Dyadic Systems SCN Series, SCN5, SCLL6, SCN6, SCLL5 Operation Manual

Mechatronics Cylinder

SCN Series
SCL Series

Operation Manual

Document No. MF-005500-EN Ver. 1.33 2008/07/01

《For Safety》

If this product is to be used in any application which has a potentially serious
effect on human life and health by the failure and/or accidental movement of
this product, such as machines relating to Nuclear Power, Aerospace,
Transportation, Medical and safety systems, etc., please consult us.
In case of incorrect handling, some level of damage to the product may occur.
This damage may lead to poor product performance.

[General]

● Please do not use this product in explosive

environments.

● Please do not move, work on wiring, or

conduct any maintenance while the Power is
ON. Wait several minutes after the Power is
OFF to conduct any of the above tasks.

● Please have experts to do the job of

transportation, installation, wiring, operation
and maintenance, etc

● Please use this product within the

.

specifications.

● Please do not use damaged product.

● Any modification or reconstruction of the

product by the customers voids warranty and
transfers responsibility for all results to the
customer.

[Mounting, Start Up]

● Please make sure that there is no Flammable

material and/or product in the vicinity of the
Mechatronics Cylinder.

● Please make sure that there is no obstruction to

ventilation for cooling.
Ensure appropriate assemblies guide any
loading on the Mechatronics Cylinder. In case of
direct coupling to the mechanism, please pay
attention to the accuracy to minimize radial
loading.

●

Check that the direction of the movement is
correct before mounting of our product.

● The Mechatronics Cylinder doesn’t have

mechanical protection for over load. Please
provide mechanical over load protection.

[Wiring]

● Please make sure that the wiring is correct and

completed with strong connections.

● Please do not bend, pull or pinch cables.

● Please make sure that the ground wires and

terminals are grounded.

[Running]

● The Mechatronics Cylinder may run at high

temperatures. Please do not touch with bare
skin.

● The Mechatronics Cylinder has its own control

built in. Please do not use other control.

● Please do not use our product without

additional protection in the presence of water
splashes, corrosive gas or material, or
flammable material.

[Maintenance/Inspection]

● Please do not measure open circuit resistance.

[Storage]

● Please store the Mechatronics Cylinder in a

cool, dry environment free of corrosive gas and
liquids.

[Transportation/Receiving]

● Please pay extra caution for any damage during

the transportation.

● Please check if the delivered product is the

right one.

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Table of Contents

1. Summary ................................................................................................................................. 5

1.1. Features ------------------------------------------------------------------------------------------------ 5

1.1.1 Overcoming weaknesses of Pneumatic Cylinders -------------------------------------------- 5

1.1.2. This section is to introduce some product features and notes in detail: ---------------- 8

1.2 Names of Parts ---------------------------------------------------------------------------------------- 9

1.2.1 Names ---------------------------------------------------------------------------------------------------- 9

1.2.2 Name Plate -------------------------------------------------------------------------------------------- 11

2. Safety Notes .......................................................................................................................... 11

3. Start Up .................................................................................................................................. 12

3.1. Preparation ------------------------------------------------------------------------------------------- 12

3.1.1. Check if there is any damage -------------------------------------------------------------------- 12

3.1.2 Check if the product is correct -------------------------------------------------------------------- 12

3.1.3 Power Supply ----------------------------------------------------------------------------------------- 12

3.1.4. Tools --------------------------------------------------------------------------------------------------- 12

3.1.5. Programming Tool ---------------------------------------------------------------------------------- 12

3.2. Wire the Power/IO cable and run from the PC programming tool ------------------ 12

3.2.1. Check the Power & I/O cable: ------------------------------------------------------------------- 12

3.2.2. Check Parallel Connector Cable ---------------------------------------------------------------- 12

3.2.3. Parallel Cable Preparation ----------------------------------------------------------------------- 14

3.2.4. Connect Parallel cable and ADP Cable with Mechatronics Cylinder ------------------ 15

3.2.5. Teach Pendant Programming – Quick Start and Simple Cycling ---------------------- 16

3.2.6. Quick Start – Program some Position-Controlled Motions With the Teach Pendant18

3.2.7. Quick Start – Program a Force-Controlled Motion With the Teach Pendant -------- 19

3.2.8. Quick Start – Set Up of Basic Parameters Using the PC Tool (TBVST-EN-SET) - 20

4. Installation and Test Running ............................................................................................. 22

4.1. Installation -------------------------------------------------------------------------------------------- 22

4.1.1. The Installation Environment -------------------------------------------------------------------- 22

4.1.2. Recommended mounting of Mechatronics Cylinder --------------------------------------- 22

4.1.3. Use of the shaft tip screw ------------------------------------------------------------------------- 22

4.1.4. Load installation accuracy ------------------------------------------------------------------------ 22

4.1.5. Servo Amplifier Mounting and Environmental Installation Limits ----------------------- 23

4.2. Wiring -------------------------------------------------------------------------------------------------- 23

4.2.1. Wiring -------------------------------------------------------------------------------------------------- 23

4.3. Notes for wiring and connections ------------------------------------------------------------ 25

4.3.1. Power shut down ----------------------------------------------------------------------------------- 25

4.3.2. +24VDC Ground ------------------------------------------------------------------------------------ 25

4.3.3. Power input circuit ---------------------------------------------------------------------------------- 26

4.3.4. When Driving Coils or Other Inductive Loads ----------------------------------------------- 26

4.4. Wiring examples of outside connections -------------------------------------------------- 27

4.5. Trial run ------------------------------------------------------------------------------------------------ 29

5. Specifications of Mechatronics Cylinder ........................................................................... 30

5.1. Specification of Servo Cylinder --------------------------------------------------------------- 30

5.1.1. Specifications ---------------------------------------------------------------------------------------- 30

5.1.2. Rod speed-thrust curve --------------------------------------------------------------------------- 34

5.1.3. Dimensions ------------------------------------------------------------------------------------------- 40

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6. Interface specifications ........................................................................................................ 45

6.1. Circuit Diagrams for 24VDC I/O (PNP) ------------------------------------------------------- 45

6.2. PIO specifications ---------------------------------------------------------------------------------- 46

6.2.1. Input signals ------------------------------------------------------------------------------------------ 46

6.2.2. Input signal details ---------------------------------------------------------------------------------- 48

6.2.3 Output signal ------------------------------------------------------------------------------------------ 49

6.2.4. Output signal details ------------------------------------------------------------------------------- 50

6.2.5. Timing Chart ----------------------------------------------------------------------------------------- 51

6.3. Specification of SIO ------------------------------------------------------------------------------- 53

6.3.1. Summary ---------------------------------------------------------------------------------------------- 53

7. Support equipment ............................................................................................................... 53

7.1. PC Tool (Model: TBVST-EN-SET) ------------------------------------------------------------- 53
Installation condition of PC is as follows: ------------------------------------------------------- 54

7.2. Teaching Pendant Tool (Model: CTA-23EN-SET) ---------------------------------------- 54

7.3. RS232C/RS485 Junction Converter Circuit ----------------------------------------------- 55

7.4. Connector Converter: ADP-2-4 ---------------------------------------------------------------- 55

7.5. Cables -------------------------------------------------------------------------------------------------- 56

7.6. Foot mounting brackets -------------------------------------------------------------------------- 57

8. Maintenance .......................................................................................................................... 59

8.1. Maintenance & Inspection ----------------------------------------------------------------------- 59

8.2. Warranty ----------------------------------------------------------------------------------------------- 59

9. Diagnosis of Abnormal Operation....................................................................................... 60

9.1. Diagnosis by Alarm Codes ---------------------------------------------------------------------- 60

9.2. Error Diagnosis by error operation of Mechatronics Cylinder ---------------------- 61

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1. Summary

The Mechatronics Cylinder consists of a rotary-linear motion transfer mechanism, a stepper motor, an
encoder, and a servo controller. Manufactured by Dyadic Systems, this product can be a replacement for
pneumatic cylinders. Motion is programmed and controlled using Dyadic’s simple interfaces, allowing for a wide
variety of inputs and inter-operability.

1.1. Features

1.1.1 Overcoming weaknesses of Pneumatic Cylinders

(1) Simplifying wiring and related equipment.

MODEL SC LT4-015

Amplifier B uilt-in to a ctu ato r External

Stroke (mm ) 50 / 1 00 / 150 / 200 / 300 / 400 / 500 50 / 100 / 150 / 200 / 300 / 400 / 500 / 6 00 / 700

M ax. T hrust (N) / (kgf) 150 / 15 300 / 30 250 / 25 500 / 50

M ax. carriable w t at pw r O N (kg) 1.5 2.5 46

Push m ode m ax. T hrust (N)/(kgf) 105 / 10.5 210 / 21 175 / 17.5 350 / 35

Ball screw lead (mm ) 12 6 12 6

M ax. S peed (mm /s) * note 1 700 (680m m /s for 400 (340m m/s for 600 (500m m/s for 350 (600mm : 340m m /s)

Repeatability (m m ) ± 0.02 ± 0.02 ± 0.2 ± 0.2

Ba ckla sh (m m ) 0.1 0.1 0.1 0.1

M ax. H or Load weight (kg) 5 10 16 30

M ax. vertical load (kg) 1.5 2.5 46

Load m oment (N m / kgf-cm ) *2 M p=12 / 120, M y=12 / 120, M r= 31 / 310 M p=25.7 / 257, My=25.7 / 257, M r=58 / 580

Program Capacity 16 Positions

Power Supply DC 24V ± 10% (D rive P ower m ax. 2.0 Am ps, C ontrol pow er m ax. 0.2A )

Life 3 years after delivery, or 10,000 km operation when used within all specs.

P a ra lle l D C 24 V ty p e D ig ita l In p ut In te rfa ce

Input Nam es Position select bits (4 bit binary coded decim al: PC 1,PC2,PC4,PC 8)

I/O P ara llel D C 2 4 V typ e D ig ita l O u tp ut In terfa ce

O utput Nam es Com pleted Position N um ber (4bit binary: PM 1,P M 2,PM 4,P M 8) : (SC LT6 Only)

Serial S ignal Serial Interface (C onnector SIO)

Protection function O ver speed, M ain pow er over voltage, abnorm al voltage,

Am bience O perate T em perature 0 ~ 40°C

W eight (kgs) 1.42/1.53/1.64/1.74/1.96/2.18/2.4 2.7 / 2.9 / 3.1 / 3.3 / 3.7 / 4.1 / 4.5 / 5.0 / 5.4

N ote s: ( *1) T y pic al d ata , (*2 ) T his is a lo a d th at th e w t (m k g) is g en era ted b y th e o ve rh an g (L m ) fro m the ar rior s lide r.

(The calculation of the load m oement (kgf-cm) is: m (kg) x L (cm) < Mp, My, Mr)

The actual moment will be combinations of those mom ents (Mp, Py, Mr).

