Page 1 CoE Object Dictionary Chapter PDO Mapping Chapter Parameters Chapter Troubleshooting Chapter Appendix Chapter Warranty Chapter This instruction manual describes contents regarding SCON2 field network of about. For those not described in this manual should refer to [SCON2 Instruction Manual (ME0458).
Page 3: Please Read Before Use
● This instruction manual is an original document dedicated for this product. ● This product cannot be used in ways not shown in this instruction manual. IAI shall not be liable for any result whatsoever arising from the use of the product in any other way than what is noted in the manual.
Page 4 SCON2 Motion Network Manual Configuration Control Product name Manual name number SCON2 Motion network ME0472 Instruction Manual (this manual) EtherCAT Specification SCON2 Controller ME0458 SCON2 Instruction Manual SCON2 Controller ME0468 SCON2 First Step Guide IA-OS First Step Guide PC Software...
Page 5 Contents Workflow ························································································ Intro-1 Safety Guide ··················································································· Intro-2 Precautions for Handling ···································································· Intro-10 International Standard Compliance ······················································ Intro-13 Chapter 1 Overview Overview ················································································ 1-1 System Configuration ································································ 1-2 Model Code ············································································· 1-3 Used Tools ·············································································· 1-4 Chapter 2 Specifications and setting for EtherCAT Motion Specifications for Each Type of EtherCAT Motion Interface ················...
Page 6 Caution ··················································································· 3-6 3.6.1 About Power Supply (Initialization Time) ················································· 3-6 3.6.2 Treatment in Control Power Supply Drop ················································ 3-6 3.6.3 Treatment in Control Power Supply Drop ················································ 3-7 3.6.4 Operation in Communication Error in EtherCAT Mortion Network ·················· 3-7 Chapter 4 Operation Caution in Operation ·································································...
Page 7 Chapter 7 Parameters Controller Parameters ································································ 7-1 7.1.1 Controller Parameters Overview ··························································· 7-1 7.1.2 Controller Parameter List ···································································· 7-2 7.1.3 Parameter Details ············································································· 7-5 Chapter 8 Troubleshooting Action to Be Taken upon Occurrence of Problem ····························· 8-1 About Alarms ··········································································· 8-3 Chapter 9 Appendix How to Edit PDO Assigning Object ···············································...
Page 8 ME0472-1C...
Page 9 Prepare the ESI file. (Download it from the IAI homepage) URL https://www.iai-robot.co.jp/knowledge/support/network/index.html Establish the communication setting for the EtherCAT master and the SCON2. Refer to [Instruction Manual of EtherCAT Master] Create a program for basic operation confirmation. (It is not mandatory.) Confirm the basic operations such as servo-on, home-return, moving forward and backward.
Page 10: Safety Guide
Safety Guide Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
Page 11: Storage And Preservation
Safety Guide Operation Description Description Transportation ● When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader”...
Page 12 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 13 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 14: Automatic Operation
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 15 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 16: Alert Indication
Description Unless otherwise specified, descriptions are expressed as shown below. The SCON2 applicable for EtherCAT motion should be described as “SCON2”. The host program controller (PLC) should be described as “EtherCAT master” or “master”. Regarding how to describe numbers (integral number), there should be “b” put at the end of an integral number for binary numbers.
Page 17: Precautions For Handling
Precautions for Handling Precautions for Handling 1. Make sure to follow the usage condition, environment and use 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 18 Precautions for Handling 5. External communication ports There are two types of communication ports including an option in the SCON2. • SIO port (RS-485 round connector) • USB port (USB mini-B connector) Do not connect multiple ports and perform communication simultaneously.
Page 19: Pressing Operation
9. We are checking the connection to Omron NJ/NX Series. [Following restrictions have already been confirmed.] 1. ESI file of SCON2 is available in NJ/NX Series Ver. 1.10 and later. 2. In case of communication connection with DC activated, Sysmac Studio Ver. 1.15 or later is required.
Page 20: International Standard Compliance
International Standard Compliance International Standard Compliance This product complies with the following overseas standards. Refer to [Overseas Standard Compliance Manual (ME0287)] for more detailed information. ○: Applicable, ×: Not applicable RoHS3 Directive CE Marking UL Certification ○ ○ ○ *1 It is applicable only for those with UL/cUL mark shown in the rating label. Intro-12 ME0472-1C...
Page 21 SCON2 - Motion Chapter Overview Overview ······························································· 1-1 System Configuration ··············································· 1-2 Model Code ··························································· 1-3 Used Tools ····························································· 1-4...
Page 23: Overview
Ethernet cable sold in market. SCON2 is capable to construct a system with less wiring by connecting to EtherCAT. In EtherCAT, it is not that sending data to each slave node in the network, but Ethernet frame can be passed through each slave node.
Page 24: System Configuration
1.2 System Configuration 1.2 System Configuration The following shows the system configuration. EtherCAT master unit (Applicable for CiA402) EtherCAT EtherCAT Teaching tool Teaching pendant PC software Model: TB-02 Model: IA-OS TB-03 Connectable actuators 24V DC Power Supply Model: PSA-24 IS series LS series RCＳ...
Page 25: Model Code
“F” is selected in the functional option column and should be the motion type when the motion “M” is selected. Also, in the remote I/O type, the instruction manual should differ. • SCON2 Field network instruction manual (ME0469) ME0472-1C...
