Iai-america SCON-C Manual de usuario

Operation Manual Fourteenth EditionSCON Controller

3.10 Jogging/Teaching Using PIO ...129 3.11 Operations in

82 (10) Incremental command  This field defines whether the position is specified in the absolute mode or incremental mode. The factory setting

83 Warning: If the next move command is an incremental command (constant pitch feed), never use the automatic servo-off mode. The current positi

84 2.2 Explanation of Modes 2.2.1 Positioning Mode Push = 0 The actuator moves to the target position set in the “Position” field of the positi

85 (2) Load was not contacted (missed) If the actuator does not still contact the load after having moved the distance specified in the “Positio

86 (4) Positioning band was entered with a wrong sign Take note that if a value with a wrong sign is set in the “Positioning band” field of the

87 ON ON OFF *STP Actuator operation Target position Zone output (ZONE1) Actuator operation + direction Home Value set in parameter No. 2Val

88  Position zone output signal (PZONE) Set the signal ON zone using the “Zone-“ and “Zone+” fields of the position table * The zon

89 2.2.8 Overview of Teaching Mode [Teaching Type] Depending on your system, it may be desirable to be able to use a touch panel, etc., to perfo

90 2.2.9 Overview of Solenoid Valve mode 1 [7-point Type] The number of positioning points is kept small, or specifically to seven or less. This

91 [2] Positioning mode [64-point type] Command position 1 input (PC1) Command position 2 input (PC

Pre-1 Safety Guide This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure t

92 2.2.10 Overview of Solenoid Valve Mode 2 [3-point Type] This type provides a control method adjusted to that of an air cylinder by assuming t

93 Item Air cylinder SCON Position check upon power ON Determined by an external detection sensor, such as a reed switch. Immediately after the p

94 2.3 Power-saving Modes at Standby Positions To save energy when the actuator stands by for a long period of time, this controller provides a

95 When the PIO pattern is 0, 1, 2, 3 or 4, the servo will turn off and therefore the position complete signal (PEND), completed position number

96 3. Operation 3.1 How to Start 3.1.1 Incremental Specification  Procedure after initial startup until actuator adjustment [1] Connect the

97 [11] Set a target position in the “Position” field of the position table. Set a target position in the “Position” field of each position table

98 3.1.2 Absolute Specification (Absolute Reset) [1] On absolute reset from PC software or teaching pendant [1] Connect the motor cable and e

99  Overview of operation using the PC software Select position data in the main screen, and then click the Home button. For details, refer to

100 Startup Timing Chart Note 1) Always input the 24-V PIO power (and the 24-V brake power if the

101 [2] On absolute reset from PIO (supported from version V001E) It is possible to use PIO to perform absolute reset. Execute the following st

Pre-2 Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Cutoff of drive source Meas

102 3.1.3 Normal Operation Procedure Normally, the operation procedure follows the steps below: [1] Cancel the emergency stop or enable the mot

103 Home positionMechanical endPower on positionEmergency stop not actuated (motor drive po

104 3.1.4 Position Table and Parameter Settings Required for Operation  Startup adjustment Immediately after the system has been started, the m

105  Full-scale operation This product provides energy-saving modes to reduce power consumption in situations where the actuator remains standst

106 Command position 1 to 256 input (PC1 to PC256) Start input (CSTR) Home return complete output (HEND) Completed position output (PM1 to PM

107 3.2 How Return Operation 3.2.1 Method Using the HOME Input Signal (PIO Pattern = 0 to 4) Since the home return signal (HOME) is provided i

108 3.2.2 Method Used When No HOME Input Signal Is Available (PIO Pattern = 5) Since no home return signal (HOME) is available in PIO pattern 5,

109 3.3 Positioning Mode (Back and Forth Movement between Two Points) Example of use in operation) The actuator moves back and forth between tw

