm ball screw lead and 16384pulse/rev in 0.02mm movement per pulse: Electronic Gear...

  • Page 328: Parameter Settings Required For Advanced Operations

    4.3 Pulse Train Control Mode 4.3.6 Parameter Settings Required for Advanced Operations Depending on systems and/or loads, set the following parameters if necessary. [1] Position Command Primary Filter Time Constant Name Unit Input Range Default factory setting Position Command Primary 0.0 to 100.0 Filter Time Constant The acceleration/deceleration of the actuator can be set in S-shaped curve with this parameter...
  • Page 329 4.3 Pulse Train Control Mode [3] Clearing Deviation During Servo OFF or Alarm Stop Name Unit Input Range Default factory setting Clearing Deviation During 0: Disable, 1: Enable − Servo OFF or Alarm Stop You can select whether to enable or disable the function to clear the deviation when the servo is OFF or the actuator is stopped due to an alarm.
  • Page 330 4.3 Pulse Train Control Mode [7] Pulse Count Direction Name Unit Input Range Default factory setting 0: Motor forward rotation In accordance Pulse Count Direction − 1: Motor reverse rotation with actuator You can set the direction in which the motor turns according to command pulses. [8] Select Enable/Disable Compulsory Stop Input Name Unit...

  • Page 331: Operation Of Field Network Type

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

  • Page 332: Absolute Reset

    4.5 Absolute Reset 4.5 Absolute Reset The Battery-less absolute type or absolute type, controllers retain the encoder position data even with power is OFF. For those types, it is unnecessary to perform home-return operation every time the power is turned ON. Absolute Type registers the home position in the cases of (1) to (3) (absolute reset) to retain.

  • Page 333: How To Perform Absolute Reset

    4.5 Absolute Reset 4.5.1 How to Perform Absolute Reset The absolute reset is performed by using a teaching tool such as PC software or PIO. Each of the absolute reset procedures is described below. [1] Absolute Reset Procedure from Teaching Tool 1) Connect the controller with the actuator.
  • Page 334 4.5 Absolute Reset [For PC Software (IA-OS)] Refer to [First Step Guide (ME0391)] for how to install the PC software IA-OS. Open Position data edit screen and click Position data edit screen Click Click located on the right of "Alarm" in Position data edit screen. Position data edit screen Click The alarm should be reset.
  • Page 335 4.5 Absolute Reset [For teaching pendant (TB-02/TB-03)] Touch Alarm reset Touch Touch Trial operation on the Menu 1 screen. Touch On the test run screen, touch Jog inching Touch Touch On the jog/inching screen, turn the servo on by touching Servo then touch Homing Touch...
  • Page 336 4.5 Absolute Reset [Absolute Reset Process] Note 1 Turn ON 24V power supply for PIO (and 24V power supply for brake if the actuator is equipped with a brake) prior to turn ON the control power supply or motor power supply. Note 2 Have the control power supply and motor power supply in common, and have them turned ON that the same time.
  • Page 337 4.5 Absolute Reset [2] Absolute Reset Using PIO As ABS-related alarms are the cold start level alarms, an alarm reset cannot be conducted only with RES Signal. In order to reset an ABS-related alarm from PIO, perform the process from Step 1 to 8 below.
  • Page 338 4.5 Absolute Reset 4-140 ME0340-9C...

  • Page 339: Various Functions

    SCON-CB/LC Chapter Various Functions 5.1 Vibration Suppress Control Function ································· 5-1 5.1.1 Overview ················································································ 5-1 5.1.2 Setting Procedure ····································································· 5-4 5.1.3 Settings of Parameters for Vibration Suppress Control ····················· 5-5 5.1.4 Setting of Position Data ····························································· 5-7 5.2 Power-saving Function (Auto Servo-motor OFF Function) ····· 5-8...

  • Page 341: Vibration Suppress Control Function

    5.1 Vibration Suppress Control Function 5.1 Vibration Suppress Control Function 5.1.1 Overview The vibration suppress control function suppresses vibrations of loads induced by our actuators. The function can suppress vibrations in the same direction as the movement of the actuator in the frequency range from 0.5Hz to 30Hz.
  • Page 342 It is necessary to obtain a key file if you wish to use the frequency analysis tool for anti- vibration control included in the PC software.Please contact IAI for the key file. ● Vibrations subject to vibration suppress controlIt is the vibration of the load generated by IAI actuator, and is in the same directions as the actuator movement.
  • Page 343 5.1 Vibration Suppress Control Function ● Response of vibration suppress control Vibration suppress control has time lag from speed command in the operation plan. This makes tact time longer. Lower the setting frequency is, longer the time lag is. ● Prohibition of use of vibration suppress control in pulse-train control mode The vibration suppress control function cannot be used in the pulse-train control mode.

  • Page 344: Setting Procedure

    5.1 Vibration Suppress Control Function 5.1.2 Setting Procedure To use the vibration suppress control function, make proper measurements and adjustments depending on the procedure described below. 1) Output a movement Before setting vibration suppress control command from PLC to the 1) Did you set the operation mode setting controller to have a check switch to AUTO side before completing...

  • Page 345: Settings Of Parameters For Vibration Suppress Control

    5.1 Vibration Suppress Control Function 5.1.3 Settings of Parameters for Vibration Suppress Control Set the parameters associated with vibration suppress control, which are listed in the table below. Parameter Parameter Factory Parameter Name Unit Input Range Set No. Setting Damping characteristic Rate 0 to 1,000 coefficient 1...
  • Page 346 5.1 Vibration Suppress Control Function [3] Notch Filter Gain (Parameter No.100, 104 and 108) Set the notch filter gain following the table below in response to the measured specific frequency of the loaded object. See the table below for reference. Provide fine adjustment if overshooting occurs.

  • Page 347: Setting Of Position Data

    5.1 Vibration Suppress Control Function 5.1.4 Setting of Position Data To make the anti-vibration control effective, set the parameter set number to be used in Anti- Vibration Number Column in Position Data. (Note) The vibration suppress control function cannot be used in pressing operation. Accele- Decele- Thresh-...

  • Page 348: Power-Saving Function (Auto Servo-Motor Off Function)

    5.2 Power-saving Function (Auto Servo-motor OFF Function) 5.2 Power-saving Function (Auto Servo-motor OFF Function) Equipped with AUTO servo OFF to reduce power consumption while the actuator is stopped. Fully understand the descriptions in this section and use without any safety or operational issues.
  • Page 349 5.2 Power-saving Function (Auto Servo-motor OFF Function) Warning Do not use this function if the automatic servo OFF is followed by pitch feed (relative  movement). Servo ON/OFF may cause slight position shift to occur. If position shift occurs due to external force during servo OFF, positioning to the correct position is disabled.