Page 26: Used Tools
1.4 Used Tools Shown below are the versions applicable for the tools available for startup and operation of the field network for SCON2. Refer to the following instruction manuals for how to operate the PC software and teaching pendants. The instruction manual (first step guide) for IA-OS introduces only the installation procedures and how to start up the software.
Page 27: Table Of Contents
SCON2 - Motion Chapter Specifications and Setting for EtherCAT Motion Specifications for Each Type of EtherCAT Motion Interface ······ 2-1 2.1.1 EtherCAT Motion Interface Specifications ························ 2-1 2.1.2 CiA402 Drive Profile ··················································· 2-2 Part Names/Functions ·············································· 2-3 2.2.1 Part Names ······························································ 2-3 2.2.2...
Page 29: Specifications For Each Type Of Ethercat Motion Interface
1 to 65535 (up to number of axes available to be controlled Number of Nodes by master) Cable Category 5 or more Controller side RJ-45 (female) × 2 Connector Cable side RJ-45 (male) Refer to [SCON2 Instruction Manual (ME0458)] for details of SCON2 main unit. ME0472-1C...
Page 30: Cia402 Drive Profile
IEC 61800-7-301. It mainly defines the motions of the drive (describes SCON2 in this manual). “ ” The EtherCAT motion type of SCON2 is applicable for CiA402 Drive Profile and supports the following operation modes. Item Contents hm mode (homing mode)
Page 31: Part Names/Functions
2.2 Part Names/Functions 2.2 Part Names/Functions 2.2.1 Part Names Here shows names of each part related to the EtherCAT motions. [1] STATUS LED [2] EtherCAT Communication port ME0472-1C...
Page 32: Function Details Of Each Part
2.2 Part Names/Functions 2.2.2 Function Details of Each Part [1] Status LED With the LED lamps allocated on the front of the controller, condition of communication board and network status can be notified. LED name Color (Status) Contents Initialized (initialization of EtherCAT communication) or - (Light OFF) power turned off Operated in normal condition (EtherCAT communication...
Page 33 2.2 Part Names/Functions * LED blinking timing ME0472-1C...
Page 34 2.2 Part Names/Functions [2] EtherCAT Communication Connector The connector mounted on the communication module for the EtherCAT motion is as shown below. RJ-45 8-pin Modular connector (Controller side) Connector Profile: RJ-45 Type Jack Cable/connector specifications: Ethernet ANSI/TIA/EIA-568-B Category 5 or higher shielded 8P8C modular plug (RJ-45) [Connector Pin Layout] Signal...
Page 35: Wiring
2.3 Wiring 2.3.1 Example for Wiring of EtherCAT Motion Shown below is an example for wiring of EtherCAT. （EtherCAT Master unit） Ethernet cable SCON2 SCON2 Other Slave device Class D grounding (Former Grounding Type 3 : Grounding Resistance 100Ω or less) *1 There should be nothing to be connected on the connector at the slave side end.
Page 36: Wiring Method
(1) Connect the EtherCAT cable to the master unit and join the connector on the other side to the IN connector on SCON2. (2) Join the connector on the EtherCAT cable to the OUT connector on SCON2. * Join the connector on the other side to the connector on a slave unit connected next.
Page 37: Parameter Setting
2.4 Parameter Setting 2.4 Parameter Setting 2.4.1 Setup Parameter List The parameters related to EtherCAT Motion are as follows. Parameter No. Name Input range Remarks Direction for Home return 0 to 1 Direction for Pulse Count 0 to1 Electronic Gear Numerator Not necessary to set up Electronic Gear Denominator Not necessary to set up...
Page 38: Details Of Setup Parameters
2.4 Parameter Setting 2.4.2 Details of Setup Parameters [1] Direction for Home return (Parameter No.5) The home position should be set at the motor attached end of an actuator or the opposite motor attached end. Make sure to change the direction of the pulse count (Parameter No. 62) when the home-return operation direction is to be changed.
Page 39 [4] Fieldbus Node Address (Parameter No.85) As it is not applicable for Device ID, the setting would not be reflected. The slave ID of SCON2 can be set by setting StationAlias on the master side.
Page 40: About Esi File For Ethercat Motion
By importing ESI File to EtherCAT Configuration Tool of the PLC (programmable controller), the setup of the EtherCAT communication can be implemented before a controller gets delivered to you. If ESI File is necessary, download it from IAI homepage. Download Page for Field Network Setting File https://www.intelligentactuator.com/field-network-configuration-files-2/ Select a necessary file from the list of access and download it.
Page 41 SCON2 - Motion Chapter Communication State Transition and Caution Status of EtherCAT Motion Network Communication ······ 3-1 Communication Synchronizing Mode ··························· 3-2 3.2.1 DC (Distributed Clock) Mode ········································ 3-2 3.2.2 FreeRun Mode·························································· 3-2 SDO (Service Data Object) ······································· 3-3 PDO (Process Data Object) ······································· 3-4 PDS (Power Drive System) ·······································...
Page 43: Status Of Ethercat Motion Network Communication
3.1 Status of EtherCAT Motion Network Communication 3.1 Status of EtherCAT Motion Network Communication After the power is turned on, the status shifts in the order of “initialization status” → “pre operation status” → “safe operation status” → “operation status” to start the EtherCAT communication.