Inpu t current

O utput current

Storage Tem perature -20 ~ 60°C

O pe/Storage H um idity =< 90% RH , non-condensing

-XXX AS -XXX AS -XXX AB -XXX AB

500m m stroke) 500m m stroke) for 700m m stroke) (700m m: 250m m /s)

M ax. 4m A / port, PN P Standard M ax. 4m A / port, PN P Standard

Hom ed signal (ZFIN), Zone signal(ZO N E), A larm (ALM ), Position complete (PFIN/INP )

M ax. 10m A / port, P N P S tandard M ax. 10m A / port, P N P S tandard

O verload, Sensor abnorm al, Servo abnorm al, Encoder wire disconnected

+5V, 0V, S+, S -, AS C II P rotocol F reely Available

SC LT4-030

Start (C STR ), M ovem ent Interlock (ILK )

SC LT6-025 SC LT6-050

(2) Multiple positioning: Easy program for up to 16 motions per axis

Programmed
Speed

Speed

Time

Stop
condition

cceleration Deceleration

cceleration Deceleration

(3) Programmable Push Force

Programmed
Speed

Speed

Time

Stop
condition

cceleration Deceleration

Position

Stop

Work

Push
Movement

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(4) Programmable Positioning Speed: Very Slow Speed is possible, which is very difficult with Air

Cylinder.

(5) Incremental Movement: Starting from the current position. Multiple incremental moves can be used

together to simulate a “Step & Direction” type of control.

(6) Programmable Acceleration and Deceleration: Same Acceleration and Deceleration can be

programmed. Optimum Acceleration and desired Deceleration can be set respectively.

(7) Programmable Flexible Speed Profiles: Speed can be changed without stopping.

Speed

Programmed
Speed

Speed

Time

Stop
condition

Time

Programmed
Speed

Speed

Time
Stop
condition

200 mm/sec
150 mm/sec
100 mm/sec

Stop
condition

cceleration Deceleration

cceleration Deceleration

Ultimate Acceleration

ccording to the load

(1)

Posi Signal

Width

Speed 200

Programmed

(2) (3)

Posi Signal

Width

Speed 150

Posi Signal

Width

Speed 100

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(8) Emergency Stop: During the movement of Mechatronics Cylinder, the movement will stop if the

Interlock signal is interrupted.

Time

ON

OFF

cceleration Deceleration

cceleration

Emergency
Stop Signal

Speed

Stop
condition

(9) Programmable Zone Signal Output: Mechatronics Cylinders can be programmed to output a Zone

Signal.

Zone Signal Output

Speed

Time

Stop
condition

ON

OFF

cceleration Deceleration

Zone Signal Output Area

(10) An air compressor is not needed so that systems using Mechatronics Cylinders will have high energy

efficiency.

(11) Oil waste is not generated so that oil collection equipment is not needed.

(12) Dampers (Shock absorbers) are not needed.

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-7/63

1.1.2. This section is to introduce some product features and notes in detail:

(1) SCN-5 All-In-One Actuator: The Mechatronics Cylinder model SCN5 is a fully integrated actuator

including linear actuation mechanism, motor, servo drive and controller. Therefore after connecting
the power supply and some signal wiring, the SCN5 is ready for operation.

Other models (SCN6, SCLL, some SCLT models) have external controllers but the programming

software and ease of use are the same and the controllers are included in the part number.

(2) All actuators can be set such that the home position is at either end. The default home position is the

return (motor) end. The PC tool software allows the user to change homing parameters such as
speed and target thrust. The coordinate system is negative for the return home position and positive
for the forward home position.

(3) There is a close correlation between thrust and speed. If the necessary thrust is large, the max speed

is reduced. Please consult with the speed-thrust curve.
(4) Thrust capacity is the same for forward motion and return motion.
(5) The “Push Force” mode uses a high-speed, position-controlled approach move, followed by a lower

speed force controlled move. The speed of the force-controlled part of the move can be changed on

some Dyadic actuators. However, the max speed of the force controlled move will be limited by the

amount of current allowed for the target force (ie the actuator will not achieve full speed in this mode

if the target force is low). Also please keep in mind that high-speed impact to a hard target may

shorten the life of the actuator.
(6) In vertical use, the max load at power-up is lower. This value is published in the specs for each

actuator.
(7) There are 3 types of power saving functions (PC tool software is necessary to access these modes):

-1 Current setting at homing

-2 Current setting during positioning motion

-3 Current shut off after positioning

(8) Mechatronics Cylinder amplifiers have PNP models and NPN models. Please wire carefully following

the correct schematics.
(9) Mechatronics Cylinder outputs are open collector type. In case of driving a load like a coil, please

provide a surge absorber diode.
(10) The shafts of rod-type actuators are not designed for radial loading. Please provide external guides

and ensure proper alignment as poor alignment will transfer radial stress to the shaft nut and reduce

actuator life.
(11) Linear guides should be aligned within 0.1mm over the length of travel. Rough installation will

reduce the product life.
(12) The short cables protruding from the actuator motor are not flex-rated. If the application requires

cable motion, please use high flex cables (marked with “R” after the cable part number).
(13) Tightening torque for shaft-tip nuts is as follows: 30 kg-cm for SCN5, 45 kg-cm for SCN6
(14) Clean room actuators may be available depending on the requirement.
(15) Stroke limits for both directions can be set.
(16) The shaft tip screw is: M10, 1.25mm pitch for SCN5, M14, 1.5mm pitch for SCN6 models
(17) The front mounting block has a pilot diameter to make centering easily. (for SCN5 and SCN6)
(18) Shafts are anti-rotational. Please do not turn the shaft. (for SCN5 and SCN6)
(19) Multiple axis operation through serial communication is possible. DeviceNET, ccLink, and ASCII

interfaces can be used.

The operational PLC are; Mitsubishi, Keyence, OMRON as follows:

Mitsubishi PLC - MELSEC-A series (PC link unit)

AJ71UC24, A1SJ71US24-R2/R4/PRF, A1SJ71C24-R2/R4/PRF, A1SCPUC24-R2,

A2CCPUC24(PRF)

Mitsubishi PLC - MELSEC-F series (Communication board)

FX2N-232-BD, FX1N-232-BD, FX2NC-232-ADP

Notes: Sample programs can be provided in the project file of Mitsubishi GX Developer Version 7,

therefore the customer must have the program GX Developer Version 7 or newer.

Keyence PLC – KV-700 (Communication unit) KV-L20 attached

OMRON PLC – CS/CJ series (CPU unit)

CS1H-CPU*H, CS1G-CPU4*H, CS1H-CPU6*-V1, CS1G-CPU4*-V1, CJ1H-CPU6*H,

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-8/63

Internal RS232 communication port for CJ1G-CPU4*H, CJ1M-CPU2*, CJ1M-CPU1*

Notes: The DLL file is available for PC-based applications.

(20) Dyadic programming tools can configure many advanced parameters as follows:

Available function PC software Teach pendant

Stopping position, Max. speed, Acceleration, Push
force
Maximum acceleration (with user-defined decel.) O O
Incremental motion O O
Position complete (PFIN) window width O O
Servo gain O O
Home position direction change O O
Stroke limit O O
Zone output range O O
ILK signal operation
(motion can be paused or cancelled)
Homing motion speed and thrust O X
Selection of position completion signal or
in-position signal
Choose operating mode (Normal, Air 1, Air 2) O X

(21) 24VDC I/O can be configured for different operation in “Normal”, “Air replaceable 1”, or “Air

Replaceable 2” modes using the TBVST software. In normal mode the cylinder uses the PC1, 2, 4,

and 8 inputs in BCD combination to run 16 different motions and needs a CSTR pulse to initiate each

move. In the “Air Replaceable” modes the cylinder can run up to 3 motions as commanded by the

PC1, PC2, or PC4 inputs. The different modes control whether the inputs must be maintained during

motion, or can be pulsed. Please see the TBVST manual for more information on the “Air

Replaceable” modes.

1.2 Names of Parts

O O

O O

O X

1.2.1 Names

SCN5 Model (10Kgf Type)

Name P late

Motor

Servo Amplifie r & Controller

Rod

Thread

Rod Shaft
Mechanism

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p

SCN6 Model (20Kgf & 50Kgf Type)

SCLL6 Model (Slider 20Kgf Type)

Shaft thread Main body Motor

Face of name
plate

Motor/Encoder
Connector

Servo
amplifier

Controller

Power
Parallel
Connector

Motor/Encoder
Connector

Serial
Connector

Motor/Encoder
Cable

Cover

Slider Mechanical portion

Motor

Motor/Encoder
Connector

Servo
amplifier
/Controller

Power

Parallel

Connector

Serial
Connector

Face of name

plate

Face of
name

late

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1.2.2 Name Plate

The name plate is located at the back of the Mech. Cylinder. (Please refer to 1.2.1)

MODEL

S/N

Intelligent Cylinder

Dyadic Systems Co.,Ltd

MADE IN JAPAN

2. Safety Notes

(1) Please use the following voltages and power supplies of sufficient capacity:

(2) Incorrect wiring may damage the equipment.
(3) Please do not change wiring when the power is on. Please remove and/or plug in parallel connectors (PIO)

when the power is turned off.

(4) Please install the unit in a good place for sensitive electrical equipment. (Good thermal radiation, low vibration,

low shock)

(5) Please make sure to provide protection from electrical noise. If the unit receives noise, the cylinder may

vibrate and/or make inaccurate movement.
(6) Please do not test the unit for voltage durability or electro-magnetic susceptibility.
(7) Please hold the connector when disconnecting the cables.
(8) Please note that the coordinate system for the forward homing mode is negative and the reverse homing

mode is positive. This also applies to the push force mode. This is especially important to keep in mind for

Teach Pendant operation.
(9) The short cables protruding from the motor are not high flex cables.

SCN5- Built-in Amp,
SCLL5- Built-in Amp,
SCLG5- Built-in Amp,
SCLT4- Built-in Amp
SCN6, SCLL6, SCLT6 Motor DC24V+/-10% (Max. 3A)

SCLL5- External Amp,
SCLG5- External Amp,
SCLT4- External Amp

Using N axes, 2 x N (amps) power supply capacity is not necessary if the timing of axis
movements varies slightly.

Models Power type Power

Notes for SCLL6 Model

(10) Ensure the system is designed within the specifications of max moment load on the slider table.
(11) The acme screw in the SCLL6 is exposed to the ambient environment. Therefore it requires an application of

grease approximately every 6 months. The recommended grease is Lithium type No.2. Remove the top

cover by removing the 4 cover screws, and apply grease on the slider screw. Move the carriage back and

forth several times to distribute the grease. Please do not apply grease to the guide bushings of the carriage.

Model Name & Code

Serial Number

DC24V+/-10% (Max. 2A)

Control DC24V+/-10% (Max. 0.2A)
Motor DC24V+/-10% (Max. 2A)
Control DC24V+/-10% (Max. 0.2A)

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3. Start Up

3.1. Preparation

3.1.1. Check if there is any damage

Please check the appearance of the product to ensure no damage occurred during transportation.

3.1.2 Check if the product is correct

Please verify that the product is the same as ordered.