  • Page 350: Positioning Operation

    5.2 Power-saving Function (Auto Servo-motor OFF Function) [3] Status of positioning complete signal in selection of automatic servo OFF Automatic servo OFF causes the actuator to be in other than the positioning complete state due to the servo OFF. Positioning complete signal (PEND) is turned OFF. Changing the PEND signal to the in-position signal judging whether the actuator is stopped within the positioning width zone instead of the positioning complete signal allows PEND not to be turned OFF during servo OFF.

  • Page 351: Parameter

    SCON-CB/LC Chapter Parameter 6.1 Parameter ··································································· 6-1 6.1.1 Parameter List ········································································· 6-2 6.1.2 Detail Explanation of Parameters ················································· 6-10 6.2 Servo Adjustment ·························································· 6-63...
  • Page 353 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 354: 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 355 6.1 Parameter I/O Parameter List (Continued) Default factory for Pulse Relevant Name Unit (Note1) Input Range Positioner setting Train Mode sections Mode In accordance Home position check sensor 0 to 2 6.1.2 [14]   input polarity (Note2) with actuator In accordance E Overrun sensor input polarity 0 to 2...
  • Page 356 6.1 Parameter I/O Parameter List (Continued) Default factory for Pulse Relevant Name Unit (Note1) Input Range Positioner setting Train Mode sections Mode In accordance mm/s 1 to Actuator’s B PIO jog velocity 2 6.1.2 [20]  (deg/s) max. speed (Note2) with actuator B PIO inch distance 0.01 to 1.00...
  • Page 357 6.1 Parameter I/O Parameter List (Continued) Default factory for Pulse Relevant Name Unit (Note1) Input Range Positioner setting Train Mode sections Mode Depending on encoder cable D Encoder voltage level 0 to 3 6.1.2 [57]   (Note2) length 0: Enabled, C PIO power supply supervision 6.1.2 [58] ...
  • Page 358 6.1 Parameter I/O Parameter List (Continued) Default factory for Pulse Relevant Name Unit (Note1) Input Range Positioner setting Train Mode sections Mode In accordance Pressing operation using 100 to 999,999 6.1.2 [75]  force sensor gain (Note2) with actuator In accordance 0 to Maximum C Force judgment margin + 6.1.2 [76]...
  • Page 359 6.1 Parameter I/O Parameter List (Continued) Default factory for Pulse Relevant Name Unit Input Range Positioner (Note1) setting Train Mode sections Mode Automatic loadcell calibration 0: Does not perform 6.1.2 [85]  at start 1: Perform Pressing operation without 0: Forbidden, completion of loadcell 6.1.2 [86] ...
  • Page 360 6.1 Parameter I/O Parameter List (Continued) Default factory for Pulse Relevant Name Unit Input Range Positioner (Note1) setting Train Mode sections Mode In accordance -9,999.99 to A Home preset value 6.1.2 [88]   (Note2) 9,999.99 with actuator 0.0.0.0 to Separate B IP Address 192.168.0.1...
  • Page 361 6.1 Parameter I/O Parameter List (Continued) Default factory for Pulse Relevant Name Unit Input Range Positioner (Note1) setting Train Mode sections Mode In accordance 175 C Force gains 2 100 to 999,999 6.1.2 [109]  (Note2) with actuator In accordance 176 C Force gains 3 100 to 999,999 6.1.2 [109]...

  • Page 362: Detail Explanation Of Parameters

    6.1 Parameter 6.1.2 Detail Explanation of Parameters Caution ● After changing (writing) parameters, perform a software reset or power reboot so that the set values can be reflected. ● The unit (deg) is for rotary actuator. Note that it will be displayed as millimeter [mm] on the teaching tool.
  • Page 363 6.1 Parameter [Example of when line axis] [Example of Rotary Actuator Index Mode] Caution ● Unless the zone signal detection range is set at a value above minimum resolution, a signal will not be output. ● The minimum resolution can be calculated with the equation below. Minimum resolution [mm/pulse] = Actuator lead [mm/r] / Encoder resolution [pulse/r] 6-11 ME0340-9C...
  • Page 364 6.1 Parameter [2] Soft limit +, Soft limit – (Parameter No.3, No.4) Name Unit Input Range Default factory setting Soft limit + -9,999.99 to 9,999.99 Actual stroke on + side (deg) Soft limit - -9,999.99 to 9,999.99 Actual stroke on - side (deg) 0.3 mm (deg) is added to the outside of the effective actuator stroke for the default setting.
  • Page 365 ● For models with which change is not possible, the actuator must be replaced. Contact IAI if anything is unclear. [4] Press & hold stop judgment period (Parameter No.6) Name...
  • Page 366 6.1 Parameter [5] Servo gain number (Parameter 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 0 to 31 In accordance with actuator Servo gain number 3...
  • Page 367 6.1 Parameter [7] 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 setting value should be automatically written to the acceleration/deceleration in the applicable position numbers when the target position gets written to the unregistered position table.
  • Page 368 6.1 Parameter [10] Dynamic brake (Parameter No.14) Name Unit Input Range Default factory setting Dynamic brake 0: Disabled, 1: Enabled This parameter defines whether the dynamic brake is enabled or disabled while the actuator is at standstill. Normally it need not be changed. [11] Select enable/disable pause input (Parameter No.15) Name Unit...
  • Page 369 6.1 Parameter [13] Minimum delay time for slave transmitter activation (Parameter No.17) Name Unit Input Range Default factory setting Minimum delay time for 0 to 255 slave transmitter activation In this setting, set the time from receiving the command (received data) during the SIO communication till the response (sent data) is returned to the host side.
  • Page 370 6.1 Parameter [16] Creep sensor input polarity (Parameter No.20) Name Unit Input Range Default factory setting Creep sensor input polarity 0 to 2 In accordance with actuator Even though the actuator with long stroke requires time to home-return if the power is shut at a point far from the home position, the required time can be improved with using the creep sensor.
  • Page 371 After the setting, repeat home return several times to confirm that the actuator always returns to the same home position. Caution ● If the homing offset has been changed, the software limit parameter also needs to be reviewed. If the value must be set above the default setting, contact IAI. 6-19 ME0340-9C...