Page 44: Communication Synchronizing Mode
Using it in combination with cps Mode and the motor may perform unexpected operation (DC Mode recommended when moving an axis in csp Mode). Also, for SCON2 in FreeRun Mode, the value in 6064h (Position Actual Value) should update in 4ms pitches regardless of the control mode.
Page 45: Sdo (Service Data Object)
Indicating the index and sub index defined in the object dictionary in a slave, readout and write-in at the timing of each parameter being indicated can be performed. SCON2 should support SDO. However, it is not available to read out or write in to any object assigned as PDO (Process Data Object).
Page 46: Pdo (Process Data Object)
The motion control mainly uses this PDO communication as it performs position control in a certain period of frequency (realtime) and monitors the feedback data. SCON2 supports PDO that is a realtime communication. PDO indicates the process data and the objects available for mapping in the drive profile areas.
Page 47: Pds (Power Drive System)
3.5 PDS (Power Drive System) There is a status called PDS (Power Drive System) in the EtherCAT communication which shows the condition of the slave device (equivalent to SCON2). PDS status could vary depending on 6040h (Controlword), and the current PDS status can be checked in 6041h (Statusword).
Page 48: Caution
Be aware that the slaves connected to downstream of the controller would also not be connected. Refer to [EtherCAT Master Instruction Manual] for how to check the slave connection status. Communication Cycle SCON2 Initialization time of controller 1s or more 3.6.2 Treatment in Control Power Supply Drop In EtherCAT Motion type, there is no feature to stop the data transfer to the network by detection of control power supply voltage drop.
Page 49: Treatment In Control Power Supply Drop
3.6.3 Treatment in Control Power Supply Drop When SCON2 is in MANU Mode (the operation mode toggle switch on the front panel is on MANU side), PDS should be transmitted to FAULT. Also, even though the link to the EtherCAT master should continue, operation of an actuator should not be available.
Page 50 3.6 Caution ME0472-1C...
Page 51 SCON2 - Motion Chapter Operation Caution in Operation ················································ 4-1 4.1.1 Encoder Type ··························································· 4-1 4.1.2 Soft Limit Feature ······················································ 4-2 4.1.3 Positioning Complete Band ·········································· 4-2 4.1.4 Command Speed Error ··············································· 4-2 Home-Return Operation ··········································· 4-3 4.2.1 Home-Return Operation in hm Mode ······························ 4-3 4.2.2...
Page 53: Caution In Operation
However, it is necessary to set up as the absolute encoder when connectivity is to be established with NJ Series manufactured by OMRON as the EtherCAT master. The feedback position of SCON2 can be reflected to the indicated position on the controller side by the followup process in servo-off status.
Page 54: Soft Limit Feature
4.1.2 Soft Limit Feature Even though there is a soft limit feature on the EtherCAT master side, drive limitation by the feedback value should also be conducted on the SCON2 side in order to protect a connected actuator. The soft limit should get activated after the home-return operation of a controller is completed and the coordinates have been confirmed.
Page 55: Home-Return Operation
4.2 Home-Return Operation 4.2 Home-Return Operation When the coordinates of an actuator connected to SCON2 is unconfirmed, it is necessary to perform the home-return operation in order to confirm the feedback position. When the home-return operation is performed by sending a command from the master, the way to do it differs in the following two operation modes.
Page 56: Home-Return Operation In Csp Mode
While the servo of SCON2 is on, set the general output signal bit16: HOME in CoE Object 60FEh Sub-Index02 from 0 → 1 to release the output mask.
Page 57: Position Control Operation
4.3 Position Control Operation 4.3 Position Control Operation When the position control is to be conducted by a command sent from the master, the way to conduct it differs in the following two operation modes. ● Position Control Operation in csp Mode Refer to [4.3.1] ●...
Page 58 4.3 Position Control Operation Caution  When bit6: absolute/relative in 6040h (ControlWord) is set to 0, the target position should be the difference between 6064h (Position Actual Value) and 607Ah (Target Position). At this time, an actuator attempts to go back to the target position input when the servo was turned on after a motor is moved with an external force during the servo was off, which could be a risk that an axis operates in unexpected way.
Page 59 4.3 Position Control Operation Shown below is a diagram showing the target position update when a communication error has occurred. Target Position Update Alarm generated if target position leads command velocity error Difference to target position in period updated last Command Position if Alarm Generated target positions in 2...
Page 60: Position Control Operation In Pp Mode
4.3 Position Control Operation 4.3.2 Position Control Operation in pp Mode pp Mode is a position control mode that the target position, target velocity and acceleration/deceleration are indicated in the master and makes operation by generating a position command inside Controller. Caution ...
Page 61 4.3 Position Control Operation ME0472-1C...
Page 62 4.3 Position Control Operation 4-10 ME0472-1C...
Page 63: Coe Object Dictionary
SCON2 - Motion Chapter CoE Object Dictionary CoE Communication Area (1000h to 1FFFh) ················· 5-2 Manufacturer Specific Area (2000h to 5FFFh) ··············· 5-3 Drive Profile Area (6000h to 9FFFh) ···························· 5-4 5.3.1 PDS (Power Drive System, Variable Speed Drive System) Transition Condition ·····················································...
Page 65 5. CoE Object Dictionary In the lists below, shows the objects of EtherCAT Communication Protocol (CoE) available to use in our controller. * Refer to [Instruction Manual of EtherCAT Master] for detailed operation. * Check how to register ESI and how to register objects to PDO in [Instruction manual of EtherCAT Master].