110 Position table (Field(s) within thick line must be entered.) No. Position [mm] Speed [mm/s] Acceleration [G] Deceleration [G] Push [%] Posit

111 3.4 Push & Hold Mode Example of use in operation) The actuator is caused to move back and forth in the push & hold mode and positi

Pre-3 Applicable Modes of IAI’s Industrial Robot Machines meeting the following conditions are not classified as industrial robots according to

112 Position table (Field(s) within thick line must be entered.) No. Position [mm] Speed [mm/s] Acceleration [G] Deceleration [G] Push [%] Posit

113 Speed Return actionReturned position250.34 mm Target position280 mm Position where the push & hold operation completed 290.34 mm 3.4.1 Re

114 3.5 Speed Change during Movement Example of use in operation) The actuator speed is reduced at a certain point during movement. The positi

115 Position table (Field(s) within thick line must be entered.) No. Position [mm] Speed [mm/s] Acceleration [G] Deceleration [G] Push [%] Posit

116 3.6 Operation at Different Acceleration and Deceleration Settings Example of use in operation) Positioning is performed to the position 15

117 Position table (Field(s) within thick line must be entered.) No. Position [mm] Speed [mm/s] Acceleration [G] Deceleration [G] Push [%] Posit

118 3.7 Pause Example of use in operation) Pause the actuator during movement. [Effective in PIO pattern = 0 to 4] Method) Use the pause input

119 Command position Start Position complete Completed position Pause Moving Actuator movement 6 msec or moreCommand position S

120 3.8 Zone Signal Output Two types of zone output signals are available: zone output (ZONE1) and position zone output (PZONE). The boundaries

121 Controller [5] [2] [1] [10] [9] [3] [7] [6] [8] [4] PIO Signal name Sta

Pre-4 Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task N

122 T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON (The scan time o

123 3.9 Incremental Moves Example of use in operation) Move the actuator from the home to the 30-mm position by issuing an absolute position co

124 Position table (Field(s) within thick line must be entered.) T1: 6 msec or more; time after selecting/enterin

125 3.9.1 Judgment Method of End Position Although completion judgment is based on the applicable count managed by the PLC, the zone output signa

126 3.9.2 Notes on Incremental Mode (1) Positioning mode If any incremental position number is selected and input and then a start signal is inp

127 (2) Push & hold mode The following explains how the actuator will move if an incremental position number is selected and input and then

128  Push & hold operation using the incremental position number Example) If a position 2 command is input followed by a start signal whil

129 3.10 Jogging/Teaching Using PIO If the teaching type is selected, you can jog the actuator via operation from the PLC. You can also write th

130 Jogging/teaching timing T1: 40 msec or more; time after the current-position write input is turned ON until writing of the

131 3.11 Operations in Solenoid Valve Mode 1 [7-point Type] Separate movement command inputs are provided for the target positions for position

Pre-5 No. Task Note (2) Wiring the cables  Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc. 

132 Caution: Movement commands are executed based on the rise edge, so input each signal continuously for 6 mse

133  The movement command input operates in two modes. You can select the operation condition of the movement command input (ST0 to ST6) in par

134  Handling of the pause (*STP) signal This is a negative-logic signal, so it must remain ON while the actuator is moving. If the pause signa

135 3.12 Operations in Solenoid Valve Mode 2 [3-point Type] After the power has been turned on, input the rear end move command first to comple

136  Meaning of position detected output signals (LS0, LS1, LS2) These signals are handled in the same manner as limit switches (LSs), and turn

137  Speed change during movement If the load is made of soft material or is a bottle or otherwise topples easily due to its shape, one of the

138  Pause during movement Since move commands are based on level mode, the actuator continues to move while a move command is ON. Once the mov

139  Push & hold operation The following limitations apply in solenoid valve mode 2 [3-point type]:  The position complete signal (PEND)

140 Operation timings PLC processing 1: [1] The PLC turns OFF the rear end move command signal (ST0) and intermediate point move command signal