  • Page 372: Input Range

    6.1 Parameter [19] PIO pattern selection (Parameter No.25) Name Unit Input Range Default factory setting PIO pattern selection 0 to 7 0 (Standard Type) Select the PIO operation pattern. For the details of PIO patterns, refer to [3.1.2, 3.2.2 PIO Pattern Selection and PIO Signal］or [3.3.2 I/O Signals in Pulse Train Control Mode].
  • Page 373 6.1 Parameter [For Pulse Train Control Mode] Pattern Value set in Mode Overview type Parameter No.25 Differential pulse input (MAX.200Kpps) • Pulse train control mode Home return function • (factory setting) for incremental Zone signal output: 2 point Pattern • No feedback pulse output •...
  • Page 374 6.1 Parameter [21] Movement command type (Parameter No.27) Name Unit Input Range Default factory setting 0 : Level Movement command type 1 : Edge Set the input methods for the start signal (ST0 to ST6, or ST0 to ST2 if PIO Pattern = 5) when PIO Pattern 4 = Solenoid Valve Mode 1 (7-point type), PIO Pattern 5 = Solenoid Valve Mode 2 (3-point type) and PIO Pattern 7 = Force Sensor Used Pressing Mode 2 (Electromagnetic Valve Mode)
  • Page 375 6.1 Parameter [22] Velocity loop proportional gain (Parameter No.31, 122, 128, 134) Name Unit Input Range Default factory setting Velocity loop proportional gain 1 to 99,999,999 In accordance with actuator Velocity loop proportional gain 1 1 to 99,999,999 In accordance with actuator Velocity loop proportional gain 2 1 to 99,999,999 In accordance with actuator Velocity loop proportional gain 3...
  • Page 376 6.1 Parameter [23] 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 1 to 99,999,999 In accordance with actuator...
  • Page 377 6.1 Parameter [25] Press velocity (Parameter No.34) Name Unit Input Range Default factory setting mm/s 1 to actuator's max. Press velocity In accordance with actuator (deg/s) 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 378 6.1 Parameter [27] Auto Servo-motor OFF delay time 1, 2, 3 (Parameter No.36, No.37, No.38) Name Unit Input Range Default factory setting Auto Servo-motor OFF 0 to 9,999 delay time 1 Auto Servo-motor OFF 0 to 9,999 delay time 2 Auto Servo-motor OFF 0 to 9,999 delay time 3...
  • Page 379 6.1 Parameter [29] Home-return input disable (Parameter No.40) Name Unit Input Range Default factory setting Home-return input disable 0: Enabled, 1: Disabled This parameter defines whether the home return input signal is disabled or enabled. Normally this parameter need not be changed. [30] Operating-mode input disable (Parameter No.41) Name Unit...
  • Page 380 6.1 Parameter [33] Velocity override (Parameter No.46) Name Unit Input Range Default factory setting Velocity override 1 to 100 When executing travel commands from the PLC side, override can be applied against the travel speed set in the "Speed" field in the position table. Minimum setting unit is 1%, and input range is 1 to 100%.
  • Page 381 6.1 Parameter [35] Load output judgment time period (Parameter No.50) Name Unit Input Range Default factory setting Load output judgment 0 to 9,999 time period This parameter defines the time taken to judging whether torque level status signal (TRQS) is If the command torque exceeds the value set in “Threshold”...
  • Page 382 6.1 Parameter [39] Position-command primary filter time constant (Parameter No.55) Name Unit Input Range Default factory setting Position-command primary filter time 0.0 to 100.0 constant Use this in the case to set the value in “Acceleration/Deceleration” box in the position table to “2: 1-step delay filter”, or in the case that there is no acceleration/deceleration function the host controller in Pulse Train Control Mode.
  • Page 383 6.1 Parameter [40] S-motion ratio setting (Parameter No.56) Name Unit Input Range Default factory setting S-motion ratio setting 0 to 100 Used when the value of “Acc/Dec mode” field in the position table is set to “1 (S-motion ratio setting)”. This softens the shocks of acceleration/deceleration without extending the cycle time.
  • Page 384 6.1 Parameter Caution ● Be sure to execute the command while the actuator is stopped. ● Because it changes speed, etc. during travel, even if executing position command or direct numerical value command with S-motion setting while the actuator is under operation, the control will be trapezoid instead of S-motion.
  • Page 385 6.1 Parameter [43] Deviation error monitor during torque limiting (Parameter No.59) …Pulse train only Name Unit Input Range Default factory setting Deviation error monitor 0: Disabled, 1: Enabled during torque limiting Selection of enable or disable monitoring should be available for the deviation in the torque limit in process (TL Signal on).
  • Page 386 6.1 Parameter [47] Command pulse input mode (Parameter No.63) …Pulse train only Name Unit Input Range Default factory setting Command pulse input 0 to 2 mode This parameter is exclusively used for the pulse-train control mode. Refer to [4.3.4 Settings of Basic Parameters Required for Operation.] [48] Command pulse input mode polarity (Parameter No.64) …Pulse train only Name Unit...
  • Page 387 6.1 Parameter [52] Feedback pulse output (Parameter No.68) …Pulse train only Name Unit Input Range Default factory setting Feedback pulse output 0: Enabled, 1: Disabled This parameter is exclusively used for the pulse-train control mode. Refer to [4.3.6 Parameter Settings Required for Advanced Operations.] [53] Feedback pulse train (Parameter No.69) Pulse train only Name...
  • Page 388 6.1 Parameter Gain adjustment of position, speed, and current loop in the feedback control directly changes the response of the servo control system, so affecting the stability of the control system due to inappropriate setting may cause vibration and abnormal noise. However, this parameter only changes the speed command value, so it is irrelevant to the servo loop, and it would not generate persistent vibration and noise.
  • Page 389 6.1 Parameter [57] Encoder voltage level (Parameter No.73) Name Unit Input Range Default factory setting Depending on encoder Encoder voltage level 0 to 3 cable length To stabilize encoder detection signals, this parameter defines the voltage supplied to the encoder circuit to one of four levels in accordance with the encoder type and the length of the encoder relay cable.
  • Page 390 6.1 Parameter [60] Belt breaking sensor input polarity (Parameter No.76) Name Unit Input Range Default factory setting Belt breaking sensor 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 391 6.1 Parameter [62] Axis operation type (Parameter No.78) Name Unit Input Range Default factory setting 0: Line Axis Axis operation type In accordance with actuator 1: Rotary Axis This parameter defines the type of the actuator used. Connected Actuator Set Value Remarks Line Axis Actuator other than rotary type...
  • Page 392 6.1 Parameter Caution ● Push-motion operation is not available during index mode. Even if data is input for the push-motion of position data, it will become invalid and normal travel will be executed. Also, the positioning band is the value set in Parameter No. 10 “Positioning band initial value”.
  • Page 393 6.1 Parameter [68] Network Type (Parameter No.87) 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. [69] Software limit margin (Parameter No.88) Name Unit Input Range...