Page 66: Coe Communication Area (1000H To 1Fffh)
Unit Symbol Remarks Index 1000 DeviceType －－ Fixed to 0x00020192 Manufacture device Character －－ 1008 SCON2-CG-M-EC name String Identity object － Vender ID Fixed to 0x00000588 －－ 1018 Product code Fixed to 0x03A00001 U32 [4] Revision number...
Page 67: Manufacturer Specific Area (2000H To 5Fffh)
5.2 Manufacturer Specific Area (2000h to 5FFFh) 5.2 Manufacturer Specific Area (2000h to 5FFFh) It is available to have the loop-back test using SDO in 4FFEh of this area. Sub- Index Name Model Unit Symbol Remarks Index These are the objects in order to conduct the loopback test using SDO.
Page 68: Drive Profile Area (6000H To 9Fffh)
5.3 Drive Profile Area (6000h to 9FFFh) 5.3 Drive Profile Area (6000h to 9FFFh) It shows the object type in this area. 5.3.1 PDS (Power Drive System, Variable Speed Drive System) Transition Condition Shown below is a diagram for the status transition of PDS related the motor power control by commands from the master in 6040h (ControlWord) or error detection.
Page 69: Transition Condition
5.3 Drive Profile Area (6000h to 9FFFh) [Explanation of Status Transition Diagram] PDS State Transition Condition Operation of Our Controller Transition • Automatic transition after power turned • Initialization process of FB Module should Auto skip on or software reset conducted. be conducted •...
Page 70: Applicable Control Modes
5.3 Drive Profile Area (6000h to 9FFFh) 5.3.2 Applicable Control Modes Applies to the next control modes. Modes of operation (Control mode) Cyclic synchronous position mode (Cyclic Position Control Mode) Profile position mode (Cyclic Position Control Mode) Homing mode (Home-Return Position Control Mode) ...
Page 71 5.3 Drive Profile Area (6000h to 9FFFh) Index offset Sub- Name Model Attribute PDO Unit Remarks (+ 800h × Index Axis) * 0: Mode unset Mode of 1: pp mode 6060 operation 6: hm mode 8: csp mode 0: Mode unset Mode of 1: pp mode 6061...
Page 72: Caution In Control Mode Switchover
5.3 Drive Profile Area (6000h to 9FFFh) 5.3.3 Caution in Control Mode Switchover Described below is a caution when changing the control mode. Caution  The control mode can be switched by operating the value in 6060h (Mode of operation). ...
Page 73: List Of Object Dictionary
5.3.4 List of Object Dictionary The objects in this area are complied with the object specifications for CiA402. The objects that cannot be changed in SCON2 should be referenced as Read Only. Attribute ro: read only, rw: read / write PDO rx: Master ⇒...
Page 74 5.3 Drive Profile Area (6000h to 9FFFh) Attribute ro: read only, rw: read / write PDO rx: Master ⇒ ⇒ Slave, tx: Slave ⇒ ⇒ Master Sub - Attribute Index Name Model Unit Remarks Index Quick stop Fixed to -1 (Maximum deceleration stop) 605A Option Code Refer to [4.2 Home-Return Operation]...
Page 75 5.3 Drive Profile Area (6000h to 9FFFh) Attribute ro: read only, rw: read / write PDO rx: Master ⇒ ⇒ Slave, tx: Slave ⇒ ⇒ Master Sub - Attribute Index Name Model Unit Remarks Index Position encoder resolution 608F Encoder pulse Encoder Resolution increments...
Page 76 <607Ah (Target Position) bit22: NOVTPOS = 607Ah (Target Position) <607Dh_01h (Min position limit) * bit 2-0 returns the following signals inside SCON2 (Not external I/O of hardware, but signals in software) bit2：ZPOINT bit1：POT bit0：NOT For details, refer to [5.3.4 [1]]...
Page 77 HEND 1: Coordinates confirmed 15-3 Reserved In SCON2, there is no external I/O in the hardware and the following condition home switch should get returned as a signal in the software. (ZPOINT) ZPOINT = Absolute value of ((Home position - 6064h (Position actual value)) ≤...
Page 78 5.3 Drive Profile Area (6000h to 9FFFh) [2] Details of Object 60FEh (Digital outputs) Shown below are the bits assigned to Object 60FEh (Digital outputs). Also, SuIndex01 and 02 should be defined in 60FEh, and in order to operate the applicable bit, it is necessary to change the value in both of SubIndex01 and 02.
Page 79: Object Dictionary In Drive Profile Area In Csp Mode
5.3 Drive Profile Area (6000h to 9FFFh) 5.3.5 Object Dictionary in Drive Profile Area in csp Mode Here describes the objects used in csp Mode. Index Name Model Attribute Unit Remarks -Index * There is no control mode dependent bit in 6040 Controlword csp.
Page 80: Object Dictionary In Drive Profile Area In Pp Mode
5.3 Drive Profile Area (6000h to 9FFFh) 5.3.6 Object Dictionary in Drive Profile Area in pp Mode Here describes the objects used in pp Mode. Index Name Model Attribute Unit Remarks -Index bit4: new set-point Shifting from 0 → 1 and positioning to Object 607Ah should start.