141 Front end move command input (ST1) Rear end move command input (ST0) Timer monitor complete signal Zone output Timer monitor period Sequence p

Pre-6 No. Task Note 5 Teaching  When releasing the brake of the vertically installed actuator, be careful not to let the actuator drop due to

142 Chapter 3 Pulse-train Input Mode 1. Overview In this mode, the actuator can be controlled using the positioning control function (pulse-tr

143 1.2 Standard Accessories (1) Pulse-train control service connector Description: Plug (10114-3000PE by Sumitomo 3M) Shell (10314-52F0-008

144 On installation of AK-04 [1] Use AK-04 in environment where surrounding air temperature is 0 to 40C. [2] The temperature of AK-04 increase

145 1.3.2 Pulse Converter (JM-08) Model: JM-08 Description: Pulse converter + Input/output e-CON connector This converter converts differential p

146 1.3.3 Pulse-train Control Service Cable Model: CB-SC-PIOS * Enter the cable length in . Lengths up to 10 m can be specified. Example

147 2. Wiring 2.1 External Connection Diagram A wiring example in the pulse control mode is shown below.

148 Pulse converter 2.2 Command Pulse-train Input Specifications [Differential line-driver input] Applicable line driver: 26C31 or equivalent

149 2.3 Feedback Pulse Output Part Applicable line receiver: 26C32 or equivalent Caution: The range in which

150 3. I/O Signal Control and Signal Functions Caution: To operate the actuator by allowing the controller to communicate with the PLC via I/O

151  Servo-off status 1. Once the actuator stops, no holding torque will be supplied. 2. The pulse-train input, HOME (home return signal), TL

Pre-7 Indication of Cautionary Information The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution”

152 3.1.3 Home Return Signal (HOME) This command signal is used to implement automatic home return. When the HOME signal is turned ON, the comma

153 3.1.4 Torque-limiting Selection Signal (TL) This signal limits the motor torque. Function The actuator thrust (motor torque) can be limited

154 3.1.6 Deviation-counter Clear Signal (DCLR) This signal is used to clear the deviation counter. Function If a deviation generates while the

155 3.1.9 Command Pulse Input Pulses up to 200 kpps in the open-collector mode, or up to 500 kpps in the differential line-driver mode, can be i

156 3.2 Output Signals 3.2.1 System Ready Signal (PWR) After the main power has been input, this signal will turn ON once the SCON enters a rea

157 3.2.4 Home Return Completion Signal (HEND) This signal will turn ON when home return is completed and the coordinate system is established.

158 3.2.6 Alarm Signal (*ALM) This signal will turn OFF when the SCON’s protective circuit (function) detects an error. Function This signal wi

159 3.2.7 Alarm Code Output Signals (ALM1, ALM2, ALM4, ALM8) When an alarm generates, the alarm information is output using the ALM1 to 8 ports

160 3.2.9 Feedback-pulse Output Signals (AFB•/AFB, BFB•/BFB, ZFB•/ZFB, GND) Data of detected positions are output using differential pulses. Fu

161 4. How to Switch to the Pulse-train Control Mode Change the position of the piano switch located on the front panel of the controller.

Pre-8CE Marking CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provi

162 5. Parameters 5.1 Parameter Settings Required for Operation Parameters can be set or changed using the teaching pendant or PC software. Af

163 The number of encoder pulses varies depending on the actuator type. Actuator type Number of encoder pulses (pulses/rev) RCS-SS (R)/RCS-SM (R)/

 Calculation example To set the unit travel distance to 0.01 (1/100) (mm) for an actuator with a ball screw lead of 10 (mm), equipped with an enco

165 (2) Command pulse mode User parameter No. 63, “Command-pulse input mode” Name Symbol Unit Input range Default setting (reference) Command-

166 5.2 Effective Parameters in the Pulse-train Mode Parameters can be set or changed using the teaching pendant or PC software. After a parame