  • Page 394 6.1 Parameter [72] Current limit value at stopping due to miss-pressing (Parameter No.91) Name Unit Input Range Default factory setting 0: Current limit value Current limit value at during movement stopping due to miss- 1: Current limit value pressing during pressing This parameter defines the restricted current value at stopping due to miss-pressing.
  • Page 395 6.1 Parameter [74] Selection of pressing control (Parameter No.93) Name Unit Input Range Default factory setting Selection of pressing 0: Current limit In accordance with actuator control 1: Force sensor This parameter defines the pressing method. Set Value Description Pressing by current limit (when standard actuator) Force Sensor Used Pressing (for actuator equipped with loadcell) 1: Force sensor pressing...
  • Page 396 6.1 Parameter [75] Pressing operation using force sensor gain (Parameter No.94) Name Unit Input Range Default factory setting Pressing operation using 100 to 999,999 In accordance with actuator force sensor gain This parameter defines the gain for pressing operation using force sensor. The gain may be adjusted when the rigidity of the pressing target is extremely large or small.
  • Page 397 6.1 Parameter RA7R (Default factory setting = 5,000) Rigidity of pressing target Hard ← ← Rigidity → → Soft 3,500 7,000 14,000 28,000 56,000 112,000 4,000 8,000 16,000 32,000 64,000 128,000 4,500 9,000 18,000 36,000 72,000 144,000 5,000 10,000 20,000 40,000 80,000 160,000...
  • Page 398 6.1 Parameter [77] Damping characteristic coefficient 1, 2 / Natural frequency / Notch filter gain (Parameter No.97 to No.108) Name Damping characteristic coefficient 1 Damping characteristic coefficient 2 Parameter set 1 Natural frequency Notch filter gain Damping characteristic coefficient 1 Damping characteristic coefficient 2 Parameter set 2 Natural frequency...
  • Page 399 6.1 Parameter [79] Stop method at servo OFF (Parameter No.110) Name Unit Input Range Default factory setting 0: Rapid stop Stop method at servo OFF 1: Deceleration to stop Selects Servo OFF command, drive source cutoff, and stop mode of actuator during alarm generation (operation cancel level).
  • Page 400 6.1 Parameter [81] Monitoring mode (Parameter No.112) Name Unit Input Range Default factory setting 0:Does not use 1:Monitor function 1 Monitoring mode 2:Monitor function 2 3:Monitor function 3 The controller can be connected with PC software to monitor the servo. This parameter allows you to select a monitoring mode function (servo monitor).
  • Page 401 6.1 Parameter [83] Selecting used feedback pulse gear ratio (Parameter No.114) Name Unit Input Range Default factory setting Selecting used feedback 0: Not Applicable pulse gear ratio 1: Use Feedback pulse is available for the output also other than Pulse Train Control Mode. In this case, select “1”.
  • Page 402 6.1 Parameter [86] Pressing operation without completion of loadcell calibration (Parameter No.118) Name Unit Input Range Default factory setting Pressing operation 0: Forbidden without completion of 1: Allow loadcell calibration This parameter is exclusively used for pressing operation using force sensor. Refer to [4.2.7 Preparation for Operation in Force Sensor Pressing (Loadcell Calibration)].
  • Page 403 6.1 Parameter [89] 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.(as it is necessary to register the Z-phase nearest to the mechanical end as the datum) The value should be an integer multiple of ±(ball screw lead length) including 0.00.
  • Page 404 6.1 Parameter [91] Subnet mask (Parameter No.141) Name Unit Input Range Default factory setting 0.0.0.0 to Subnet mask 255.255.255.0 255.255.255.255 It is the parameter dedicated for Field Network (EtherNet/IP). For details, refer to [Ether Net/IP Instruction Manual (ME0278)] provided separately. [92] Default gateway (Parameter No.142) Name Unit...
  • Page 405 6.1 Parameter [93] Overload Load Level Ratio (Parameter No.143) Name Unit Input Range Default factory setting Overload Load Level Ratio 50 to 100 With the motor thrust increase temperature of when an overload alarm gets generated being set as 100%, alarm 048 “Overload warning” (message level) is output when the motor temperature exceeds the rate set in this parameter.
  • Page 406 6.1 Parameter [94] Total Travel Count Threshold (Parameter No.147) Name Unit Input Range Default factory setting Total Travel Count Times 0 to 999,999,999 0 (Disabled) Threshold When total travel count exceeds the set value of this parameter, alarm 04E “Travel Count Threshold Over”...
  • Page 407 6.1 Parameter [97] Linear absolute home preset value (Parameter No.150) Name Unit Input Range Default factory setting Linear absolute home -9,999.99 to 9,999.99 In accordance with actuator preset value This can set the home position of the actuator for Spurious Absolute Type. This can set the home position of the actuator for Spurious Absolute Type.The diagram below shows the position of each part related to the datum (the initial position at the delivery from our factory):...
  • Page 408 6.1 Parameter When a change is required to the home position, do a calculation following the formula below and input the calculated value to the parameter. 1. Setting for Single Slider Type: Parameter setting value = Initial parameter at delivery from factory (Parameter No.150) + Desired offset amount Desired offset amount...
  • Page 409 6.1 Parameter [98] Light error alarm output select (Parameter No.151) Name Unit Input Range Default factory setting 0: Battery Voltage Drop / Fan revolution drop / At overload warning Light error alarm output output select 1: Output when message level alarm is generated in addition to error in 0 If it is set to “0”, *BALM Signal should be output when there occurred the battery voltage drop or...
  • Page 410 6.1 Parameter [100] Nominal rigidity (Parameter No.163) Name Unit Input Range Default factory setting Nominal rigidity N/mm 1 to 99,999 In accordance with actuator It is the value of rigidity for actuator. Do not change the setting from the initial setting. [101] Force control band (Parameter No.164) Name Unit...
  • Page 411 6.1 Parameter [103] Pulse train datum position (Parameter No.167) …Pulse train only Name Unit Input Range Default factory setting Pulse train datum -9,999.99 to 9,999.99 position When Pulse Train Control Mode (PIO Pattern 1) is selected in the absolute type, operation is made with the position set in this parameter as the datum position.
  • Page 412 6.1 Parameter [106] SIO2 silent interval magnification (Parameter No.171) Name Unit Input Range Default factory setting SIO2 silent interval times 0 to 10 magnification Use this parameter to set the silent interval (no communication) time by the time taken for communication of 3.5 characters or longer before command data transmission when the controller is operated via serial communication.
  • Page 413 6.1 Parameter [109] Force gains 1, 2, 3 (Parameter No.174 to176) Name Unit Input Range Default factory setting Force gains 1 100 to 999,999 In accordance with actuator Force gains 2 100 to 999,999 In accordance with actuator Force gains 3 100 to 999,999 In accordance with actuator It is a parameter dedicated for the force sensor used pressing.
  • Page 414 6.1 Parameter [113] Virtual axis absolute initial position (Parameter No.196) Name Unit Input Range Default factory setting Virtual axis absolute initial -9,999.99 to 9,999.99 position (deg) It is a parameter dedicated for the RCON connection type. The absolute initial position setting of the feature capable of operation simulation without connecting an axis should be established.