Page 81 5.3 Drive Profile Area (6000h to 9FFFh) Index Name Model Attribute Unit Remarks -Index Set the target velocity When a value higher than that converted from the maximum velocity of a parameter is written in, a value converted from the maximum velocity should be set.
Page 82: Object Dictionary In Drive Profile Area In Hm Mode
* bit10 = 1 and bit12 = 1 express that the home-return operation has completed in normal condition. Indicate a system to perform the home- return operation. -127 (0x81) : IAI Home-Return System Homing 6098 The home-return operation should be method conducted in a way that is set in the parameter of a controller.
Page 83: Pdo Mapping
SCON2 - Motion Chapter PDO Mapping PDO Mapping Object ··············································· 6-1 PDO Assigning Object ·············································· 6-2 Default PDO Mapping ·············································· 6-3 Settings for PDO Assigning Objects and PDO Mapping Objects··············································· 6-4...
Page 85 PDO Mapping Object is an object to show how each object stated as Tx/Rx in the list of objects in the drive profile area described previously has been mapped in PDO. SCON2 occupies from 1600h to 163Fh for RxPDO and from 1A00h to 1A3Fh for TxPDO.
Page 86 6.2 PDO Assigning Object A PDO assigning object is an object that describes the relation between SyncManager and the table for PDO mapping in order to exchange the PDO data. SCON2 occupies 1C12h for RxPDO and 1C13h for TxPDO. Assigning "1600h" stated 6.1 to a PDO assigning object should be expressed as shown below.
Page 87: Default Pdo Mapping
6.3 Default PDO Mapping 6.3 Default PDO Mapping The PDO mapping in default is as follows. [RxPDO (Master → Slave)] PDO Mapping Object Object Index Index Name (hex) -Index (hex) -Index 6040 ControlWord 1600 607A Target Position 6060 Mode of operation 1601 6081 Profile velocity...
Page 88 6.4 Settings for PDO Assigning Objects and PDO Mapping Objects 6.4 Settings for PDO Assigning Objects and PDO Mapping Objects The relation among PDO assigning objects, PDO mapping objects and objects in RCON is as shown below. To each of these PDO mapping objects, it is available to map the objects described with Tx/Rx in the PDO column in the object list of the drive profile area (6000h to 9FFF).
Page 89 SCON2 - Motion Chapter Parameters Controller Parameters ·············································· 7-1 7.1.1 Controller Parameters Overview ··································· 7-1 7.1.2 Controller Parameter List············································· 7-2 7.1.3 Parameter Details ······················································ 7-5...
Page 91: Controller Parameters
7.1 Controller Parameters 7.1 Controller Parameters 7.1.1 Controller Parameters Overview It is the data to operate a controller applicable for EtherCAT Motion. 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.
Page 92: Controller Parameter List
7.1 Controller Parameters 7.1.2 Controller Parameter List The parameter list related to SCON2 Motion Network specification are as follows. Default initial value Relevant Name Unit Input range setting sections In accordance with Zone boundary 1 + side mm (deg) -9,999.99 to 9,999.99 7.1.3 [1]...
Page 93 7.1 Controller Parameters Default initial value Relevant Name Unit Input range setting sections In accordance with Pulse count direction 0: Forward, 1: Reverse 7.1.3 [22] actuator Electronic gear numerator 1 to 99,999,999 7.1.3 [23] Electronic gear denominator 1 to 99,999,999 7.1.3 [24] In accordance with Position feed forward gain...
Page 94 7.1 Controller Parameters Default initial value Relevant Name Unit Input range setting sections In accordance with Current control width number 2 0 to 15 7.1.3 [21] actuator In accordance with Servo gain number 3 0 to 31 7.1.3 [4] actuator In accordance with Position feed forward gain 3 0 to 100...
Page 95: Parameter Details
7.1 Controller Parameters 7.1.3 Parameter Details Caution  After changing (writing) parameters, perform a software reset or power reboot so that the set values can be reflected.  The unit [deg] is applicable to the rotary actuator. Note that it will be displayed as [mm] on the teaching tool.
Page 96 7.1 Controller Parameters [For rotary actuator in index mode] Zone signal ON range 0deg 0deg 315deg 315deg 70deg 70deg Caution  Unless the zone signal detection range is set at a value above minimum resolution, a signal will not be output. ...
Page 97 (open side). If it becomes necessary to reverse the home direction after the actuator is installed on the machine, change the setting. Refer to [SCON2 instruction manual (ME0458) Prelims Actuator Coordinate System]. Caution  Homing direction cannot be changed with some models.
Page 98 7.1 Controller Parameters [4] Servo Gain Number (Parameter No.7, 120, 126, 132) Name Unit Input range Default initial value 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...
Page 99 7.1 Controller Parameters [6] Positioning Band (In-Position) Initial Value (Parameter No. 10) Name Unit Input range Default initial value setting 0.01 to 9,999.99 Positioning band initial value In accordance with actuator (deg) This value will be written automatically in the positioning width field of the applicable position No.
Page 100 7.1 Controller Parameters [9] SIO Communication Speed (Parameter No.16) Name Unit Input range Default initial value setting SIO communication speed 9,600 to 230,400 38,400 Set the SIO baud rate for the startup. Set an appropriate value in accordance with the communication speed of the host. One of 9,600, 14,400, 19,200, 28,800, 38,400, 76,800, 115,200 and 230,400 bps can be selected as the communication speed.