167 (5) Torque-limit command input No. Name Symbol Unit Input range Default setting61 Torque-limit command input FPIO - 0 to 1 0 You ca

168 (9) Feedback pulse pattern No. Name Symbol Unit Input range Default setting69 Feedback pulse pattern FBPT - 0 to 2 0 You can set a

169 Appendix Model Stroke (mm), maximum speed (mm/sec) *1 Loading capacity *2 Rated acceleration Horizontal Vertical Horizontal Vertical (Slider t

170 Appendix 500/sec 500/sec 500/sec Model Stroke (mm), maximum speed (mm/sec) *1 Loading capacity *2 Rated acceleration Horizontal Vertical Ho

171 Appendix Model Stroke (mm), maximum speed (mm/sec) *1 Loading capacity *2 Rated acceleration Horizontal Vertical Horizontal Vertical (Slider t

1 Chapter 1 Introduction 1. Overview 1.1 Introduction Thank you for purchasing the SCON controller. Please read this manual carefully to han

172 Appendix Model Stroke (mm), maximum speed (mm/sec) *1 Loading capacity *2 Rated acceleration HorizontalVertical Horizontal Vertical

173 Appendix Model Stroke (mm), maximum speed (mm/sec) *1 Loading capacity *2 Rated acceleration Horizontal Vertical Horizontal Vertical

174 Appendix 2. Battery Backup Function The SCON controller uses the following battery:  Absolute-encoder backup battery This battery is used

175 Appendix 2.1 Absolute-encoder Backup Battery If the SCON controller is to drive/control an absolute type actuator, an absolute-encoder backu

176 Appendix The table below lists the absolute-encoder backup specifications. List of absolute-encoder backup functions Battery model AB-5 (by

177 Appendix 3. Parameter Settings 3.1 Parameter Table The parameters are classified into the following seven types based on what they are for:

178 Appendix No. Category Name Unit Default factory setting Positioner mode parameter Pulse-train mode parameterRemarks42 b Enable function

179 Appendix 3.2 Detail Explanation of Parameters If a parameter has been changed, always restart the controller using a software reset command

180 Appendix  Zone boundary You can set the zone in which a zone output signal (ZONE1 or ZONE2) turns ON when the PIO pattern is set to 0 (posit

181 Appendix  Home Return Offset,  Home Preset For both the home return offset (No. 22) and home preset (No. 139), an optimal value has been

2 1.2.1 Features of the Positioner Mode In the positioner mode, one of five PIO patterns is selected using a parameter. The number of positionin

182 Appendix 3.2.2 Parameters Relating to the Actuator Operating Characteristics  PIO jog speed When the selected PIO pattern is “1” (teaching

183 Appendix  Default acceleration/deceleration mode This value is treated as the data in the “Acceleration/deceleration mode” field correspond

184 Appendix Move command Servo status Actuator movement Servo on Automatic servo-off mode (A green LED blinks.) Target positionT: Delay time (s

185 Appendix  Push speed This parameter defines the push speed to be applied after the actuator reaches the target position in push & hold o

186 Appendix  Allowable time of exceeding torque allowing continuous push & hold When push & hold operation is continuously performed

187 Appendix  Overrun-sensor input polarity The overtravel detection sensor is not included in the standard specification, but it can be instal

188 Appendix  Position-command primary filter time constant Parameter No. 55 defines the delay to be applied when “1 [Primary delay filter]” is

189 Appendix Caution: [1] Even if you issue a position command or high-value command with specified S-motion acceleration/deceleration in order

190 Appendix 3.2.3 Parameters Relating to the External Interface  PIO pattern selection Select the PIO operation pattern in parameter No. 25. T

191 Appendix  Movement command type This parameter defines the operating condition for move command inputs (ST0 to ST6) when the PIO pattern is

3 1.2.2 Features of the Pulse-train Input Mode  Dedicated home return signal Home return operation is supported in this mode. When this functi