3.1.3 Power Supply

Please provide a power source. (Regulated DC24V)

3.1.4. Tools

Tools will be required to work on wiring and connecting. (Wire Stripper, Wire connectors, etc.)

3.1.5. Programming Tool

An individual Mechatronics Cylinder doesn’t include programming tools such as the Teach Pendant or
PC Tool (TBVST-EN). These items are sold separately.

3.2. Wire the Power/IO cable and run from the PC programming tool

3.2.1. Check the Power & I/O cable:

SCN5-Amp built-in: RP9100-XXX

SCN6 and all SCL
actuators:

Connection Example (SCN5 Model)

Models Power cable

RP9120-XXX

Connect the ADP Cable for
communication with the PC
Programming Tool or a
teach pendant

Connect the Power & I/O
cable (Parallel cable)

3.2.2. Check Parallel Connector Cable

The parallel cable includes the power and signal cable required to run the Mechatronics Cylinder from a
PLC and/or switches.

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(

)

Cable For SCN5 Actuators (RP9100-XXX)

Connect to
Mechatronics Cylinder

Cable For All Actuators Other Than SCN5

Connect to the power & I/O connection of the actuator or controller

I/O cable to connect with PLC
and/or switches

Thicker cable

Power connection cable
(Thinner cable)

Signal cable to connect with
PLC and/or switches
(Thicker cable)

Power connection cable
(Thinner cable)

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3.2.3. Parallel Cable Preparation

Please use tips for stranded wire on the ends of all connections.

SCN5 Models (10Kgf Type)

To run from PC Tool Kit (sold separately) only, please connect the power wires (Red: +24V, Black: 0V)
and ILK (Brown: +24V) at this time (see below)

PNP Type

Red: +24V

Black: 0V

Green: FG

(Connect to ground)

White: FG

(Connect to ground)

Orange: ZONE (ZONE signal)
Light Green: (ALM signal output)

Red: PC4
Green: PC8

Yellow: CSTR
White: PC2

Black: PC1

Brown: ILK (Emergency Stop) signal

Connect with +24V

Blue: PFIN (Position Finished)
Gray: ZFIN (Homed)

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SCN6 Model SCL Models

* SCL actuators with amp built-in do not use the PM1, PM2, PM4 and PM8 outputs.

3.2.4. Connect Parallel cable and ADP Cable with Mechatronics Cylinder

Red: +24V, Motor Power
Black: 0V, Motor Power
Yellow: +24V, Controller Power
White: 0V, Controller Power

Brown: NC, please do not connect
Green: FG (ground)

Black: PC1
White: PC2
Red: PC4
Green: PC8
Yellow: CSTR
Brown: NC (No connection)
Blue: NC (No connection)

Purple: ILK, (E-Stop) +24VDC

Grey: PM1 *
Pink: PM2 *
Light green: PM4 *
Orange: PM8 *

Light blue: PFIN
Dark brown: ZFIN
White&Black: Zone
Red&Black: ALM

PNP Type

SCN5 Models (10Kgf Type)

The ADP Cable is supplied with your Programming Tool (PC Tool Software, Teach Pendant Tool).
Please connect the ADP cable with the Mechatronics Cylinder after the 24VDC power is supplied.

Connect ADP Cable
(Included with Programming Tool)

Connect parallel cable

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SCN6 Model (20Kgf & 50Kgf Type)
SCL Models (Slider Type)

3.2.5. Teach Pendant Programming – Quick Start and Simple Cycling

(1) Please connect the the ADP cable with the Teach Pendant as per figure below.

(2) Apply 24VDC power to the actuator.
(3) Approx. 4 to 5 seconds after the power is turned ON, the

LCD Display of the Teach Pendant will show “Make Homing” with Teach Position [0] flashing.

Please press and hold the HOMING button until the “HOMED” LED illuminates.

○ Servo ON

○ Homed

(4) When the axis has been homed, if the jog wheel on the Teach Pendant is turned to clockwise, the

rod of Mechatronics Cylinder will extend. if the jog wheel is turned counterclockwise, the
Mechatronics Cylinder will retract.

(5) Please press the “POSITION SELECT” button while pressing the “NORMAL POSITIONING”

button. This will download the demo data from the teach pendant to Mechatronics Cylinder.
(6) Please press the “POSITION SELECT” button once - the position number will show [1].
(7) Please hold the “NORMAL POSITIONING” button and press the “HOMING” button. This will

cause position 0 and position 1 to cycle repeatedly with a small delay between. The motions will

cycle from 0 to whatever number is displayed when the demo mode is initiated.
(8) Please press the “NORMAL POSITIONING” button to stop the motion.
(9) Please use the operation manual of Teaching Pendant for more details, or see the next section to

try programming some simple positions.

Connect ADP cable to actuator serial
connector

● Servo ON

● Homed

Connect ADP Cable
(Included with Programming Tool)

Connect parallel cable

Servo ON LED will be turned ON and the

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3.2.6. Quick Start – Program some Position-Controlled Motions With the Teach Pendant

Stop position Speed Note
Position 0 - 5 mm 50 mm/sec Please enter the data close to the
Position 1 - 45 mm 10 mm/sec

Position 2 - 25 mm 25 mm/sec
Note: The default position coordinate is negative. If the home position was changed to the
forward side, the position coordinate is positive.

(1) Connect the ADP cable to the Teach Pendant and the serial connector on the servo controller.
(2) Wire the power cable as follows:

RP9100 power cable:
Red (Drive) with +24VDC, Black (Drive) with 0V, Brown (ILK) with +24VDC

RP9120 power cable:
Red (Drive) with +24VDC, Black (Drive) with 0V, Yellow (Control) with +24VDC, White (Control) with

0V, Purpule (ILK) with +24VDC
(3) Please turn the power ON.
(4) 4-5 seconds after the power is turned ON, the Servo ON LED of the Teach Pendant will be ON and

the LCD will be display “Make Homing”. Please press and hold the “homing” button until the display

shows the “Homed” message.
(5) Please turn the jog wheel clockwise, so that the Mechatronics Cylinder shaft will extend.
(6) Program Position number 0

Confirm that Position 0 is displayed and the “Pos. Jog/Teach” indicator is lit. Please turn the wheel to
make the LCD display [-5mm] then press “WRITE”.
Please press the “DATA ENTRY MODE” button twice to cycle to the “SPEED DATA INPUT”
parameter, then turn the wheel to set the speed to 50mm/sec. Please press “WRITE” to save the
change.
Now position 0 has a position target of -5mm and a speed target of 50mm/sec.

(7) Program Position number 1

Please press the “POSITION SELECT” button once so that position 1 is displayed in the red
seven-segment display. Now position 1 is available to change. Check that the “Pos. Jog/Teach”
indicator is lit, and turn the wheel to make the LCD display [-45mm], then press the “WRITE” button.
Please press the “DATA ENTRY MODE” button twice to cycle to the “SPEED DATA INPUT”
parameter, then turn the wheel to set the speed to 10mm/sec. Please press “WRITE” to save the
change.
Now position 1 has a position target of -45mm and a speed target of 10mm/sec.

(8) Program Position number 2

Please press the “POSITION SELECT” button once so that position 1 is displayed in the red

seven-segment display. Now position 1 is available to change. Check that the “Pos. Jog/Teach”

indicator is lit, and turn the wheel to make the LCD display [-45mm], then press the “WRITE” button.

Please press the “DATA ENTRY MODE” button twice to cycle to the “SPEED DATA INPUT”

parameter, then turn the wheel to set the speed to 10mm/sec. Please press “WRITE” to save the

change.

Now position 2 has a position target of -25mm and a speed target of 25mm/sec.

(9) Please hold the “NORMAL POSITIONING” button and press the “HOMING” button. This will cause

position 0, position 1, and position 2 to cycle repeatedly with a small delay between.

Please press the “NORMAL POSITIONING” button to stop the execution.

value. Exact value is not needed.

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-18/63

3.2.7. Quick Start – Program a Force-Controlled Motion With the Teach Pendant

Let’s program the motion as per the figure on
the right, such that the actuator moves
20mm at higher speed, then switches to low
speed to look for a pre-set force.
Please note that the force value is negative
(-) for the extend direction, positive (+)
for the retract direction.

(1) Connect the ADP cable to the Teach Pendant and the serial connector on the servo controller.
(2) Wire the power cable as follows:

RP9100 power cable:

Red (Drive) with +24VDC, Black (Drive) with 0V, Brown (ILK) with +24VDC

RP9120 power cable:

Red (Drive) with +24VDC, Black (Drive) with 0V, Yellow (Control) with +24VDC, White (Control) with

0V, Purpule (ILK) with +24VDC

(3) Please turn the power ON.
(4) 4-5 seconds after the power is turned ON, the Servo ON LED of the Teach Pendant will be ON and the

LCD will be display “Make Homing”. Please press and hold the “homing” button until the display shows

the “Homed” message.
(5) Please turn the JOG handle clockwise and verify that the actuator shaft moves forward.
(6) The following will store push force parameters in position 4.

Please press the “POSITION SELECT” button 4 times such that the position number display indicates

[4]. Now position 4 can be programmed.

Please press the “PUSH POSITIONING” button. Now position 4 is in push force mode.

Check that the “POS. JOG TEACH” LED is lit, and turn the JOG handle to extend the actuator until the

LCD displays position [-20mm]. Press “SAVE” button. This is the position at which the higher speed

part of the move will end and the force controlled part of the move will begin. This is also referred to as

the “Approach Point”.

Please press the “DATA ENTRY MODE” button twice to access the “SPEED DATA INPUT” parameter.

Change the speed to 50mm/sec by turning the JOG handle, then press the SAVE button.

Press the “DATA ENTRY MODE” button 3 times to access the “PUSH FORCE DATA IN” parameter.

Set the push force to -20% by turning the JOG handle, then press the “SAVE“ button.

Now, position 4 has a force-controlled motion programmed as shown in the above figure.
(7) Turn the JOG handle counter clockwise to retract the shaft. Press and hold the “POSITION RUN” button

with number 4 displayed in the seven segment display, and the actuator will operate the push force

motion. If the button is released the motion will stop.

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-19/63

)

(

3.2.8. Quick Start – Set Up of Basic Parameters Using the PC Tool (TBVST-EN-SET)

The following sequence of operations will allow you to download a default program into your Mechatronics
Cylinder Controller. This program will over-write any other program currently in the controller.

(1) Connect the ADP cable to the CN2 jack of the Connector Junction (ADP-2-4) as per figure below.
Connect the SIO cable to the CNA jack of the Connector Junction (ADP-2-4) as per figure below.

(2) Power up the Mechatronics Cylinder, and connect the SIO cable to the RS232/485 adaptor

(ADP-1) and connect it to the serial port (COM port) of your PC as per the figure below.

SIO Cable

RP9041)

(3) Start the PC Tool software (TBVST-EN).

CNA CN2

RS232/485 Adaptor (ADP-1

ADP Cable (RP9050)

SIO Cable (RP9041)

Connector Junction (ADP-2-4)

Connect to PC serial port (COM port)

(4) The first menu is for communication setup – please select the serial port Number that the ADP-1 is

plugged in to, then click Set. After few seconds, the operation menu will come up as follows.