Page 101 7.1 Controller Parameters [12] Overrun Sensor Input Polarity (Parameter No. 19) Name Unit Input range Default initial value setting Home sensor input polarity 0 to 2 In accordance with actuator A parameter to select input polarity of the overrun sensor. This parameter is set properly prior to the shipment according to the specification of the actuator.
Page 102 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. 7-12 ME0472-1C...
Page 103 7.1 Controller Parameters [15] Velocity Loop Proportional Gain (Parameter No. 31, 122, 128, 134) Name Unit Input range Default initial value 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...
Page 104 7.1 Controller Parameters Speed When the setting value is high (overshoot) When the setting value is low Time [17] Torque Filter Constant (Parameter No. 33, 124, 130, 136) Name Unit Input range Default initial value setting Torque filter constant 0 to 2,500 In accordance with actuator Torque filter constant 1 0 to 2,500...
Page 105 7.1 Controller Parameters [19] Enable Function (Parameter No.42) Name Unit Input range Default initial value setting Enable function 0: Enabled, 1: Disabled Set valid/invalid the deadman switch function if the teaching pendant is equipped with a deadman switch. [20] Silent Interval Magnification (Parameter No.45) Name Unit Input range...
Page 106 7.1 Controller Parameters [22] Pulse Count Direction (Parameter No.62) Name Unit Input range Default initial value setting Pulse count direction 0: Forward, 1: Reverse In accordance with actuator It is a parameter dedicated for the pulse train control mode and motion field network control. Refer to [2.4.2 [2] Checking Pulse Count Direction].
Page 107 7.1 Controller Parameters [25] Positional Feedforward Gain (Parameter No. 71) Name Unit Input range Default initial value setting Positional feed forward gain 0 to 100 In accordance with actuator Positional feed forward gain 1 0 to 100 In accordance with actuator Positional feed forward gain 2 0 to 100 In accordance with actuator...
Page 108 7.1 Controller Parameters [26] Drive Cutoff Relay Sticking Monitoring Timer (Parameter No.72) Name Unit Input range Default initial value setting Drive Cutoff Relay Sticking 0 to 60,000 3,000 Monitoring Timer This parameter defines the timer period in which fusing of the emergency stop relay for cutting off the motor drive power is detected.
Page 109 7.1 Controller Parameters [28] Belt Breaking Sensor Input Polarity (Parameter No. 76) Name Unit Input range Default initial value setting Belt breaking sensor input 0 to ２ In accordance with actuator polarity Set the sensor input polarity for alarm 0D7 “Belt Break Detection”...
Page 110 7.1 Controller Parameters [30] Fieldbus Node Address (Parameter No. 85) Name Unit Input range Default initial value setting Fieldbus node address Dependent to network The node address of the slave is to be indicated. The setting range and the settings on delivery should differ depending on the network module to be connected.
Page 111 7.1 Controller Parameters [33] Software Limit Margin (Parameter No. 88) Name Unit Input range Default initial value setting Software limit margin 0.00 to 9,999.99 In accordance with actuator (deg) A parameter for over error detection setting with regard to the values set for Parameter No. 3 and Parameter No.
Page 112 7.1 Controller Parameters [35] Calendar Function (Parameter No. 111) Name Unit Input range Default initial value setting 0: Not in use Calendar function 1: Used This parameter defines whether the calendar function (RTC) is used or not. Set the current time with using a teaching tool when the calendar function is used. For details, refer to [Instruction manual for for each teaching tool].
Page 113 7.1 Controller Parameters [37] Monitoring Cycle (Parameter No. 113) Name Unit Input range Default initial value setting Monitoring cycle 1 to 60,000 Sets initial value of time cycle (sampling cycle) to obtain data when monitoring mode is Note 1 selected. Data obtaining interval can be extended by increasing the value of this parameter.
Page 114 7.1 Controller Parameters [39] Home Preset Value (Parameter No.139) Name Unit Input range Default initial value setting Home preset value -9,999.99 to 9,999.99 In accordance with actuator (deg) When using an actuator of absolute specification, set “homing offset value+ this parameter set value”...
Page 115 7.1 Controller Parameters [40] Overload Load Level Ratio (Parameter No.143) Name Unit Input range Default initial value 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”...
Page 116 7.1 Controller Parameters [42] Total Travel Distance Threshold (Parameter No. 148) Name Unit Input range Default initial value setting Total travel distance threshold 0 to 999,999,999 0 (Disabled) When total travel distance exceeds the set value of this parameter, alarm 04F “Travel Distance Threshold Over”...
Page 117 7.1 Controller Parameters 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 118 7.1 Controller Parameters [44] Delay Time after Shutdown Release (Parameter No. 165) Name Unit Input range Default initial value setting Delay Time after Shutdown 0 to 10,000 Release Time setting before getting available to turn the servo ON when the startup of the drive source is slow due to a reason e.g.
Page 119 0: Disabled, 1: 4CH, Drive recorder mode select 2: 8CH, 3: 2CH The number of data to be acquired in the drive recorder feature should be selected. For details, refer to [SCON2 Instruction Manual (ME0458) Drive Recorder Feature] 7-29 ME0472-1C...
Page 120 Unit Input range Default initial value setting Drive recorder sampling 1 to 1,000 frequency The cycle to acquire data in the drive recorder feature should be changed. For details, refer to [SCON2 Instruction Manual (ME0458) Drive Recorder Feature] 7-30 ME0472-1C...