192 Appendix  Pause input disable selection Parameter No. 15 defines whether the pause input signal is disabled or enabled. Setting Enable (us

193 Appendix  Output mode of position complete signal This parameter is effective when any PIO pattern other than “5” (solenoid valve mode 2 [3

194 Appendix  SIO communication speed This parameter is used for controllers of serial communication type. Set the communication speed to be us

195 Appendix 3.2.4 Servo Gain Adjustment Before the shipment, the servo has been adjusted in accordance with the standard specification of the a

196Appendix Speed loop integral gain Parameter No. Unit Input range Default 32 --- 1 to 217270Set individually in accordance with the actuator cha

197 Appendix  Feed-forward gain Parameter No. Unit Input range Default 71 --- 0 to 100 Set individually in accordance with the actuator charac

198 Appendix 3.2.5 Linear/Rotary Control  Axis operation type Parameter No. 78 defines the type of the actuator used. Connected actuator Setti

199 Appendix  Rotational axis shortcut selection Parameter No. 80 defines the shortcut selection for the rotational axis. Shortcut refers to m

200 Appendix Supported encoder typeAxis operation type Rotational axis mode selection Rotational axis shortcut selection ABS INC Current position r

201Appendix 3.2.6 Others  Timer period for emergency-stop relay fusing monitor The controller has a built-in emergency stop relay for cutting

4 1.3 How to Read the Model Specification <Power-supply voltage> 1: Single phase 100 VAC 2: Single phase 2

202 Appendix 4. PC/Teaching Pendant Connection Method in Multi-axis Configurations This section explains the method to permanently connect a

203Appendix 4.2 Name and Function of Each Part of the SIO Converter This is a converter unit conforming to RS485/232C. [1] P

204 Appendix [2] Link-connection terminal block (TB1) A connection port for linking the controller. “A” on the left side connects to pin 1 (SGA

205Appendix 4.3 Address Switch Set an address (0 to 15) as a hexadecimal (0 to F) using the ADRS switch on the front panel of each controller t

206 Appendix 4.5 Detail Connection Diagram (Note) The user must provide the two-paired shielded cable. If cables

207Appendix 5. Troubleshooting 5.1 Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take an appropriate action acc

208 Appendix 5.2 Alarm Level Classification Alarms are classified into two levels based on the corresponding symptoms. Alarm level ALM lamp

209Appendix 5.3 Alarm Description Output Using PIO In PIO patterns 0 to 3 corresponding to the positioner mode (64 to 512-point positioning ty

210 Appendix Positioner mode, PIO = 0 to 3 ALM PM8 PM4 PM2 PM1 Pulse-train input mode ALM ALM8 ALM4 ALM2 ALM1Description: Code number in ( ) 

211Appendix 5.4 Alarm Description and Cause/Action (1) Operation-cancellation level alarms Code Error name Cause/Action 080 Move command d

5 1.4 System Configuration Caution: The customer must provide a noise filter. A noise filter is alway

212 Appendix Code Error name Cause/Action 092 PWRT signal detected during movement Cause: The current-position write signal (PWRT) was input i

213Appendix Code Error name Cause/Action 0B5 Phase Z position error The position where phase Z was detected at home return was outside the sp

214 Appendix Code Error name Cause/Action 0C2 Overrun sensor signal detected This error indicates that a signal from the OT sensor installed a

215Appendix (2) Cold-start level alarms Code Error name Cause/Action 0A1 Parameter data error Supported version: V001B~ Cause: The input r

216 Appendix Code Error name Cause/Action 0CA Overheating This error indicates that the temperature around the power transistor in the contro

217Appendix Code Error name Cause/Action 0E4 Encoder send error When the encoder is of serial data communication type, the controller exchang

218 Appendix Code Error name Cause/Action 0EE Absolute encoder error detected 2 This error indicates that the ASIC board installed in the absol