  • Page 415: 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 416: Adjustment Method

    6.2 Servo Adjustment Problems Adjustment method Abnormal noise In • Enter Parameter No. 33 “Torque filter time constant”. particular, high-pitched As a setting guideline, try to increase by 50 respectively. noise occurs when stopping If it is too large, stability of the control system may be or at low speed (50mm/s or impaired and vibration may occur.
  • Page 417 6.2 Servo Adjustment Problems Adjustment method • The static friction of the • Set Parameter No. 71 “Positional Feedforward Gain”. load is large and travel Estimated setting is from 10 to 50. As the set value start is slow increases, the deviation amount is reduced and •...
  • Page 418 6.2 Servo Adjustment 6-66 ME0340-9C...
  • Page 419 SCON-CB/LC Chapter Maintenance and Inspection 7.1 Periodic Inspection ························································ 7-1 7.1.1 Periodic Inspection Items ··························································· 7-2 7.2 Requests When Replacing Units ······································ 7-4 7.3 Consumable Parts ························································ 7-5 7.4 Component Replacement ··············································· 7-6 7.4.1 Replacement of Absolute Battery ················································· 7-6 7.4.2 Fan Unit Replacing Procedure (SCON-CB 3000W and above) ··········...

  • Page 421: 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 422: 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 423 7.1 Periodic Inspection Inspection Judgment Inspection details Countermeasures items criteria Connection Wiring connectors status loose? (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 424: 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 425: 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 426: 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 427: Fan Unit Replacing Procedure (Scon-Cb 3000W And Above)

    7.4 Component Replacement 7.4.2 Fan Unit Replacing Procedure (SCON-CB 3000W and above) Fan Unit for Replacement : MGT6024HB-O10 (SCON-CB) Take off the screws holding the fan cover. Pan Head Machine Screw with Captive Washer M3×6 Fan unit Push up the fan cover. Note: Do not forcefully pull it up.
  • Page 428 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 ME0340-9C...
  • Page 429 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. ① Note: Pay attention to cables so they would not get pinched.

  • Page 430: Fan Unit Replacing Procedure (Scon-Cb 400W To 750W)

    7.4 Component Replacement 7.4.3 Fan Unit Replacing Procedure (SCON-CB 400W to 750W) Warning  As there is a risk of electric shock, leave it for 10 minutes or more after the power supply is cut off before starting this work. ...
  • Page 431 7.4 Component Replacement Take off the connector on the fan cable. The cable that was taken out should be put away outside the base frame. Connector Put a sheet such as an air mat and turn over the base frame. * Pay attention not to damage electrical components Air mats, etc.
  • Page 432 7.4 Component Replacement Put the finger guard on and affix it with the screws (4 pcs). Screw M3×10 (4pcs) Flathead screwdriver: Equivalent to No.2 size Finger guard Turn the base frame over, have the fan cable put through the base frame and the cutout on the circuit board and push it into a gap among the capacitors.

  • Page 433: 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 434 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 435 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 436 7.5 Preventive Maintenance Function ● Basic Operation in Maintenance Information Screen Using TB-03 (TB-02). To set the target value, touch the Edit button 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 437: Predictive Maintenance Function

    7.6 Predictive Maintenance Function 7.6 Predictive Maintenance Function 7.6.1 Fan 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 438: 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. Alarm Occurred Load Alarm Output...
  • Page 439 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 it is set to “0”, *ALML Signal should be output when there is the battery voltage drop error or when the value has exceeded the value set in Parameter No.
  • Page 440 7.6 Predictive Maintenance Function 7-20 ME0340-9C...

  • Page 441: Troubleshooting

    SCON-CB/LC Chapter Troubleshooting 8.1 Action to Be Taken upon Occurrence of Problem ·················· 8-1 8.2 Fault Diagnosis ····························································· 8-3 8.2.1 Impossible Operation of Controller ················································ 8-3 8.2.2 Positioning and Speed of Poor Precision (Incorrect Operation)············ 8-6 8.2.3 Generation of Noise and/or Vibration ············································· 8-8 8.2.4 Impossible Communication ·························································...

  • Page 443: 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 444 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 445: Fault Diagnosis

    LEDs does If the PWR LED does not go on despite not go ON. normal power voltage and correct wiring, Please contact IAI. Refer to [3.5.1 Wiring of Power Circuit.] EMG on the status During emergency-stop. 1. Release the emergency stop switch.
  • Page 446 8.2 Fault Diagnosis [1] In the case of Positioner Mode Situation Possible cause Check/Treatment Both position No. and There is a problem either in PIO 1. Is the status display LED SV turned ON? start signal are input to signal treatment, position table setting Refer to [1.3 Name for Each Parts and the controller, but the or operation mode selection.
  • Page 447 8.2 Fault Diagnosis [3] Startup Adjustment with Teaching Tool when Control Circuit Incomplete Situation Possible cause Check/Treatment Operation is not Cable treatment or mode selection. 1. Supply 24V DC to EMG terminal of the performed even though 1. Emergency stop condition power connector.

  • Page 448: Positioning And Speed Of Poor Precision (Incorrect Operation)

    8.2 Fault Diagnosis 8.2.2 Positioning and Speed of Poor Precision (Incorrect Operation) Situation Possible cause Check/Treatment Positioning and Speed of In the home return of our standard 1. Reduce the load. Poor Precision (Incorrect specification, the actuator is first 2. Remove the interference. Operation) pressed to the mechanical end, moved 3.
  • Page 449 8.2 Fault Diagnosis [2] In the case of Pulse String Control Mode Situation Possible cause Check/Treatment The actuator does not PIO signal processing or parameter 1. Check the setting of electronic gear ratio. stop at the command setting is incorrect. The host controller also has the electronic position.

  • Page 450: Generation Of Noise And/Or Vibration

    8.2 Fault Diagnosis 8.2.3 Generation of Noise and/or Vibration Situation Possible cause Check/Treatment Generation of noise Condition of load, condition actuator Servo adjustment may improve the situation. and/or vibration from installation, stiffness of device for the Refer to [6.2 Servo Adjustment.] actuator.

  • Page 451: Impossible Communication

    8.2 Fault Diagnosis 8.2.4 Impossible Communication Situation Possible cause Check/Treatment ● Not connectable with 1. Communication rates do not match. 1. Set the communication rate to match that host machine 2. The machine number (station of the host machine. Refer to the ●...

  • Page 452: 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 8-10...