Page 121: Troubleshooting
SCON2 - Motion Chapter Troubleshooting Action to Be Taken upon Occurrence of Problem ··········· 8-1 About Alarms ·························································· 8-3...
Page 123: 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 Display Status Green...
Page 124 8.1 Action to Be Taken upon Occurrence of Problem Note 1 As RCON is equipped with the calendar function, it is available to check the date and time of an alarm occurrence. Set the date and time such from teaching tool as a IA-OS or Gateway Parameter Setting Tool at the first time when the controller power is turned on.
Page 125: About Alarms
8.2 About Alarms 8.2 About Alarms For the details of alarms occurred in SCON2, check in [SCON2 Instruction Manual (ME0458) Chapter 8 Troubleshooting]. When an alarm is occurred, it should basically stop the actuator operation and turn the servo off.
Page 126 8.2 About Alarms ME0472-1C...
Page 127 SCON2 - Motion Chapter Appendix How to Edit PDO Assigning Object ······························ 9-1 9.1.1 How to Edit PDO Assigning Object in TwinCAT3 ··············· 9-1 9.1.2 How to Edit PDO Assigning Object in SYSMAC STUDIO ············ 9-3 Home-Return Function Blocks ··································· 9-5 9.2.1...
Page 129: How To Edit Pdo Assigning Object
Shown below describes how to edit a PDO assigning object in TwinCAT3 of Beckhoff Automation GmbH. Register SCON2 as an EtherCAT slave in TwinCAT3, double-click SCON2, open “ProcessData” and the status of PDO can be checked. Shown at the bottom of the window are the objects assigned to the current PDO.
Page 130 9.1 How to Edit PDO Assigning Object For instance, the PDO mapping object “1604h” including “6072h: Max Torque” gets enabled. Click in the check box on the applicable “1604h” as shown in the figure to put a check mark and “6072h: Max Torque”...
Page 131: How To Edit Pdo Assigning Object In Sysmac Studio
Open the network construction window after SCON2 is registered as the EtherCAT slave in SYSMAC STUDIO, click the SCON2 icon, and a window to set up the PDO mapping should open. Click Edit PDO mapping setting here. Switching over of enable/disable of each PDO mapping object is available in PDO Mapping List area.
Page 132 9.1 How to Edit PDO Assigning Object For instance, a mapping object “1604h“ that includes “6072h: Max Torque” is to be enabled. Click the radio button in “Selection” for the applicable line of “Receive PDO Mapping” as shown in the figure to activate “Receive PDO Mapping”...
Page 133: Home-Return Function Blocks
(MC_Home) that Omron NJ/NX Series has in standard, it is necessary to follow the steps described [4.2.2 Home-Return Operation in csp Mode] in order to perform the home-return operation. IAI has prepared two types of home-return function blocks for when NJ/NX Series is connected. Refer to those below for more details.
Page 134 9.2 Home-Return Function Blocks 9.2.1 Home-Return Function Blocks IAI_HomeForAssignedPDO IAI_HomeForAssignedPDO is the function block for when Sub-Index01 (Physical outputs) of Object 60FEh is to be assigned to PDO. When the function block for when Sub-Index01 (Digital outputs) of Object 60FEh is not to be assigned to PDO use IAI_HomeForSDOAccess in [9.2.2].
Page 135: Home-Return Function Blocks
Enable Initial Input variables Name Contents type range value Indicate an axis number inside an IAI IAI_AxNo Axis Number UINT (Fixed) controller that you would like to operate. By setting this to TRUE while the servo of the applicable axis is on, the home-return operation will be performed.
Page 136 Data Enable Output variables Name Contents type range TRUE, It turns to TRUE when IAI home-return Done Complete BOOL FALSE operation is finished and ready for operation. It is the Busy output of MC_Power used in the function block. (It is the same Busy output as the standard...
Page 137 9.2 Home-Return Function Blocks Data Enable Output variables Name Contents type range It is the Error output of MC_HomeWithParameter used in the function block. MC_HomeWithParam MC_HomeWithParameter TRUE, (It is the same Error output as the standard BOOL eter_Error Error FALSE MC_HomeWithParameter.) It turns to TRUE when an error is occurred in MC_HomeWithParameter Command in the...
Page 138 9.2 Home-Return Function Blocks [3] Reflection Timing of Output Variables Output variables Timing to turn to TRUE Timing to turn to FALSE ● When home-return operation of an axis is finished and servo is turned off and then turned on Done ●...
Page 139 UDINT There are bits necessary in order to conduct outputs the home-return operation that is original for IAI included in the Digital outputs, and this domain in the function block should be operated to perform the home-return operation. Refer to *2 for the details of Digital outputs.
Page 140 9.2 Home-Return Function Blocks [5] Explanation of Functions and How to Use 1) It functions to the axes indicated in Axis and IAI_AxNo Indicate the same axis for these two. Indicate axis variable generated by axis setting in Axis 2) Set a number that 60FEh Sub-Index01 of the axis indicated in Axis and IAI_AxNo turned into a variable to PDO_60FE_01.
Page 141: Iai_Homeforassignedpdo
Done to TRUE after the home-return operation is finished in order to be ready for operation. This condition of Done being TRUE is the condition of AND shown in the figure below. IAI_HEND (Home-return operation of IAI Done of product complete) IAI_HomeForAssignedPDO Axis.Details.Homed...