219Appendix Code Error name Cause/Action 0FA CPU error The CPU is not operating properly. Cause: [1] Faulty CPU [2] Malfunction due to noise

220 Appendix 5.5 Messages Displayed during Operation Using the Teaching Pendant This section explains the warning messages that may be display

221Appendix Code Message name Description 20C CSTR-ON during operation This message indicates that a movement command signal was turned ON by

6 1.5 Procedure from Unpacking to Test Operation and Adjustment If you are using this product for the first time, carry out each step by referr

222 Appendix 5.6 Specific Problems  I/O signals cannot be exchanged with the PLC. Cause: [1] The 24-V I/O power supply is connected in rever

223Appendix  Home return ends in the middle in a vertical application. Cause: [1] The load exceeds the rating. [2] The ball screw is receivin

224 Appendix 6. Basic Example of Positioning Sequence The following example illustrates a basic sequence that can be used to create a position

225Appendix (Position 2 positioning circuit) Position 2 positioning start request Positio

226 Appendix Position 3 set signal Position 5 set signal Position 3 set signal Position 6 set signal Command position 1 Command position 2 Comman

227Appendix Recording of Parameters Recorded date: No. Category Name Unit Recorded data 1 a Zone 1+ mm 2 a Zone 1– mm 3 a Soft limit+

228 Appendix No. Category Name Unit Recorded data 54 d Current-control band number - 55 b Position-command primary filter time constan

229AppendixChange History Revision Date Description of Revision October 2006 October 2006 March 2007 July 2007 June 2009 October 2009 November 2009

230

231

7 (5) Set parameters  Before the 24-V I/O power supply is connected, PIO power monitor can be disabled temporarily by changing the applicable p

232

Catalog No.: ME0161-14A Head Office: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815 Chicago

8 1.6 Warranty Period and Scope of Warranty The SCON controller you have purchased passed IAI’s shipping inspection implemented under the stric

9 2. Specifications 2.1 Basic Specifications Item Less than 400 W 400 W or more Applicable motor capacity 20 W to 399 W 400 W to 750 W Power

10 2.2 Name and Function of Each Part [1] LED indicators [2] Rotary switches [3] Piano switches [

11 [1] LED indicators These LEDs indicate the condition of the controller. Name Color Description PWR Green This LED illuminates when the syste

Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance o

12 [5] Regenerative unit connector This connector is used to connect an external regenerative resistance unit. The need for regenerative unit wi

13 [10] AUTO/MANU switch The operating mode using the teaching pendant/PC (software) connected to the SIO connector, and PIO input, will change a

14 Encoder sensor cable Cable model: CB-X1-PA *** Purple Gray Orange Green Red Black Drain Blue YellowOrange G

15 Cable model: CB-X1-PLA *** White/Blue White/Yellow White/Red White/Black White/Purple White/Gray

16 Cable model: CB-X2-PA *** White/Blue White/Yellow White/Red White/Black White/Purple White/Gray Orang

17 Cable model: CB-X2-PLA *** White/Orange White/Green Brown/Blue Brown/Yellow Brown/Red Brown/Black Whi

18 Cable model: CB-RCS2-PA *** Controller end White/Green Brown/White Pink Purple White Blue/Red Oran

19 Brown/White Gray/White Red/White Black/White Yellow/Black Pink/Black Pink Purple White Blue/Red Orange/WhiteGreen/WhiteBlue OrangeBlack Ye

20 [15] Absolute battery connector This connector is used to connect the absolute-encoder backup battery (required when the controller is of abso

21 When the absolute battery is installed (absolute encoder specification) 4.2 2.3 External Dimensions External dimensions of models with a pow

22 External dimensions of models with a power output of 400 W or more When the absolute battery is inst

23 3. Installation and Wiring 3.1 Installation Environment (1) When installing and wiring the controller, do not block the ventilation holes f