  • Page 453: 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.] 8-11 ME0340-9C...
  • Page 454 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 Position command in Cause : A position move command was issued before home return...
  • Page 455 8.3 About Alarms Alarm Alarm Name Cause/Treatment Code Position data error Cause : 1. A movement command was attempted to an empty position. 2. The value of the target value in the “Position” field exceeded the Parameter No.3 and 4 “Soft limit set value”.
  • Page 456 : 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 non- Cause : This indicates that the home-return operation of the...
  • Page 457 If this error occurred inside the effective stroke range, 3., 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. 8-15 ME0340-9C...
  • Page 458 8.3 About Alarms Alarm Alarm Name Cause/Treatment Code Illegal transition command Cause : 1. Change the operation from the vibration suppress in control system control operation to the normal position control operation. 2. Change the operation from the normal position control operation to the vibration suppress control operation.
  • Page 459 8.3 About Alarms Alarm Alarm Name Cause/Treatment Code Loadcell calibration error Cause : 1) Calibration command is issued during actuator operation, temporary stop or pressing operation. 2. A calibration error occurs when calibration command is issued. 3. The calibration command signal “CLBR” is set to OFF before the completion of calibration.
  • Page 460 If the error occurs even when the servo is ON, the cable breakage or disconnection is considered. Check the cable connection. Please contact IAI if there is no failure in the cable and connector connections. 8-18 ME0340-9C...
  • Page 461 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 462 2. If this error occurs often, there is a concern of a controller malfunction. Please contact us. Belt breaking sensor 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. 8-20 ME0340-9C...
  • Page 463 8.3 About Alarms Alarm Alarm Name Cause/Treatment Code Drive mode error Cause : 1. Linear ABS Actuator was used in Pulse Train Control Mode. 2. The actuator of field network specification is started after it is set to the pulse-train control mode. Treatment : 1.
  • Page 464 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. 8-22 ME0340-9C...
  • Page 465 Treatment : Check if there is any breakage on the connectors and the condition of connections. Malfunction of the encoder can be considered if the cables are in the normal condition. Please contact IAI. Absolute encoder error Cause : This is the condition where the position information cannot detection 2 be detected in the absolute encoder.
  • Page 466 If a spare controller is available, replace the problem controller with the spare controller. A recurring error with the spare controller suggests presence of noise. If the cause cannot be identified, please contact IAI. 300 to Alarm on teaching tool...
  • Page 467 SCON-CB/LC Chapter Construction of Safety Circuit 9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-1 9.1.1 System Configuration ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-1 9.1.2 Wiring and Setting of Safety Circuit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-2 9.1.3 Examples of Safety Circuits ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-4 9.1.4 TP Adapter and Related Components ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

  • Page 469: 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 470: 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 471 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 472: 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 TB-02D or TB-01D(R) (or Dummy plug : DP-4S) Controller SCON-CGB Connection Cable CB-CON-LB*** RCB-LB-TGS Solenoid Contactor Motor Power Supply SCON : 100V AC/200V AC Motor Power...
  • Page 473 9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON ● Detailed category 1 circuit example ME0340-9C...
  • Page 474 9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON [2] In case of category 2 TB-02D or TB-01D(R) (or Dummy plug: DP-4S) Controller SCON-CGB Connection Cable CB-CON-LB*** RCB-LB-TGS Enable SW Emergency stop SW Reset SW G9SA-301 (OMRON) T11 A2 A1 41 33 23 13 42 34 24 14...
  • Page 475 9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON ● Detailed category 2 circuit example ME0340-9C...
  • Page 476 9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON [3] In case of category 3 or 4 TB-02D or TB-01D(R) (or Dummy plug: DP-4S) Controller SCON-CGB Connection Cable CB-CON-LB*** RCB-LB-TGS For Category 4, insert Reset Switch as shown in the diagram.
  • Page 477 9.1 Conformity to Safety Category of up to 750W Motor Corresponding SCON ● Detailed category 3 or 4 circuit example ME0340-9C...

  • Page 478: 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 9-10 ME0340-9C...

  • Page 479: 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 480 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 481: 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 482: 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 483 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 484 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. Shown in the list below is a value (reference) of drop when STO/SS1-t is input while the servo is turned ON (actuator stops at this moment) with an actuator installed vertically (with load).

  • Page 485: 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 486: 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 ME0340-9C...
  • Page 487 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 ME0340-9C...
  • Page 488 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 489: Electric Specifications

    9.2 Specifications for Safety Type STO/SS1-t [2] Electric Specifications Item Item 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...
  • Page 490 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 491 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 492: 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 493 SCON-CB/LC Chapter Appendix 10.1 Way to Set Multiple Controllers with 1 Teaching Tool ··········· 10-1 10.1.1 Connecting Example ······························································· 10-2 10.1.2 Detailed Connection Diagram of Communication Lines ··················· 10-3 10.1.3 Axis No.Setting ······································································· 10-4 10.1.4 Handling of e-CON Connector (How to Connect) ··························· 10-5 10.1.5 SIO Converter ········································································...

  • Page 495: 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 496: 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) Cable Included in PC software...

  • Page 497: Detailed Connection Diagram Of Communication Lines

    10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.2 Detailed Connection Diagram of Communication Lines Note 1 Apply a 2-pair shielded cable. When connecting a cable other than recommended to (A) and (B), make sure to use a hard-cored cable equivalent to the vinyl cable (KIV) dedicated for control devices with the sheath outer diameter from 1.35 to 1.60mm.

  • Page 498: 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 499: 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) Clamp Lever Pin No. 1) Check the applicable cable size. Check the applicable cable. If it is not applicable, it may cause a connection failure or a breakage of the connector.

  • Page 500: Sio Converter

    10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.5 SIO Converter The SIO converter converts the communication mode from RS-232C to RS-485 or vice versa. 1) Power/Emergency Stop Terminal Board (TB2) Symbol Description Turn the PORT switch ON to output the emergency stop switch signal, OFF to short-circuit EMG1 and EMG2.
  • Page 501 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 502: Communications Cable

    10.1 Way to Set Multiple Controllers with 1 Teaching Tool 10.1.6 Communications Cable 10.1.7 External Dimension (Leg Element Bottom Side) (Leg Element Top Side) 10-8 ME0340-9C...

  • Page 503: 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 * in codes above shows the signal of the active low.

  • Page 504: 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 [3.1.3 Wiring [1] Main Power Circuit]. When it comes to the emergency stop release condition, “Servo-on”...

  • Page 505: 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 506 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 507 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. [7] Actuator Start Circuit If the “Operation”...
  • Page 508 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 Circuit 10 is designed to start positioning to position No.1 again after positioning to position No.3 is completed.
  • Page 509 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 510 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 511 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 512 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 513 10.2 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) [14] Other Display Circuits (Zone 1, Position Zone, and Manual Mode) Reference  Programs and functions of PLC are expressed differently depending on manufacturers. However, the contents of sequence designs do not vary fundamentally. Though arithmetic and data processing commands seem differently, any manufacturer defines command words executing the same functions as those of other manufacturers.