(5) Please click the HOMING button, so that the Mechatronics Cylinder will home itself.

Click [FILE]

[HOMING] button

If this block is dragged
and moved right or left,
the Cylinder will move
accordingly.

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-20/63

③

(6) Please click

①

Select【Download (PC⇒Amp.)】

Click【Download Start】

②

File Selection

【FILE】at left top on the screen, so that following Menu will be displayed.

(7) ① Please select【Download (PC→SERVO AMP)】and select the file which is suitable for the stroke

of the Mechatronics Cylinder being used. Click the【Download start】button, so that the demo

program will be copied to the Mechatronics Cylinder controller.

(8) Click【Close】at the top right of the screen to return to the previous menu. Click the【Start】button

to initiate the sequence entered in the text box to the left of the Start button. The Mechatronics

Cylinder will repeat this sequence of moves from the downloaded demo program if there is a letter

“R” at the end of the sequence.
Please click the【STOP】button to stop the demo movement.

Click【FILE】so that
the File Menu will
appear on the screen

Click【START】so that the
Mechatronics Cylinder
will run the selected
demo program.

(9) Please refer to 【HELP】

for details.

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-21/63

4. Installation and Test Running

4.1. Installation

If the installation and/or environment of the Mechatronics Cylinder are poor, the life of the actuator may
be artificially shortened, or the Mechatronics Cylinder may malfunction. Please install the
Mechatronics Cylinder with the following care:

4.1.1. The Installation Environment

The Mechatronics Cylinder is generally intended for use indoors. Please provide a place for cylinder
installation that meets the following requirements:

① Free of corrosive and/or explosive gas.
② Minimal moisture and/or dust
③ Ambient temperature between 0 ﾟ C ~ 40 ﾟ C.
④ Ambient humidity is 90%RH or less and there is no condensation.
⑤ Accessible for maintenance.
⑥ Safe from water splashing and/or oils.

4.1.2. Recommended mounting of Mechatronics Cylinder

SCN5 Model (10Kgf Type) SCN6 Model (20Kgf, 40kgf, 50Kgf Type and 60 kgf)

The Mechatronics Cylinder is intended to be mounted with a flat washer, a split washer and an M5 cap

screw at the 4 holes in the mounting Flange. Placing the flat washer before the Spring washer is

important to avoid scratching the Mounting Flange.
The recommended screw torque is 20 kg-cm for SCN5 models, 45 kg-cm for SCN6 models.
Foot mounting brackets are available.

SCL Models
Please mount the slider on a flat surface with the M6 nuts located on the bottom face slots.

4.1.3. Use of the shaft tip screw

SCN5 Model (10Kgf Type) SCN6 Model (20Kgf, 40kgf, 50Kgf Type and 60 kgf)

The Mechatronics Cylinder uses a non-rotating Linear Actuation Mechanism. However it is not

designed to withstand significant torque. Please use a wrench to hold the shaft flats while the nut is

tightened onto the rod tip threads.
The recommended nut tightening torque is 30 kg-cm for SCN5 models, 45 kg-cm for SCN6 models.
If the rotary moment load is big and/or the backlash of the rotary direction is critical, please use an
anti-rotating mechanism.

4.1.4. Load installation accuracy

SCN5 Model (10Kgf Type) SCN6 Model (20Kgf, 40kgf, 50Kgf Type and 60 kgf)

Please ensure your guide is parallel to the rod of the
Mechatronics Cylinder to within 0.1mm along the entire
length of stroke. A simple way to check this dimension
is to install the actuator with loose mounting screws (at
the flange), then move the shaft through its stroke. If the
back of the Mechatronics Cylinder moves less than 0.1mm,
it is acceptable.

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-22/63

4.1.5. Servo Amplifier Mounting and Environmental Installation Limits

(1) Ambient temperature under 40°C.
(2) Minimal shock and vibration. (should be lower than 0.5G)
(3) Environment free of corrosive gas and dust.
(4) Ambient humidity under 90%RH, non condensing.
(5) Please use 2 ea of M3 screws to mount amplifiers as per the sketch below. Please leave 10mm

distance or greater between amplifiers, and leave 50mm or greater space for cables:

Vertical mounting

4.2. Wiring

Horizontal mounting

Motor, Encoder cables

Top

Motor, Encoder cables

Top

Lower

Power parallel cable &
Serial cable

Lower

Power parallel cable &
Serial cable

PNP Type

Installation distance

Please wire with reference to section 3.2.3.

4.2.1. Wiring

(1) The following precautions may help to avoid problems with electrical noise:

① The wires from the Controller to the PLC and noise filter should be as short as possible.
② Power to coils of relays and solenoids should be managed by surge hardware.
③ Separate the wiring from other equipment.

(2) When the Mechatronics Cylinder system is being controlled by 24V I/O:

① Design the system to allow shut off of the 24V line to the actuator in case of “SERVO ALARM”.

② The sequences of power up and down should be as follows:

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-23/63

A

A

y

A

A

p

A

SCN5 Model (10Kgf Type)

ctuator

Movement

Power

No thrust

24V Power ON

Beginning of Thrust

larm output

Positioning complete
output

trd

Normal operation

Completion of operation
preparation

trdy

Names Time Application
Trd 50msec Max. Power ON=> ALM signal start up
trdy 250msec (normal) Power ON=> Completion of operation pre p.

SCN6 Models, SCLL models, SCLT models
SCLL6 Model (Slider 20Kgf Type)

In case of Power turned ON

ctuator

Movement

24V control power

No thrust

tpp

24V drive power

larm output

Normal operation

Position
com

l. output

trd

trd

In case of Power turned OFF

ctuator

Movement

24V control power

24V drive power

Names Time Application
Tpp 0msec Min. Control power ON=> Drive power ON

Drive power OFF=> Control power OFF

Trd 50msec Max. Control power ON=> ALM signal start up
trdy 250msec (general val ue) Control power ON=> Completion of operation prep.

Beginning of Thrust

Completion of operation
preparation

Completion of operation
preparation

No thrust Beginning of Thrust

tpp

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-24/63

(3) Wiring for Serial Control

① When planning a RS232C interface with the main control system, the ADP-1 (RS232C/RS485

converter) is necessary. Please refer to section 6.3 regarding the ADP-1.

4.3. Notes for wiring and connections

4.3.1. Power shut down

When shutting down 24VDC power to the Mechatronics Cylinder, please open both 24V and 0V lines
from the power supply, or open the 24V side.

If 0V of 24 VDC power supply is shut down, the power circuit of the Mechatronics Cylinder may be damaged.

4.3.2. +24VDC Ground

PNP Type

Please do not connect +24VDC power to ground.

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-25/63

PNP Type

4.3.3. Power input circuit

Ensure all I/O of the Mechatronics Cylinder are connected to either 0VDC or 24VDC±10%.
Connection to any voltage in between these values may result in damage to the input or output.

The input circuits of the Mechatronics Cylinder are designed as non-isolated dedicated source drive
circuits as described below. Therefore it is necessary to connect (ON) with +24V terminal, or open (OFF)
with +24V terminal by using source type output circuit.

As shown below, the input circuit will receive over current and the internal circuit will be damaged

if a PNP input is driven by a sinking output circuit or connected with 0V directly.

Fig. 2 Good PNP Input Circuit Fig. 3 Bad circuit (PNP) example

4.3.4. When Driving Coils or Other Inductive Loads

Sink type
PLC

X O

When using outputs to drive induction loads:

The output circuits of the Mechatronics Cylinder are open collector outputs as shown below. Therefore
when driving an external load (such as a coil), please use an external surge diode or solid state relay.
Surge voltage can damage the output circuit.

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-26/63

4.4. Wiring examples of outside connections

Connection of Parallel Interface (Parallel cable, I/O Control – PIO Connection)

SCN5 Model (10Kgf Type, PNP)

Position No. Set List

１ ２ ３

０
０ １ ０

１ １ １ １ １１ １１

０

０

０

０

０

０

０

０

PositionNo.

PC1
PC2
PC4
PC8

CSTR

４ ５ ６ ７ ８ ９ ＡＢＣＤＥ Ｆ

１ １ １ １ １ １ １

０ ０ ０ ０ ０ ０
０ ０ ０ ０ ００

０

１ １ １ １

０ ０ ０ ０ ０

Please ground at
ground resistance
100ohm or smaller

０ ０ ００
１

１１

１

SCN6 PNP Model / SCLT Models.
SCLL PNP Model .

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-27/63

Power Shut Down Order

+

24V

１１ １１
１１ １１

Position No.F

Position No.1

Position No.0

+24V

0V

FG

PC1
PC2
PC4
PC8
CSTR
ILK

PFIN/INP
ALM
ZONE
ZFIN

TRx+

TRx-

+5V

0V

-

A

)

Connection of Serial Interface (SIO Connection)

100ohm or smaller

SCN5 Model (10Kgf Type)

232C/RS-485

RS

Converter

To RS-232C
Serial (COM) Port

SIO Cable

(Program desired stop position)

SCN6 PNP Models / SCLL PNP Models
SCLT PNP Model (ExternalAmp Type

Power Shut Down Order

+

24V

Please ground at

ground resistance

Connector Converter

DP Cable

+24V

0V

FG

PC1
PC2
PC4
PC8
CSTR
ILK

PFIN/INP
ALM
ZONE

ZFIN

TRx+

TRx-

+5V

0V

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-28/63

(Note1) For serial (SIO) control of one or more Mechatronics Cylinders using the RS-485

protocol, requirements are one ADP cable per cylinder, one connector converter
(ADP-2 or ADP-2-4) for every 4 axes, and one SIO cable for every 4 axes. Networks
of up to 16 axes can be connected. When using RS-232C to control one or more
Mechatronics Cylinders the ADP-1 RS232C/RS485 protocol converter is
recommended as a simple solution for connecting to your 9-pin RS232 port.

(Note 2) It is recommended to program the system to cycle power if an alarm condition

occurs. Follow guidelines shown in Section 4.3.1.

(Note 3) It is recommended to use a solid-state relay to turn ON/Off main power to minimize

electrical spikes.
(Note 4) Power required is DC 24V+/-10%, Max 3A.
(Note 5) Power, I/O and programming cables and converters are not included. Please

purchase separately.
(Note 6) The Mechatronics Cylinder and cables are not water resistant.
(Note 7) The SIO cable is generally intended for use inside a panel.

4.5. Trial run

The user may wish to complete a trial run with no load connected to ensure the cylinder program is as expected.
Please follow the steps below:

(1) Power up the cylinder and controller, then complete the serial connection.
(2) Ensure the cylinder is not connected to any load
(3) Check the wiring to ensure all connections are tight and all connectors are securely connected. In using

serial control (SIO) for a multiple cylinder network, ensure a unique number is assigned to each axis

(using the Axis Number Change software utility).
(4) Check each movement individually.
(5) After checking individual movements, operate the system.