24 3.3 Noise Elimination Measures and Grounding The following explains the noise elimination measures that should be taken when using this cont

25 [2] DC solenoid valve/magnet switch relay Action --- Install a diode in parallel with the coil or use valve/relay with built-in diode. I

26 3.4 Wiring the Power Supply 3.4.1 Connecting the Power Cable As shown to the left, insert the stripped end of the cable into the connector

27 3.4.2 Power-supply Capacities and Heat Output Rated power-supply capacity = Motor power-supply capacity + Control power-supply capacity Maximu

28 3.5 Connecting the Actuator 3.5.1 Connecting the Motor Cable (MOT1, 2) Connect the motor cable of the actuator to the motor connector on th

29 3.6 Connecting the PIO Cable (I/O) Connect the supplied flat cable. Connect the opposite end of the cable (no connector) to an appropriate p

30 Each input Each input Internal circuit Internal circuit Each input Each input Logic circuitLogic circuit 3.7 External Input/Output Specificati

31 Internal circuit Each output Load Load Internal circuit Each output Load Load Each output Each output Logic circuitLogic circuit 3.7.2 Externa

CAUTION 1. PC Software and Teaching Pendant Models New functions have been added to the entire SCON controller series. To support these new fea

32 3.8 Connecting the Emergency Stop Input (Wiring to the System I/O Connector) As shown to the left, insert the stripped end of the cable whi

33 Emergency stop circuit when multiple controllers are linked Internal drive-source cutoff specification (Connections when the entire system requi

34

35  On Support of Safety Categories [1] System configuration When constructing a system supporting safety categories, use teaching pendant “CON

36 [2] Wiring and setting of safety circuit [1] Power supply If a safety circuit is configured using safety relays and contactors of 24 V speci

37 [3] Connection of dummy plug If you operate a controller in the AUTO mode, connect a dummy plug (DP-4) to the TP connector. * Make sure to u

38 [3] Examples of safety circuits [1] In case of category 1 Controller Connection cable CB-

39  Detailed category 1 circuit example Connect with dedicated cable At TP detection T24V:

40 [2] In case of category 2 Controller Connection cable CB-CON-LB*** (or dummy plug: DP-4)

41  Detailed category 2 circuit example Connect with dedicated cable At TP detection T24V:

Precautions Please use rotary actuators of multi-rotation specification within the range where the following formula is satisfied. Moreover, the ma

42 [3] In case of category 3 or 4 Controller Connection cable CB-CON-LB*** (or dummy plug: D

43  Detailed category 3/4 circuit example Connect with dedicated cable At TP detection T24V:

44 [4] Appendix [1] TP adapter external dimensions [2] Connection cable  Controller/TP adapter connection cable Use t

45 [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 specif

46 Connecting the Pulse-train Control Cable Use the pulse-train control cable when the controller is operated in the pulse-train input mode. It

47 Connecting the Teaching Pendant/PC Software (TP) (Optional) If the teaching pendant/PC software cable is used, connect it to the teaching co

48 3.9 Connecting the Regenerative Unit (RB) Regenerative energy produced when the actuator decelerates to a stop or moves downward in vertical

49 3.9.3 Connection Cables The cable used to connect the controller to a regenerative resistance unit is different from the corresponding cable u

50 3.10 Connecting the Brake Box (RCB-110-RA13-0) One brake box can support 2 actuators. 3.10.1 Installation Standard Actuator to be used: RCS

51 3.10.4 24 V Power Supply Connector Connector on cable side MC1.5 / 2-STF-3.5 (Phoenix Contact) Conforming cable AWG28 to 16 1 0 V Power

CAUTION  About zone function change Applicable application version: From V001E In zone signal settings, it is now valid to specify plus side zo

52 Chapter 2 Positioner Mode 1. I/O Signal Control and Signal Functions 1.1 PIO Patterns and Signal Assignments This controller provides si