  • Page 514: List Of Specifications Of Connectable Actuators

    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 515 10.3 List of Specifications of Connectable Actuators 【RCS4 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 50 to 600st) 1620(at 650st) SA7C:1.2 1420(at 700st)
  • Page 516 10.3 List of Specifications of Connectable Actuators 【RCS4 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 600(at 50 to 600st) 540(at 650st) 480(at 700st) 430(at 750st)
  • Page 517 10.3 List of Specifications of Connectable Actuators 【RCS4 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 300(at 50 to 600st) 270(at 650st) 240(at 700st) 215(at 750st)
  • Page 518 10.3 List of Specifications of Connectable Actuators 【RCS4 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 500(at 50 to 500st) 475(at 550st) 410(at 600st) 355(at 650st)
  • Page 519 10.3 List of Specifications of Connectable Actuators 【RCS4 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1500(at 50 to 500st) 1440(at 550st) 1240(at 600st) 1095(at 650st)
  • Page 520 10.3 List of Specifications of Connectable Actuators 【RCS4 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 960(at 50 to 350st) 930(at 400st) WSA10C:1.2 Horizontal...
  • Page 521 10.3 List of Specifications of Connectable Actuators 【RCS4 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] WSA14C: 1800(at 50 to 550st) 1590(at 600st) 1400(at 650st)
  • Page 522 10.3 List of Specifications of Connectable Actuators 【RCS4 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 50 to 550st) 1680(at 600st) 1480(at 650st) 1320(at 700st)
  • Page 523 10.3 List of Specifications of Connectable Actuators 【RCS4 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 960(at 50 to 350st) 930(at 400st) Horizontal 775(at 450st)
  • Page 524 10.3 List of Specifications of Connectable Actuators 【RCS4 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1440(at 50 to 450st) 1420(at 500st) 1220(at 550st) 1060(at 600st)
  • Page 525 10.3 List of Specifications of Connectable Actuators 【RCS4 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] RA4C:1.2 RA4R:1 RA4C:1.2 RA4C...
  • Page 526 10.3 List of Specifications of Connectable Actuators 【RCS4 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1500(at 50 to 300st) 1230(at 350st) 970(at 400st) 790(at 450st)
  • Page 527 10.3 List of Specifications of Connectable Actuators 【RCS4 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 550(at 50 to 250st) 520(at 300st) 400(at 350st) 310(at 400st)
  • Page 528 10.3 List of Specifications of Connectable Actuators 【RCS4 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1000(at 50 to 250st) 880(at 300st) 700(at 350st) 570(at 400st)
  • Page 529 10.3 List of Specifications of Connectable Actuators 【RCS4 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 960(at 40 to 290st) 730(at 340st) 600(at 390st) TA7C...
  • Page 530 10.3 List of Specifications of Connectable Actuators 【RCS3 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 50 to 650st) 1610(at 700st) 1420(at 750st) 1260(at 800st)
  • Page 531 10.3 List of Specifications of Connectable Actuators 【RCS3 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1200(at 50 to 600st) 1105(at 650st) 970(at 700st) 860(at 750st)
  • Page 532 10.3 List of Specifications of Connectable Actuators 【RCS3 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 300(at 50 to 650st) 250(at 700st) 220(at 750st) 190(at 800st)
  • Page 533 10.3 List of Specifications of Connectable Actuators 【RCS2 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1060 High Accel/Decel Type: 1 High Accel/Decel...
  • Page 534 10.3 List of Specifications of Connectable Actuators 【RCS2 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1200(at 50 to 600st) 1150(at 650st) 960(at 700st) High Accel/Decel...
  • Page 535 10.3 List of Specifications of Connectable Actuators 【RCS2 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1000(at 50 to 600st) 960(at 700st) 765(at 800st) 625(at 900st)
  • Page 536 10.3 List of Specifications of Connectable Actuators 【RCS2 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 800(at 50 to 250st) 755(at 300st) 400(at 50 to 250st) 377(at 300st)
  • Page 537 10.3 List of Specifications of Connectable Actuators 【RCS2 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1000 85(at 50st) RCS2 120(at 100st)
  • Page 538 10.3 List of Specifications of Connectable Actuators 【RCS2 Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] Gear 16384 Ratio 500 deg/s...
  • Page 539 10.3 List of Specifications of Connectable Actuators 【ISB/ISPB Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 960(at 100 to 600st) 655(at 700st) Horizontal:1.2 515(at 800st)
  • Page 540 10.3 List of Specifications of Connectable Actuators 【ISB/ISPB Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 960(at 130 to 580st) 655(at 680st) 515(at 780st) Battery-less...
  • Page 541 10.3 List of Specifications of Connectable Actuators 【ISB/ISPB Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 100 to 700st) 1290(at 800st) 1045(at 900st) 860(at 1000st)
  • Page 542 10.3 List of Specifications of Connectable Actuators 【ISB/ISPB Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 120 to 670st) 1290(at 770st) 1045(at 870st) 860(at 970st)
  • Page 543 10.3 List of Specifications of Connectable Actuators 【ISB/ISPB Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 800 to 1100st) 1650(at 1150st) 1500(at 1250st) 1425(at 1350st)
  • Page 544 10.3 List of Specifications of Connectable Actuators 【ISB/ISPB Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2400(at 100 to 800st) 1840(at 900st) 1530(at 1000st) 1290(at 1100st)
  • Page 545 10.3 List of Specifications of Connectable Actuators 【ISB/ISPB Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2400(at 1000 to 1200st) 2300(at 1300st) 2000(at 1400st) 1900(at 1500st)
  • Page 546 10.3 List of Specifications of Connectable Actuators 【ISB/ISPB Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2500(at 100 to 900st） 2260(at 950 to 1000st) Horizontal/ Horizontal:1.5...
  • Page 547 10.3 List of Specifications of Connectable Actuators 【ISDB/ISPDB Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 960(at 100 to 500st) 920(at 550st) 795(at 600st) Horizontal:1...
  • Page 548 10.3 List of Specifications of Connectable Actuators 【ISDB/ISPDB Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 100 to 600st) 1630(at 650st) 1440(at 700st) 1280(at 750st)
  • Page 549 10.3 List of Specifications of Connectable Actuators 【ISDB/ISPDB Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 980(at 100st) 1270(at 150st) 1520(at 200st) 1740(at 250st)
  • Page 550 10.3 List of Specifications of Connectable Actuators 【ISDB/ISPDB Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 100 to 800st) 1700(at 850st) 1540(at 900st) 1410(at 950st)
  • Page 551 10.3 List of Specifications of Connectable Actuators 【ISDB/ISPDB Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 1000 to 1500st) 1660(at 1600st) at 1650st to : For cleanroom type only...
  • Page 552 10.3 List of Specifications of Connectable Actuators 【ISA/ISPA Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] Horizontal:1 Vertical:0.7 Horizontal/ Horizontal:0.6...
  • Page 553 10.3 List of Specifications of Connectable Actuators 【ISA/ISPA Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 800 to 1100st) 1650(at 1200st) 1500(at 1300st) 1425(at 1400st)
  • Page 554 10.3 List of Specifications of Connectable Actuators 【ISA/ISPA Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1200(at 1000 to 1200st) 1150(at 1300st) 1000(at 1400st) 950(at 1500st)
  • Page 555 10.3 List of Specifications of Connectable Actuators 【ISA/ISPA Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1200(at 1000 to 1200st) 1150(at 1300st) 1000(at 1400st) 950(at 1500st)
  • Page 556 10.3 List of Specifications of Connectable Actuators 【ISA/ISPA Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2400(at 100 to 800st) 1840(at 900st) 1530(at 1000st) 1290(at 1100st)
  • Page 557 10.3 List of Specifications of Connectable Actuators 【ISA/ISPA Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2000(at 900 to 1700st) 1930(at 1800st) 1740(at 1900st) 1580(at 2000st)
  • Page 558 10.3 List of Specifications of Connectable Actuators 【ISDA/ISPDA Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 800(at 100 to 500st) Horizontal:1 760(at 600st) Vertical:0.7...
  • Page 559 10.3 List of Specifications of Connectable Actuators 【ISDA/ISPDA Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2000(at 100 to 700st) 1965(at 800st) 1605(at 900st) 1335(at 1000st)
  • Page 560 10.3 List of Specifications of Connectable Actuators 【ISDA/ISPDA Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2000(at 900 to 1700st) 1930(at 1800st) 1740(at 1900st) 1580(at 2000st)
  • Page 561 10.3 List of Specifications of Connectable Actuators 【ISWA/ISPWA Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 800(at 100 to 500st) 760(at 600st) 400(at 100 to 500st) 16384...
  • Page 562 10.3 List of Specifications of Connectable Actuators 【SSPA/IF/FS/RS Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1800(at 100 to 600st) 1680(at 650st) 1480(at 700st) 1320(at 750st)
  • Page 563 10.3 List of Specifications of Connectable Actuators 【SSPA/IF/FS/RS Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 2400(at 100 to 700st) 2150(at 750st) 1930(at 800st) 1740(at 850st)
  • Page 564 10.3 List of Specifications of Connectable Actuators 【SSPA/IF/FS/RS Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1600(at 100 to 600st) 1450(at 650st) 1290(at 700st) 1160(at 750st)
  • Page 565 10.3 List of Specifications of Connectable Actuators 【SSPA/IF/FS/RS Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 1600(at 100 to 800st) 1540(at 850st) 1410(at 900st) 1290(at 950st)
  • Page 566 10.3 List of Specifications of Connectable Actuators 【SSPA/IF/FS/RS Series】 Maximum Minimum Maximum Rated Motor No. of Lead Maximum Speed Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] 16384 Horizontal 1750 16384...
  • Page 567 10.3 List of Specifications of Connectable Actuators 【NS/NSA Series】 Maximum Minimum Maximum Rated Motor Maximum No. of Lead Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Speed Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] Incremental SXMS 2400 Horizontal...
  • Page 568 10.3 List of Specifications of Connectable Actuators 【LSA/LSAS Series】 Maximum Minimum Maximum Rated Motor Maximum No. of Lead Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Speed Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] S6SS 48000 Horizontal 2500...
  • Page 569 10.3 List of Specifications of Connectable Actuators [DD/DDA Series] Maximum Minimum Maximum Rated Motor Maximum No. of Lead Acceleration/ Pressing Pressing Pressing Actuator Oriented Output Speed Type Encoder Deceleration Speed Force Force Speed Series Direction Pluses [mm] [mm/s] [mm/s] Gear LT18S Ratio 131072...