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-29/63

)

5. Specifications of Mechatronics Cylinder

5.1. Specification of Servo Cylinder

5.1.1. Specifications

SCN5 Model (10KgfType

Models -010-050 -010-100 -010-150 -010-200 -010-250 -010-300

Life 3 years after delivery or 10,000 km operation when applied within published specs
Stroke (mm) 50 100 150 200 250 300
Max thrust (N)/(kgf) 100/10.2
Max. thrust at push mode (N)/(kgf) 70/7.1
Max. speed (mm/s): typ. data 400 200 160 120
Speed at push force mode (mm/s) 7.5
Repeatability (mm) +/-0.01 (when homing to hard stop and pushing on same side)
Backlash (mm) 0.3
Radial load (N) 15 10 5 4 3 2.5
Shaft diameter (mm) 15 Dia
Shaft tip screw thread Standard: M10 Pitch 1.25 (303 SS)
Housing Extruded Aluminum
Positioning capacity 16 motions, each with programmable acceleration, velocity, position
Power DC24V+/-10% (max. 2.0 A)
Input
/Output
signal

Protection Over speed, Main power over voltage, Voltage fault,
Ambient

conditions

Weight (kg) 1.1 1.2 1.4 1.6 1.8 2.0

Parallel input signal DC24V type DI/DO Interface (Connector PIO), Position number (4bit binary: PC1,PC2,PC4,PC8)
Input

Current

Parallel output signal Position complete (PFIN/INP), Homed signal (ZFIN), Zone signal(ZONE), Alarm (ALM),

Output

Current

Serial signal Serial Interface (Connector SIO)

Operation
Temperature
Storage temperature

Operation/Storage
moisture

Start (CSTR), Axis Movement Interlock (ILK)
Max. 4mA / port

24VDC Digital I/O Interface, PNP Standard
Max. 10mA / port

+5V, 5G, S+, S­Overload, Sensor fault, Servo fault, Encoder wire disconnected

Note 1) Specifications are subject to change without notice.
Note 2) Push force value as figure below is typical value. Actual value may vary.

ﾟ

C ~ 40ﾟC.

0

ﾟ

C ~ 60ﾟC.

-20

≦

90%RH, non condensing

Push force set value vs Actual Push force Thrust vs speed

Notes: The max vertical load
force is 7 kgf.

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-30/63

Notes: Push force set is negative (-) value for the
shaft forward direction, positive (+) value for the
opposite direction.

)

SCN6 Models (20Kgf, 40kgf, 50kgf& 60kgfTypes

MODEL

Stroke (mm) 50 100 150 200 250 300 50 100 150 200 250 300 50 100 150 200 250 300 50 100 150 200 250 300

Life Other than seal 3 years after the delivery, or 10,000 km operation under the use within the specs.

Max. Thrust (N) / (kgf) 200 / 20.2 400 /40.8 500 / 51.0 650 /66.3

Max. vertical carriable wt at power ON 14 28 30 45

Push mode max. Thrust (N)/(kgf) 140 / 14.2 280 / 28.5 350 / 35.5 450 / 45.9

Max. Speed (mm/s) * note 1 200 100 100 100

Repeatability (mm) ±0.1

Backlash (mm) 0.3

Radial Load Capacity (N) 30 20 10 10 10 10 30 20 10 10 10 10 75 50 25 18 15 12 75 50 25 18 15 12

Rod Diameter (mm) Ø22

Rod Tip Thread

Program Capacity 16 Motions

Power Supply DC24V ± 10% (Drive Power max. 3.0 Amps, Control power max. 0.2A)

I/O Parallel DC24V type DI/DO Interface (Connector PIO), Position complete(PFIN/INP),

Protection function Over speed, Main power over voltage, abnormal voltage,

Ambience Storage Temperature -20 ~ 60°C

Weight (kgs) 1.6 1.9 2.2 2. 5 2.8 3.1 1.9 2.2 2.5 2.8 3.1 3.4 1.9 2.2 2.5 2.8 3. 1 3.4 1.9 2.2 2.5 2.8 3.1 3.4

Functions - Positioning with speed, Accele - Increment movement - Stroke Limit end set - Zone Signal output - Push Force Mode

Notes: (*1) Typical data (*2) Stroke 200mm, 250mm and 300mm are available.

Seals 6 months, or 2,500 km run (Dust Proof Model Only)

Parallel DC24V type DI/DO Interface (Connector PIO)

Input Names Position number (4 bit binary: PC1,PC2,PC4,PC8)

Input current

Output Names Completed Position Number (4bit binary: PM1,PM2,PM4,PM8),

Output current

Serial Signal Serial Interface (Connector SIO) +5V, 0V, S+, S-

Operate Temperature 0 ~ 40°C

Ope/Storage Humidity ≤ 90% RH, non-condensing

Vib./shock Duravility 2G/10 times

Protection IP-40 equivalent (Standard), IP-54 (Dust proof sealed model)

- Home Direction Set - Suitable Auto Max. Accel - Zone Signal output - Complete signal range set - Servo Gain Adjust

SCN6-020 SCN6-040 SCN6-050 SCN6-060

050 100 150 200 250 300 050 100 150 200 250 300

M14 Pitch 1.5 (303SS)

Start (CSTR), Axis Movement Interlock (ILK)

Max. 4mA / port

Homed signal(ZFIN), Zone signal(ZONE), Alarm (ALM)

Max. 10mA / port

Overload, Sensor abnormal, Servo abnormal, Encoder wire disconnected

050 100 150 200 250 300 050 100 150 200 250 300

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)

SCN6 Models (20Kgf, 40kgf, 50kgf& 60kgfTypes

Speed vs Thrust Curves

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-32/63

)

SCLL6 Model (Slider 20Kgf Type

MODEL

Stroke (mm) 300 400 500 600 700 800 900 1000

Max. Thrust (N) / (kgf) 200 / 20.4

Max. vertical carriable wt at power ON 2.5 kgs

Push mode max. Thrust (N)/(kgf) 140 / 14.2

Max. Speed (mm/s) * note 1 300 280 220 180 150

Repeatability (mm) ± 0.1

Backlash (mm) 0.3

Max. Load weight (kgs) 5 2 1

Max. vertical load (kgs) 2.5 2 1

Load moment (kgf-m) Mp=0.5, My=0.5, Mr=0.5 Mp=0.3, My=0.3, Mr=0.3 Mp=0.2, My=0.2, Mr=0.2

Overhang length (mm) 150 or shorter

Program Capacity 16 Positionings

Power Supply DC24V ± 10% (Drive Power max. 3.0 Amps, Control power max. 0.2A)

Life 3 years after the delivery, or 10,000 km operation under the use within the specs.

Parallel DC24V type DI/DO Interface (Connector PIO)

Input Names Position number (4 bit binary: PC1,PC2,PC4,PC8)

Input current

I/O Parallel DC24V type DI/DO Interface (Connector PIO)

Output Names Completed Position Number (4bit binary: PM1,PM2,PM4,PM8), Positioning complete(PFIN/INP),

Output current

Serial Signal Serial Interface (Connector SIO)

Protection function Over speed, Main power over voltage, abnormal voltage,

Ambience Operate Temperature 0 ~ 40°C

Storage Temperature -20 ~ 60°C

Ope/Storage Humidity ≤ 90% RH, not dew on the products

Weight (kgs) Actuator 3.7 4.7 5.7 6.7 7.7 8.7 9.7 10.7

Amplifier 0.5

Functions Positioning with speed, Accele/Decel Servo Gain Adjust

Notes: (*1) Typical data, (*2) Rodless Actuators with stroke of 600 ~ 1,000mm are not stock items. Please call for delivery.

SCLL6- SCLL6- SCLL6- SCLL6- SCLL6- SCLL6- SCLL6- SCLL6­ 020-300A 020-400A

Start (CSTR), Axis Movement Interlock (ILK)

Homed signal(ZFIN), Zone signal(ZONE), Alarm (ALM)

+5V, 0V, S+, S-

Overload, Sensor abnormal, Servo abnormal, Encoder wire disconnected

Push Force Mode Stroke Limit end set

Home Direction Set Zone Signal output

Speed Profile

Suitable Auto Max. Accel

020-500A 020-600A 020-700A 020-800A 020-900A

Max. 4mA / port

Max. 10mA / port

020-A00A

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)

5.1.2. Rod speed-thrust curve

SCLL6 Model (Slider 20Kgf Type

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)

SCLL5 Model (Slider 10Kgf Type

MODEL

Stroke (mm) 50 100 150 200 300

Max. Thrust (N) / (kgf) 50 / 5

Max. vertical carriable wt at power ON 1 kg

Push mode max. Thrust (N)/(kgf) 30 / 3

Max. Speed (mm/s) * note 1 300

Repeatability (mm) ± 0.1

Backlash (mm) 0.3

Max. Load weight (kgs) 5 (Horizontal)

Max. vertical load (kgs) 2.5

Load moment (N-m) (kgf-cm) Mp=0.5 / 5.1, My=0.5 / 5.1, Mr=2 / 20.4 (* note 2)

Overhang length (mm) * note 3 100 or shorter

Program Capacity 16 Motions

Power Supply DC24V ± 10% (Drive Power max. 3.0 Amps, Control power max. 0.2A)

Life 3 years after the delivery, or 10,000 km operation under the use within the specs.

Parallel DC24V type DI/DO Interface (Connector PIO)

Input Names Position number (4 bit binary: PC1,PC2,PC4,PC8)

Input current

I/O Parallel DC24V type DI/DO Interface (Connector PIO), Position complete (PFIN/INP)

Output Names Completed Position Number (4bit binary: PM1,PM2,PM4,PM8),

Output current

Serial Signal Serial Interface (Connector SIO)

Protection function Over speed, Main power over voltage, abnormal voltage,

Ambience Operate Temperature 0 ~ 40°C

Storage Temperature -20 ~ 60°C

Ope/Storage Humidity =< 90% RH, non-condensing

Weight (kgs) Actuator 1.0 1.2 1.3 1.5 1.8

Amplifier 0.5

Functions Positioning with speed, Accele/Decel Servo Gain Adjust

Notes: (*1) Typical data, (*2) This is a load that the wt (m kg) is generated by the overhang (L m) from the arrior slider.

SCLL5- SCLL5- SCLL5- SCLL5- SCLL5­ 010-050A

Start (CSTR), Axis Movement Interlock (ILK)

Homed signal(ZFIN), Zone signal(ZONE), Alarm (ALM)

Overload, Sensor abnormal, Servo abnormal, Encoder wire disconnected

Push Force Mode Stroke Limit end set

Home Direction Set Zone Signal output

Speed Profile

Suitable Auto Max. Accel

010-100A

+5V, 0V, S+, S-

010-150A

Max. 4mA / port

Max. 10mA / port

010-200A 010-300A

(The calculation of the load moement (kgf-cm) is: m (kg) x L (cm) < Mp, My, Mr)

The actual moment will be combinations of those moments (Mp, Py, Mr).

Notes: (*3) This is the acceptable over hand length from the slider carriage.