53 Quick reference table for functions available under each PIO pattern (: Available, x: Not available) No. 25 Number of positioning pointsZone

54 1.1.1 Explanation of Signal Names The following explains the signal names, and gives a function overview of each signal. In the explanation of

55  PIO pattern = 1 Teaching mode [Teaching type] Category Signal name Signal abbreviationFunction overview PC1 PC2 PC4 PC8 PC16 Command pos

56  PIO pattern = 2 256-point mode [256-point type] Category Signal name Signal abbreviationFunction overview PC1 PC2 PC4 PC8 PC16 PC32 PC64

57  PIO pattern = 3 512-point mode [512-point type] Category Signal name Signal abbreviationFunction overview PC1 PC2 PC4 PC8 PC16 PC32 PC64

58  PIO pattern = 4 Solenoid valve mode 1 [7-point type] Category Signal name Signal abbreviationFunction overview Position No. 0 move ST0 T

59  PIO pattern = 5 Solenoid valve mode 2 [3-point type] Category Signal name Signal abbreviationFunction overview Rear end move command ST0

60 1.1.2 Signal Assignment Table for Respective PIO Patterns When creating a PLC sequence or wiring signals, assign each pin correctly by referr

61 1.2 Connecting the I/O Cable  PIO pattern 0 Positioning mode [Standard type] Black 4

62  PIO pattern 1 Teaching mode [Teaching type] Brown-1 Red-1 Orange-1 Yellow-1 Green-

63  PIO pattern 2 256-point mode [256-point type] Brown-1Red-1Orange-1Yellow-1Green-1B

64  PIO pattern 3 512-point mode [512-point type] Brown-1Red-1Orange-1Yellow-1Green-1B

65  PIO pattern 4 Solenoid valve mode 1 [7-point type] Brown-1 Red-1 Orange-1 Yellow-1

66  PIO pattern 5 Solenoid valve mode 2 [3-point type] Brown-1 Red-1 Orange-1 Yellow-1

67 1.3 Details of I/O Signal Functions An input time constant is provided for the input signals of this controller, in order to prevent malfunc

68  Home return (HOME) The controller will start home return operation upon detection of an OFF  ON edge of this signal. When the home return

69  Servo ON (SON) The servo remains ON while this signal is ON. Use this signal based on the default setting (the factory setting is “0: Enabl

70  Jog (JOG+, JOG-) These signals function in two modes, which are toggled according to the input (ON/OFF) of the jog/inching switching signal

71  Start position number (ST0 to ST6) Solenoid valve mode 1 [7-point type] These signals are effective when “4” is set in parameter No. 25 (=

Table of Contents Safety Guide...Pre-1 Chapter

72 1.3.2 Details of Each Output Signal  Completed position number (PM1 to PM256) These signals can be used to check the completed position num

73  Operating mode status (RMDS) The internal operating mode of the controller is output based on the AUTO/MANU selector switch on the controll

74  Emergency stop status (*EMGS) This signal remains ON in a normal condition, and will turn OFF if the emergency stop switch is pressed. Prog

75  Current position number signal (PE0 to PE6) Solenoid valve mode 1 [7-point type] When the PIO pattern is “4” (air-cylinder type), upon comp

76  Position detection output at each position (LS0, LS1, LS2) Solenoid valve mode 2 [3-point type] These signals have the same meanings as the

77 2. Data Entry To move the actuator to a specified position, a target position must be entered in the “Position” field. A target position can

78 Position (2) Position  Enter the target position to move the actuator to, in [mm]. Absolute mode: Enter the target position to move the actua

79 (5) Push  Select either the positioning mode or push & hold mode. The default setting is “0.” 0: Positioning mode (= normal operation)

80 HomeTarget position Target position Target position+ limit (8) Zone +/-  This field defines the zone in which PZONE (zone output signal) will

81 During acceleration, the actuator operates along an acceleration curve that gradually rises until a certain point, and then increases sharpl