Page 142 9.2 Home-Return Function Blocks [6] Caution • In order to perform the home-return operation using this function block, in either case of the used axis being encoder type, select “Axis Setting” → “Position Count Settings” → “Absolute Encoder (ABS)” in “Encoder type”. Select Absolute Encoder (ABS) •...
Page 143 “User Application” in the leftmost shows the movement on the ladder program written to NJ/NX, flow of the consecutive operation will be performed by setting MC_Power_Enable and HomeEnable in this function block to TRUE. Inside Operation of SCON2 Go to NOP Mode NOP Mode...
Page 144: Iai_Homeforsdoaccess
9.2 Home-Return Function Blocks 9.2.2 Home-Return Function Blocks IAI_HomeForSDOAccess IAI_HomeForSDOAccess is the function block when Sub-Index01 (Physical outputs) in Object 60FEh is not to be assigned to PDO. Use [9.2.1 IAI_HomeForAssignedPDO] when Sub-Index01 in Index No.60Feh (Digital outputs) is to be assigned to PDO.) 9-16 ME0472-1C...
Page 145 Enable Initial Input variables Name Contents type range value Indicate an axis number inside an IAI IAI_AxNo Axis Number UINT (Fixed) controller that you would like to operate. By setting this to TRUE while the servo of the applicable axis is on, the home-return operation will be performed.
Page 146 Data Enable Input variables Name Initial value type range TRUE, It turns to TRUE when IAI home-return Done Complete BOOL FALSE operation is finished and ready for operation. It is the Busy output of MC_Power used in the function block.
Page 147 9.2 Home-Return Function Blocks Data Enable Input variables Name Initial value type range It is the Error output of MC_HomeWithParameter used in the function block. MC_HomeWithParam MC_HomeWithParameter TRUE, (It is the same Error output as the standard BOOL eter_Error Error FALSE MC_HomeWithParameter.) It turns to TRUE when an error is occurred in...
Page 148 9.2 Home-Return Function Blocks [3] Reflection Timing of Output Variables Output variables Timing to turn to TRUE Timing to turn to FALSE ● When home-return operation of an axis is finished and servo is turned off and then turned on Done ●...
Page 149 9.2 Home-Return Function Blocks [4] Input and Output Variables Input and output Enable Name Data type Contents variables range Indicate the axis to be object. _sAXIS_ Axis Axis Unlike IAI_AxNo the axis setting definition should be conducted in variables. 9-21 ME0472-1C...
Page 150 9.2 Home-Return Function Blocks [5] Explanation of Functions and How to Use 1) It functions to the axes indicated in Axis and IAI_AxNo. Indicate the same axis for these two. Indicate axis variable generated by axis setting in Axis 2) Set a number that 60FEh Sub-Index01 of the axis indicated in Axis and IAI_AxNo turned into a variable to PDO_60FE_01.
Page 151 Done to TRUE after the home-return operation is finished in order to be ready for operation. This condition of Done being TRUE is the condition of AND shown in the figure below. IAI_HEND (Home-return operation of IAI Done of product complete) IAI_HomeForAssignedPDO Axis.Details.Homed...
Page 152 9.2 Home-Return Function Blocks [6] Caution • In order to perform the home-return operation using this function block, in either case of the used axis being encoder type, select “Axis Setting” → “Position Count Settings” → “Absolute Encoder (ABS)” in “Encoder type”. Select Absolute Encoder (ABS) •...
Page 153 “User Application” in the leftmost shows the movement on the ladder program written to NJ/NX, flow of the consecutive operation will be performed by setting MC_Power_Enable and HomeEnable in this function block to TRUE. Inside Operation of SCON2 NOP Mode NOP Mode...
Page 154: Example Of Use Function Blocks (Reference)
9.2 Home-Return Function Blocks 9.2.3 Example of Use Function Blocks (Reference) In this section, shows a sample ladder using this function block. In the sample ladder, 0th axis of MCON will be operated as explained below. 1. Servo-on 2. Home-Return Operation 3.
Page 155 9.2 Home-Return Function Blocks ● Once Axis0_Move turns to TRUE, Execute in Axis0_MoveAbs0 turns to TRUE, the axis moves to the position at 50mm and Done turns to TRUE. ● Once Done in Axis0_MoveAbs0 turns to TRUE, Execute in Axis0_MoveAbs1 turns to TRUE, the axis moves to the position at 0mm and Done turns to TRUE.
Page 156 9.2 Home-Return Function Blocks 9-28 ME0472-1C...
Page 157: Warranty
SCON2 - Motion Chapter Warranty 10.1 Warranty period ······················································ 10-1 10.2 Scope of the warranty ·············································· 10-1 10.3 Honoring the warranty ·············································· 10-1 10.4 Limited liability ························································ 10-2 10.5 Conformance with applicable standards/regulations, etc., and application conditions ········································· 10-2 10.6 Other items excluded from warranty ···························· 10-2...
Page 159: 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 160: 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 161: Revision History
1B Edition Delete Parameter No.75 “Electromagnetic brake power supply monitoring” 2024.04 1C Edition Preliminaries - International Standard Compliance updated (SCON2-CG applicable for UL) 1.2 Correction made to absolute battery holder 1.3 Supplementary explanation added and period corrected in models (equipped with multiple function connector)

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