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SCLL5 Model (Slider 10Kgf Type

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SCLG5 Model (Slider High RigidityType

MODEL

Stroke (mm) 50 100 150 200 300

Max. Thrust (N) / (kgf) 100 / 10.2

Max. vertical carriable wt at power ON 3 kgs

Push mode max. Thrust (N)/(kgf) 70 / 70.1

Max. Speed (mm/s) * note 1 300

Repeatability (mm) ± 0.1

Backlash (mm) 0.3

Max. Load weight (kgs) 10 (Horizontal)

Max. vertical load (kgs) 2.5

Load moment (N-m) (kgf-cm) Mp=1.5 / 15, My=1.5 / 15, Mr=5 / 51 (* note 2)

Overhang length (mm) * note 3 150 or shorter

Program Capacity 16 Motions

Power Supply DC24V ± 10% (Drive Power max. 3.0 Amps, Control power max. 0.2A)

Life 3 years after the delivery, or 10,000 km operation under the use within the specs.

Parallel DC24V type DI/DO Interface (Connector PIO)

Input Names Position number (4 bit binary: PC1,PC2,PC4,PC8)

Input current

I/O Parallel DC24V type DI/DO Interface (Connector PIO), Position complete (PFIN/INP)

Output Names Completed Position Number (4bit binary: PM1,PM2,PM4,PM8),

Output current

Serial Signal Serial Interface (Connector SIO)

Protection function Over speed, Main power over voltage, abnormal voltage,

Ambience Operate Temperature 0 ~ 40°C

Storage Temperature -20 ~ 60°C

Ope/Storage Hum idity =< 90% RH, non-condensing

Weight (kgs) Actuator 1.3 1.5 1.7 1.9 2.3

Amplifier 0.5

Functions Positioning with speed, Accele/Decel Servo Gain Adjust

Notes: (*1) Typical data, (*2) This is a load that the wt (m kg) is generated by the overhang (L m) from the arrior slider.

SCLG5- SCLG5- SCLG5- SCLG5- SCLG5­ 010-050A

Start (CSTR), Axis Movement Interlock (ILK)

Homed signal(ZFIN), Zone signal(ZONE), Alarm (ALM)

Overload, Sensor abnormal, Servo abnormal, Encoder wire disconnected

Push Force Mode Stroke Limit end set

Home Direction Set Zone Signal output

Speed Profile

Suitable Auto Max. Accel

010-100A

+5V, 0V, S+, S-

010-150A

Max. 4mA / port

Max. 10mA / port

010-200A 010-300A

(The calculation of the load moement (kgf-cm) is: m (kg) x L (cm) < Mp, My, Mr)

The actual moment will be combinations of those moments (Mp, Py, Mr).

Notes: (*3) This is the acceptable over hand length from the slider carriage.

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SCLG5 Model (Slider High RigidityType

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SCLT Models (15Kgf, 25kgf, 30kgf& 50kgfTypes

MODEL

SCLT4-015 SCLT4-030

SCLT6-025 SCLT6-050

-XXX AS -XXX AS -XXX AB -XXX AB

Amplifier Built-in to actuator External

Stroke (mm) 50 / 100 / 150 / 200 / 300 / 400 / 500 50 / 100 / 150 / 200 / 300 / 400 / 500 / 600 / 700

Max. Thrust (N) / (kgf) 150 / 15 300 / 30 250 / 25 500 / 50

Max. carriable wt at pwr ON (kg) 1.5 2.5 4 6

Push mode max. Thrust (N)/(kgf) 105 / 10.5 210 / 21 175 / 17.5 350 / 35

Ball screw lead (mm) 12 6 12 6

Max. Speed (mm/s) * note 1 700 (680mm/s for 400 (340mm/s for 600 (500mm/s for 350 (600mm: 340mm/s)

500mm stroke) 500mm stroke) for 700mm stroke) (700mm: 250mm/s)

Repeatability (mm) ± 0.02 ± 0.02 ± 0.2 ± 0.2

Backlash (mm) 0.1 0.1 0.1 0.1

Max. Hor Load weight (kg) 5 10 16 30

Max. vertical load (kg) 1.5 2.5 4 6

Load moment (Nm / kgf-cm) *2 Mp=12 / 120, My=12 / 120, Mr=31 / 310 Mp=25.7 / 257, My=25.7 / 257, Mr=58 / 580

Program Capacity 16 Positions

Power Supply DC24V ± 10% (Drive Power max. 2.0 Amps, Control power max. 0.2A)

Life 3 years after delivery, or 10,000 km operation when used within all specs.

Parallel DC24V type Digital Input Interface

Input Names Position select bits (4 bit binary coded decimal: PC1,PC2,PC4,PC8)

Start (CSTR), Movement Interlock (ILK)

Input current

I/O Parallel DC24V type Digital Output Interface

Output Names Completed Position Number (4bit binary: PM1,PM2,PM4,PM8) : (SCLT6 Only)

Homed signal (ZFIN), Zone signal(ZONE), Alarm (ALM), Position complete (PFIN/INP)

Output current

Serial Signal Serial Interface (Connector SIO)

Protection function Over speed, Main power over voltage, abnormal voltage,

Overload, Sensor abnormal, Servo abnormal, Encoder wire disconnected

Ambience Operate Temperature 0 ~ 40°C

Storage Temperature -20 ~ 60°C

Ope/Storage Hum idity =< 90% RH, non-condensing

Weight (kgs) 1.42/1.53/1.64/1.74/1.96/2.18/2.4 2.7 / 2.9 / 3.1 / 3.3 / 3.7 / 4.1 / 4.5 / 5.0 / 5.4

Notes: (*1) Typical data, (*2) This is a load that the wt (m kg) is generated by the overhang (L m) from the arrior slider.

Max. 4mA / port, PNP Standard Max. 4mA / port, PNP Standard

Max. 10mA / port, PNP Standard Max. 10mA / port, PNP Standard

+5V, 0V, S+, S-, ASCII Protocol Freely Available

(The calculation of the load moement (kgf-cm) is: m (kg) x L (cm) < Mp, My, Mr)

The actual moment will be combinations of those moments (Mp, Py, Mr).

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5.1.3. Dimensions

Actuator layout drawings:

SCN5 Model (10KgfType

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)

SCN6 Models (20Kgf, 40kgf, 50kgf& 60kgfTypes

SCLL6 Model (Slider 20Kgf Type

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SCLL5 Model (Slider 10Kgf Type

SCLG5 Model (Slider High RigidityType

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)

SCLT4 Models (15Kgf & 30kgf Types

SCLT6 Models (25Kgf & 50kgf Types

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External Amplifier (SCN6, SCLL, SCLT),

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6. Interface specifications

6.1. Circuit Diagrams for 24VDC I/O (PNP)

(1) PIO (24VDC) Input circuit

Input signal ON is defined as electrical connection of
+24V with Input signal.
Input signal OFF is electrical open of Input
signal. The max. input current is 4mA.

(2) PIO (24VDC) Output Circuit

Output signal ON is defined as electrical connection of OVDC with Output signal.
Definition of Output signal OFF is electrical open of Output signal

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(3) SIO (Serial I/O) Circuit

6.2. PIO specifications

6.2.1. Input signals

SCN5 Model (10Kgf Type

Number Symbol Functions

1 +24V Power DC24V, positive
2 0VDC Power DC24V, c ommon
3 PC1 Input of Position registration number: Total of PC1 to PC8

ON means 1, OFF means 0

4 PC2 Input of Position registration number: Total of PC1 to PC8

ON means 2, OFF means 0

5 PC4 Input of Position registration number: Total of PC1 to PC8

ON means 4, OFF means 0

6 PC8 Input of Position registration number: Total of PC1 to PC8

ON means 8, OFF means 0

7 CSTR Strobe input for Input of Position registration number

1. At the edge of OFF=>ON, the controller reads the sum of PC1~8, then it
will move the cylinder to the target position. (same as positioning order)

2. At the edge of OFF=>ON of when Home is unknown, it will move the
cylinder to home, then move it to the target position.

8 ILK Axis movement Interlock input

1. If turned OFF during a move, the cylinder will stop, then register the

position where the cylinder stopped as the temporary target position,
maintaining the original target position in memory.

2. When the ILK

be deleted and the original target position will become the target
position. Motion will resume immediately. (“Cancel” function is also
available)

signal is turned ON, the registered temporary position will

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SCN6 Models / SCLT Models.
SCLL Model (External amplifier type

Number Symbol Functions

1 +24V Main Power DC24V, positive
2 0V Main Power DC24V, common
3 +24V Control Power DC24V, positive
4 0V Control Power DC24V, common
5 PC1 Input of Position registration number: Total of PC1 to PC8

ON means 1, OFF means 0

6 PC2 Input of Position registration number: Total of PC1 to PC8

ON means 2, OFF means 0

7 PC4 Input of Position registration number: Total of PC1 to PC8

ON means 4, OFF means 0

8 PC8 Input of Position registration number: Total of PC1 to PC8

ON means 8, OFF means 0

9 CSTR Strobe input for Input of Position registration number

1. At the edge of OFF=>ON, the controller reads the sum of PC1~8, then it will

move the cylinder to the target position.

2. At the edge of OFF=>ON of when Home is unknown, the cylinder will move

to home, then move to the target position automatically.
10 NC No connection
11 NC No connection
12 ILK Axis movement Interlock input

E-Stop Input Mode

1. If the ILK signal is interrupted (switched to OFF) during the rotation, it will

stop the cylinder with full power and register the position where the cylinder

stopped as its temporary target position.

2. When the ILK

deleted and the axis will immediately resume the previously commanded

motion to the original target position. (“Cancel” function is also available)
13 NC No connection
14 NC No connection

Reference : Position number combination Table (for all models)

Position Number
Resister

PC1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1
PC2 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1
PC4 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1
PC8 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1

CSTR (At Starting up, Data of PC1 to PC8 will be read)

0 1 2 3 4 5 6 7 8 9 A B C D E F

signal is resumed, the registered temporary position will be

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6.2.2. Input signal details

[+24V]

Power input. The control power for the Mechatronics Cylinder is +5V generated within the servo
controller.
The alarm signal will be reset by turning OFF the main power input and CSTR signal turning ON after
the cause of the alarm is fixed.

[0V]

Common. This is common with the lower voltage (Ground) of the control power circuit and the lower
voltage side of serial interface.

[PC1] [PC2] [PC4] [PC8]

These are the destination position number inputs. When the input signal edge of CSTR changes (OFF
=> ON), the destination position numbers inputs are checked (their bit weight is 2
of PC4 and 2

3

of PC4). Please note that the inputs of PC1 to PC8 must be ready when the CSTR signal
changes from OFF to ON. If the input conditions of PC1 to PC8 change after the rising edge of the
CSTR input, there won’t be any influence to the motion (when the cylinder is configured in Normal
mode)
If the application requires only 2 places, only any one of the position number inputs is needed.
For example:
[PC1] input can select position numbers 0 and 1.
[PC2] input can select position numbers 0 and 2.
[PC4] input can select position numbers 0 and 4.
[PC8] input can select position numbers 0 and 8.