  • Page 570: Push Force And Current Limit Value

    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 571 10.3 List of Specifications of Connectable Actuators ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA6R Pressing Command Value [%] ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA7R Pressing Command Value [%] ■...
  • Page 572 10.3 List of Specifications of Connectable Actuators ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA10R Pressing Command Value [%] ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA15R Read 4 Pressing Command Value [%] Read 7.2 Pressing Command Value [%]...

  • Page 573: Limitation In Operation

    10.3 List of Specifications of Connectable Actuators ■ Figure of mutual relation between pressing force and current limit value of RCS3-RA20R Read 4 Pressing Command Value [%] Read 10 Pressing Command Value [%] [2] Limitation in Operation Make sure to check the way to make selection for the operational condition and so on described in RCS2-RA13R and RCS3 Rod Type Instruction Manual, and use the unit in the range of the specifications.
  • Page 574 10.3 List of Specifications of Connectable Actuators 10-80 ME0340-9C...

  • Page 575: Warranty

    SCON-CB/LC Chapter Warranty 11.1 Warranty Period ·························································· 11-1 11.2 Scope of the Warranty ·················································· 11-1 11.3 Honoring the Warranty ·················································· 11-1 11.4 Limited Liability ··························································· 11-2 11.5 Conformance with Applicable Standards/Regulations, etc., and Application Conditions ····································· 11-2 11.6 Other Items Excluded from Warranty ······························· 11-2...

  • Page 577: Warranty Period

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

  • Page 578: 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 579: Revision History

    Revision History Revision History Revision date Revised content 2015.08 First Edition 2015.11 1B Edition Pg. 32 Loadcell life deleted Pg. 283 Correction made to e-CON model code 2016.03 Second Edition Pg. 11 Note added for caution in handling Pg. 97, 122 Loadcell model added Pg.
  • Page 580 Revision History Revision date Revised content 2017.12 5B Edition 1.5.5 Sections for loadcell 50000N and temperature drift deleted 2.2.3 [2] Correction made to cable numbers on brake power supply connector and connector model codes added 2.6.5 Description corrected for multi-function connector 2.6.6 Number of regenerative units revised 7.2.1 Absolute battery (equipped with holder) model codes corrected and added 10.5.1 Correction made to specifications for RCS3-RA15R and RA20R...
  • Page 581 Revision History Revision date Revised content 2019.10 7B Edition 1.1.2 and 1.1.3 Description changed for Teaching Tool 3.1.1 Brake Power Supply added to Power Supply and Cutoff 3.2.1, 3.2.4 and 3.2.5 Correction made to the base thrust in pressing operation using force sensor 8.1 and 8.2 Descriptions changed in Parameter No.
  • Page 582 Revision History Revision date Revised content 2022.07 Ninth Edition Major Revision, construction changed 3.8 Connection to R-Unit added 7.4.2 Fan Unit Replacing Procedure (SCON-CB 3000W and above) added Chapter 9 Construction of Safety Circuit set separate 10.3.1 Applicable Models added (IFA,ISB-WXMX) Correction made, Terms unified 2022.11 9B Edition...

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