[CSTR]

This is a strobe input. When CSTR goes high (OFF => ON), the destination position numbers (PC1, 2,
4, and 8) are read in 4-bit binary and summed to determine which motion to run. Due to the internal
filter, the CSTR signal must be ON for 4ms or longer. If this signal edge is detected before homing has
been completed (when ZFIN output is turned OFF), the homing operation will be executed
automatically, after which the actuator will immediately run the requested motion.
The CSTR and PC1, 2, 4, and 8 inputs can theoretically be turned on at the same time, however, some
PLCs may have slight delays in the response of their outputs, in which case the PC1, 2, 4, and 8 inputs
may not finish switching before the rising edge of the CSTR input is registered. To be safe it is
recommended to switch the PC1 to 8 inputs at least 4ms before the CSTR input is turned ON.
When the CSTR signal is turned ON, the PFIN signal will be turned OFF. If the CSTR signal is kept ON
when the actuator has reached its destination, the PFIN signal won’t be turned ON. Please keep the
CSTR signal ON for at least 4ms and turn it off before the actuator finishes its move.

[ILK

]

The ILK input will either cancel or pause the motion of the actuator when the input status drops to 0VDC.
The teach pendant or PC Tool software can change this behavior. The default setting is the “Pause”
mode. The ILK input should be always turned ON for normal operation.
Details for the Pause mode (Default):

If the ILK signal is turned OFF during motion, the actuator will start to decelerate (at maximum or
programmed decal) then stop. This stop position is designated as the temporary destination
position but the original destination position is still stored.
When the ILK

signal turns back ON, the temporary destination position is deleted, and the original
destination position is set to the current destination. The moves restarts to the original destination
position.
If a new position command is executed (using PC1, 2, 4, 8 and CSTR) while the ILK signal is
turned OFF, the actuator will move to the new position after the ILK signal is turned back ON.

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0

of PC1, 21 of PC2, 22

)

If the ILK signal is turned OFF and the actuator stops, the PFIN signal stays OFF, however, the
PFIN signal will turn ON after the ILK signal is resumed (ON) and the actuator reaches the
destination position.

Move command cancel input mode:

If the new MOVE command is entered when the ILK
the new MOVE command will be disregarded.
If the ILK
signal stays ON when the ILK

6.2.3 Output signal

SCN5 Model (10Kgf Type

Number Symbol Functions

9 PFIN Position completion output

10 ZFIN Homing completion output

11 ZONE Zone signal output

12 ALM Controller alarm output

signal is turned OFF and the actuator stops, the PFIN signal is turned ON. The PFIN

signal is turned back ON.

①

ON: The output goes high when the Mechatronics Cylinder has

moved to within the position width tolerance of the target position.
Please note that PFIN signal won’t be turned ON until the CSTR
signal is turned OFF.

②

OFF: The output goes low when motion to a new target position is

initiated.
Notes:

-The tolerance used to determine when the PFIN output goes high is set by
the “At Position Width” variable in the programming device.

-This output will not operate properly if the “CSTR” signal is left high. The
CSTR signal should be pulsed OFF-ON-OFF to initiate motion, and
therefore is expected to be OFF when motion finishes.

①

ON: The output will be ON after homing completion.

②

OFF: The output is OFF after the Mechatronics Cylinder is first powered
up and /or when an encoder-related alarm occurs. ZFIN won’t be turned ON
until the homing is completed.

①

ON: The output will be ON when the position of the axis is within the
range programmed to be the “Zone”.

②

OFF: The output will be OFF if the axis has not been homed or if the rod is
outside the programmed zone.

①

ON: The output will be ON during normal operation.

②

OFF: The output will be OFF in case of Alarm.

signal is turned OFF and the actuator stops,

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SCN6 Models / SCLT Models.
SCLL Model (External amplifier type

No.

Symbol Functions

15 PM1 Completion signal output: Total of PM1 to PM8

ON means 1, OFF means 0

16 PM2 Completion signal output: Total of PM1 to PM8

ON means 2, OFF means 0

17 PM4 Completion signal output: Total of PM1 to PM8

ON means 4, OFF means 0

18 PM8 Completion signal output: Total of PM1 to PM8

ON means 8, OFF means 0

19 PFIN Position completion output

①

ON: The output goes high when the Mechatronics Cylinder has moved to within the
position width tolerance of the target position. Please note that PFIN signal won’t be
turned ON till CSTR signal is turned OFF.

②

OFF: The output goes low when motion to a new target position is initiated.
Notes:

-The tolerance used to determine when the PFIN output goes high is set by the “At
Position Width” variable in the programming device.

-This output will not operate properly if the “CSTR” signal is left high. The CSTR signal
should be pulsed OFF-ON-OFF to initiate motion, and therefore is expected to be OFF
when motion finishes.

20 ZFIN Homing completion output

①

ON: The output will be ON after homing completion.

②

OFF: The output is OFF after the Mechatronics Cylinder is first powered up and /or
when an encoder-related alarm occurs. ZFIN won’t be turned ON until the homing is
completed.

21 ZONE Zone signal output

①

ON: The output will be ON when the position of the axis is within the range

programmed to be the “Zone”.

②

OFF: The output will be OFF if the axis has not been homed or if the rod is outside the
programmed zone.

22 ALM Controller alarm output

①

ON: The output will be ON during normal operation.

②

OFF: The output will be OFF in case of Alarm occurs.

23 NC No connection
24 FG Frame Ground

6.2.4. Output signal details

[PFIN]

This is the position completion signal.
The output first goes high after the power supply is turned ON and the servo amplifier is ready for operation.
The PFIN signal will be turned OFF when the CSTR signal is turned ON to command a move. PFIN will be
turned back ON when the current actuator position is within the range of the “At Position Width” parameter
(set in the programming package) from the programmed destination position if the CSTR signal has been
turned OFF.
The PFIN signal will also be turned OFF if the actuator is beyond the software stroke limit.

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[ZFIN]

This is the homing completion output.
This output will be low when the power is turned ON and if any error/alarm relating to encoder has
occurred.
This output will be high after the homing operation is completed.
The ZFIN signal won’t be turned OFF during operation except in case of position feedback errors or
control power shut down.

[ZONE]

This output signal will be high when the actuator position is within the zone boundaries set in the
programming software or teach pendant.
This output will be low before homing completion (when the ZFIN output signal is OFF) and when the
actuator is outside of the programmed ZONE range.
The ZONE output won’t be affected by alarm conditions.

[ALM

]

This is the alarm output and this output signal will be high when the operation is under normal
conditions. This output signal will be low when an error has occurred. Alarm codes can be read from
the pendant or software and referenced in section 9.

6.2.5. Timing Chart

Following is timing chart of the operation with parallel interface connection (PIO connection):

SCN5 Model (10Kgf Type)

CSTR

PC1,PC2
PC4,PC8

PFIN

n1

tspc

INP

twcs1

thcs

n2 n3

thcspc

thpfpc

tdpf

tdip

twcs0

Name Min. Max. Descriptions

twcs1 4 msec CSTR ON shortest timing duration
twcs0 4 msec CSTR OFF shortest timing duration
thcs 0 msec PFIN OFF=>PC1 holding time
tspc 0 msec CSTR ON=>PC1~PC8 set up time
thcspc 4 msec CSTR ON=>PC1~PC8 holding time
thpfpc 0 msec PFIN OFF=>PC1~PC8 holding time
tdpf 4 msec CSTR ON=>PFIN OFF delay time
tdip 4 msec CSTR ON=>INP OFF delay time

(Note 1) Above is timing in case of 10K Ω load or smaller of output circuit.

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SCN6 Models / SCLT Models.
SCLL Model (External amplifier type

CSTR

PC1,PC2
PC4,PC8

n1

tspc

PFIN

PM1,PM2
PM4,PM8

n1

INP

PM1,PM2
PM4,PM8

n1

tdpf

tdip

twcs1

n2

thcspc

thpm

thcs

thpfpc

twcs0

tspm

0

n2

tdpm

n2

Name Min. Max. Descriptions

twcs1 4 msec CSTR ON shortest timing duration
twcs0 4 msec CSTR OFF shortest timing duration
thcs 0 msec PFIN OFF=>CSTR holding time
tspc 0 msec CSTR ON=>PC1~PC8 set up time
thcspc 4 msec CSTR ON=>PC1~PC8 holding time
thpfpc 0 msec PFIN OFF=>PC1~PC8 holding time
tdpf 4 msec CSTR ON=>PFIN OFF delay time
tspm 0 msec PFIN ON=>PM1~PM8 set up time
thpm 4 msec PFIN OFF=>PM1~PM8 0 Output delay time
tdip 4 msec CSTR ON=>INP OFF delay time
tdpm 4 msec INP ON=> PM1 ~ PM8 establishment delay time

(Note 1) Above is timing in case of 10K Ω load of output circuit or smaller.

n3

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A

6.3. Specification of SIO

In case of use of SIO, please refer the enclosed manual of “Termi-BUS Interface”.

6.3.1. Summary

Electrical specification: Compatible with RS485
Speed: Selectable in the range of 9.6 kbps ~ 115.2 kbps
(9.6 kbps only after the BREAK order)
Synchronizing method: Micro timing adjusting method
Data (1 character) length: 8 bit
Parity: None
Start/Stop bit: 1 bit
Xon/Xoff: Non
Pallet length: 16 characters
(Structure: STX + data 12 characters + check sum 2 characters x etx)
Connection type: BUS connection (multi point connections: Max 16 axes)
Connectors: Connectors made by AMP company

Mechatronics Cylinder Connector Pin Layout

No. Name Functions
1 +5V
2 TRx+ Transmitter/Receiver+
3 5G Signal Ground
4 TRx- Transmitter/Receiver-

7. Support equipment

7.1. PC Tool (Model: TBVST-EN-SET)

PC Tool is a PC software kit to operate JOG and other set up for single axis.
(1) Contents of PC Tool, Model: TBVST-EN-SET (see red circle in the following figure)

①

-1 PC Setting Tool : TBVST-EN (to install it in PC for Online operation)

①

-2 Offline Setting Tool : CTA-1EX (to install it in PC for Online/Offline operation)

①

-3 PC PLC Software : CTC-Tool (to install it in PC for sequence program)

①

-4 Motor Set Up Tool : MVST-EN (to install it in PC for RSA servo motor set up)

②

RS232/RS485 Adaptor : ADP-1 (to connect with PC serial port)

③

Connector Junction : ADP-2-4 (Junction for cables)

④

ADP Cable (1m) : RP9050-010 (to connect Mechatronics Cylinder and ADP-2-4)

⑤

SIO Cable (1m) : RP9041-010 (to connect ADP-1 and ADP-2-4)

Connect with DC24V Power Suppl
Connect ILLK terminal with +24V

Programming software

DP Cable, 1m

(RP9050-010)

Connector Converter

ADP-2

（

SIO Cable, 1m
(RP9041-010)

）

RS232/485 Converter

Tool kit Circled in Red

(TBVST-EN)

(ADP-1)

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Refer to the PC-Tool Manual for more information.

(2) How to install

Installation condition of PC is as follows:
WINDOWS 95, 98, 2000, NT 4.0

Please click the program button to start installation.

7.2. Teaching Pendant Tool (Model: CTA-23EN-SET)

(1) Contents of Teaching Pendant tool kit, Model: CTA-23ENS-SET (see red circle in the following figure)

①

Teaching Pendant : CTA-23EN (to connect with Mechatronics Cylinder)

②

ADP Cable (1m) : RP9050-010 (to connect Mechatronics Cylinder and CTA-23)

Tool kit Circled in Red

Connect with DC24V power suppl
Connect ILK terminal with +24V

ADP Cable, 1m

(RP9050-01)

(2) View of Teaching Pendant

(3) Please refer to the Teaching Pendant operation manual
for details.

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-54/63

7.3. RS232C/RS485 Junction Converter Circuit

(Model: ADP-1)

(1) Model No.: ADP-1
(2) Dimensions

Please refer to 4.4 (wiring examples of outside connections) for connector connection. Please use SIO

cable (6 conductors) for connector cable.

7.4. Connector Converter: ADP-2-4

(1) model: ADP-2

(2) Dimensions

and circuit diagram

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(Note)
In case of ADP-2 use, please use at least one axis on
CN2.
Because CN3, CN4 and CN5 are not wired with +5V,

only CN2 is wired to +5V.

T

ype)

2ILK

2

A

k

)

7.5. Cables

(1) Parallel connector cable

SCN5 Model (10Kgf

(Model: RP9100-030)

Connector Made by Hirose
Socket DF1B-14DES-2. 5RC
Pin DF1B-2022SC (AWG22-20)

DF1B-2428SC (AWG26-24)

SCN6 Models / SCLT Models.
SCLL Model (External amplifier type

(Model: RP9120-030)

Connector Made by Hirose
Socket DF1B-24DES-2. 5RC
Pin DF1B-2022SC (AWG22-20)

DF1B-2428SC (AWG28-24)

3000

3 PC1 Black
4 PC2 White
5 PC4 Red
6 PC8 Green
7 CSTR Yellow
8 ILK Brown

9 PFIN Blue
10 ZFIN Gray
11 ZONE Orange
12 ALM Light green

1 +24V Red

2 0V Black
13 FG Green
14 FG White

5 PC1 Black 15 PM1 Grey
6 PC2 White 16 PM2 Pink
7 PC4 Red 17 PM4 Light Green
8 PC8 Green 18 PM8 Orange

9 CSTR Yellow 19 PFIN Light blue
10 NC Brown 20 ZFIN Dark Brown
11 NC Blue 21 ZONE White/Black
1

1 +24V Red 4 0V White
2 0V Black 23 NC (No

3 +24V Yellow 24 Ground Green

Parallel cable pin number

パラレル接続ケーブル

locations of RP9120)

（RP9120-***）

24

23

Purple 2

1

LM Red/Black

Brown

connection)

2

To the Mechatronics Cylinder Controller

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-56/63

コネクタへ接続

シリンダの

Triangle Mar

三角印

(2) Serial connector cable (model: RP9050-030)

(applicable for any Mechatronics Cylinders)

1 +5V Red
2 TRx+ White
3 0V Black
4 TRx- Green

Connector Made by AMP Co.
Socket 172167-1
Plug 170365-1

7.6. Foot mounting brackets

FT001: for SCN5

FRONT BRACKET

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FT002: for SCN6

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-58/63

8. Maintenance

8.1. Maintenance & Inspection

Please inspect your Mechatronics Cylinder periodically following the chart below.

Check Up Items Points Notes
Mechatronics

Cylinder

Notes: Ambient temperature should be within the specification. If the actual ambient temperature is greater
than the specification, the actuator life will be shortened.

Vibration and sound Sound level should not

be higher than usual

Appearance Clean with cloths and/or

air

Parts clean up No major dust, dirt, oil,

etc.

Tightness of screws No loose screws Tighten screws

Check if there is no noise
increase from regular
operations.

Clean with cloths and/or air

8.2. Warranty

In case of defects discovered upon delivery of your actuator, Mirai Inter-Technologies will replace the defective
products. This warranty doesn’t cover damage to products caused by the customer or incorrect orders by the
customer.

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-59/63

9. Diagnosis of Abnormal Operation

9.1. Diagnosis by Alarm Codes

If an Alarm is detected, please investigate it using the following chart, and then remove the cause.
The controller will send an Alarm code (see following chart) through the SIO line.

Name of Alarm Alarm

Code

Bank 30 data error B0 Occurs when bad data
Bank 31 data error B1
Encoder stall judge
error

Encoder counter
error

Homing time out
error

Over speed C0 Occurred when power

Servo error C1 Occurred when power
Main power over

voltage

Regenerative
Voltage error

Deviation counter
error

Over heat E0 Occurred when power

B8 Occurs when power

B9 Occur when power

BE Occurs when homing ILK signal is not turned

D0 Occurred when power

D1 Occurred when power

D8 Occur when power

Conditions Cause Action

was entered
was turned ON

Occurs other than
above case

was turned ON

was turned ON
Occurs during Cylinder
operation

was turned ON
was ON

Occurred when power
was ON
Occurs during Cylinder
operation

was ON
Occurs during Cylinder

operation

was turned ON
Occurs during Cylinder
operation

was turned ON
Occurs during Cylinder
operation

Out of range data
entered

Defective controller Replace product
Defective motor Replace product
Defective controller Replace product

Defective controller Replace product
Defective motor Replace product
Shaft seized See Below (Action 1)

ON
Defective motor Replace product
Defective controller Replace product

Defective motor
encoder
Defective controller Replace product

Defective controller Replace product
Over voltage of supply

power
Over load Correct the load within

Defective controller Replace product
Over voltage of supply
power
Over load - Review mechanical

Incorrect parameter Check parameter
Defective controller Replace product

Over load Check load
Cylinder is being
locked
Defective controller Replace product

Over load Check load
High ambient
temperature
Shaft is seized See Below (Action 1)

Modify data to fall within
the range

Turn ILK signal ON

Replace product

Correct supply power
within the specification

the specification
Correct supply power

within the specification
design of customer to

reduce load within the
specification

- Reduce the
acceleration

Unlock

Cool down ambient
temperature under 40°C

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Encoder wire
disconnected (Both
A wire, B wire)

Encoder wire
disconnected (A
wire)

Encoder wire
disconnected (B
wire)

EEPROM Check
Sum Error

Cylinder runs for a
while but not enough
thrust, after a while,
cylinder stall
Occurs even though
low thrust

E8 Occurred when power

was turned ON

Occurs during Cylinder
operation

E9 Occurred when power

was turned ON

Occurs during Cylinder
operation

EA Occurred when power

was turned ON

Occurs during Cylinder
operation

F8 Occurred when power

was turned ON, or
during Cylinder
operation

Over load Check load

Over load Check load
Wiring mistake of

encoder
Defective amplifier Replace amplifier
Defective encoder of
Cylinder motor
Wiring mistake of
encoder (defective
connection)
Wiring mistake of
encoder
Defective amplifier Replace amplifier
Defective encoder of
Cylinder motor
Wiring mistake of
encoder (defective
connection)
Wiring mistake of
encoder
Defective amplifier Replace amplifier
Defective encoder of
Cylinder motor
Wiring mistake of
encoder (defective
connection)
Defective control Reset power

9.2. Error Diagnosis by error operation of Mechatronics Cylinder

Repair wiring

Replace product
Repair wiring

Repair wiring

Replace product
Repair wiring

Repair wiring

Replace product
Repair wiring

(Turn power OFF, then
turn power ON)
If this error occurs again,
replace product

In case of error operation of Mechatronics Cylinder with no Alarm detection, please investigate the problem
using the following chart.

Error Operation Cause How to check Action

Cylinder doesn’t
start

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Power is not turned ON
or connected

Loose connectors Check connectors Tighten loose connectors

Shaft seized Check if external load causing

External wiring mistake
of connector

- Check the voltage of power
supply

- Check the wiring of power

the shaft seized.
Check external wiring Repair wiring

Power wiring to be
corrected

See Below (Action 1)

Over load Try to run Cylinder only without

any load

No movement signal Check position program Position program to be

Cylinder moved just
a moment but
stalled
Unstable Cylinder
motion
Cylinder vibrates Servo Gain is too high Check Gain Reduce Gain – factory

Cylinder heats up Ambient temperatur e

Abnormal noise Mounting is loose Check the mounting of Cylinder

Wiring is wrong Wiring to be corrected

Wiring connections are
not stable

Cable gets noise from
other equipment

is too high
Cylinder surface is not

clean
Overload Try to run Cylinder without any

Other machine
/equipment is vibrating

Defective Cylinder Try to use other good Cylinder Replace product

Check connections (Terminals,
connectors, etc.) and wiring

Test with other equipment off or
isolated

Check the ambient temperature Lower the ambient

Check the appearance of
Cylinder

load
and other machine,

Loose mounting screws,
incorrect concentricity, etc.
Check the moving parts of other
machine

Load to be within specs

corrected

Wiring to be corrected

default is 6
Route cable away from
noise source and/or Cable
to be shielded

temperature to under 40°C
Remove dust, oil etc. on

the surface of Cylinder
Reduce the load and/or

review the guiding design
Correct the mounting
and/or joint to load

Check with the
manufacturer of other
machine

Cylinder hits the over
stroke limit end due to
over run

SIO communication
is not valid

REFERENCE:

Action 1 – Shaft Seized

Communication
method is not suitable

Output port # is set
wrong
Wrong axis number Correct axis number

Reply time of Cylinder
is longer than receiving
time of upper control
System (PC)

Reduce the
Acceleration/Deceleration of
Cylinder

Check if output of main control
system is RS485

Correct output port number

Check if longer receiving time of
main control system (PC) helps
to communicate

Correct position accel
/Deceleration

In case of main control
system RS232C, use a
protocol converter for
communication

and setting

Set shorter reply time of
Cylinder

1. In this condition the actuator won’t move. If this condition continues, the over-load alarm (code
E0) will be output. If the problem (shaft seized) is not resolved when the main power is cycled
(shut down and turned back ON), the encoder counter error (code B9) will be output.

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2. Remedy
Please turn the power OFF and remove the external load to the actuator.
Please turn the power back ON, and try to run the actuator without any load.
If the shaft remains seized, please turn OFF the power and try several times to move the actuator
manually in the direction that the actuator was trying to move.
If the problem cannot be resolved, please replace the actuator.

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Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-63/63

Manufactured by:

2-60 Uneda-Nishi, Kanazawa
Ishikawa-Ken, 920-0342 Japan
Tel: [phone], Fax: [phone]

Imported by:

Mirai Inter-Technologies Systems Ltd.
30 Pollard St.
Richmond Hill, ON L4B 1C3 Canada
Tel: [phone]
Fax: [phone]