SCON-CB Series Controller
Servo Press Function Instruction Manual
Fifth Edition
CB-F
Standard Type
LC-F PLC Feature Equipped Type
CGB-F Safety Category Complied Type
LCG-F
Safety Categories Complying
PLC Feature Equipped Type
IAI Corporation
Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual describes all necessary information items to operate this product safely
such as the operation procedure, structure and maintenance procedure.
Before the operation, read this manual carefully and fully understand it to operate this product
safely.
The enclosed DVD in this product package includes the Instruction Manual for this product.
For the operation of this product, print out the necessary sections in the Instruction Manual or
display them using the personal computer.
After reading through this manual, keep this Instruction Manual at hand so that the operator of this
product can read it whenever necessary.
[Important]
This Instruction Manual is original.
The product cannot be operated in any way unless expressly specified in this Instruction
Manual. IAI shall assume no responsibility for the outcome of any operation not specified
herein.
Information contained in this Instruction Manual is subject to change without notice for the
purpose of product improvement.
If you have any question or comment regarding the content of this manual, please contact
the IAI sales office near you.
Using or copying all or part of this Instruction Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.
Construction of Instruction Manual for Each Controller Model and
This Manual
SCON-CB/CGB Servo Press Type
SCON-LC/LCG Servo Press Type
Note 1 CC-Link, DeviceNet, PROFIBUS-DP, CompoNet, MECHATROLINK-Ι/ΙΙ, EtherNet/IP, EtherCAT, PROFINET-IO
z Basic Function
• Press Program Operation SCON-CB-F/CGB-F (This Manual) ME0345
• Serial Communication Serial Communication [Modbus] ME0162
★
Types to Select From
• PIO Control
• Fieldbus Control
(i) CC-Link CC-Link ME0254
(ii) DeviceNet DeviceNet ME0256
(iii) PROFIBUS-DP PROFIBUS-DP ME0258
(iv) CompoNet CompoNet ME0220
(v) MECHATROLINK-Ι/ΙΙ MECHATROLINK -Ι/ΙΙ ME0221
(vi) EtherNet/IP EtherNet/IP ME0278
(vii) EtherCAT EtherCAT ME0273
(ix) PROFINET-IO PROFINET-IO ME0333
Teaching Tool
• PC Software PC Software ME0155
• Teaching BOX
(i) TB-02 Touch Panel Teaching ME0355
(ii) TB-03 Data Setter ME0376
z Basic Specifications
• Positioner Operation SCON-LC-F/LCG-F (This Manual) ME0345
• Rudder Program Programming Manual ME0329
ME0330
★
Types to Select From
• PIO Communication
•
Fieldbus Communication
(Note 1)
Teaching Tool
• PC Software PC Software ME0155
• Teaching BOX
(i) TB-02 Touch Panel Teaching ME0355
(ii) TB-03 Data Setter ME0376
Table of Overall Contents
Name for Each Parts and Their Functions
In this chapter, explains name for each parts and their functions.
About SCON-LC Type
In this chapter, explains the outline of LC (equipped with PLC
feature) type.
Chapter 1 Specifications Check
In this chapter, explains about the specifications, current amperage,
model codes and so on for the products.
Chapter 2 Wiring
In this chapter, explains actuator, connecting external device side.
Chapter 3
Operation
In this chapter, explains setting of press program and each operation mode.
3.1 Explain the Operation Mode
3.2 About Trial Run
3.3 About Operation with PIO
Chapter 4 Applicability to Fieldbus
In this chapter, explains applicable for fieldbus.
Chapter 5 Feature of Multi-Function Connector
In this chapter, explains how to use.
Chapter 6
Absolute Type
In this chapter, explains the procedures for absolute reset and
replacement of battery.
Chapter 7 Parameter
In this chapter, explains how to set up or fine-tune the controller
settings.
Chapter 8 Troubleshooting
In this chapter, explains how to act in errors and contents of them.
Chapter 9 Appendix
In this chapter, explains compliance with safety categories, model
codes of connectable actuators, etc.
Chapter 10 Warranty
In this chapter, explains warranty.
12
21
135
139
144
180
147
199
223
45
103
18
Table of Contents
Safety Guide ···································································································· 1
Precautions in Operation ···················································································· 8
International Standards Compliances ···································································11
Name for Each Parts and Their Functions ·····························································12
About SCON-LC Type·······················································································18
Actuator Axes··································································································20
Chapter 1 Specifications Check ······································································· 21
1.1 Product Check································································································· 21
1.1.1 Parts ······································································································· 21
1.1.2 Teaching Tool···························································································· 23
1.1.3 Instruction Manuals Related to this Product, which are Contained in the Instruction
Manual (DVD) ··························································································· 23
1.1.4 How to Read the Model Plate ······································································· 23
1.1.5 How to Read the Model ··············································································· 24
1.2 List of Basic Specifications ················································································· 25
1.2.1 Specification List························································································ 25
1.2.2 Item for the Power Capacity and Heating Value ················································ 27
1.2.3 Selection of Circuit Breaker ·········································································· 27
1.2.4 Selection of Leakage Breaker ······································································· 27
1.3 External Dimensions························································································· 28
1.3.1 SCON-CB/CGB/LC/LCG less than 400W ······················································ 28
1.3.2 SCON-CB/CGB/LC/LCG 400W to 750W ······················································· 28
1.3.3 SCON-CB/CGB/LC/LCG 3000W to 3300W···················································· 29
1.4 External Interface Specifications ·········································································· 30
1.4.1 Standard Input Output Interface Specification (Multi-Function Connector) ··············· 30
1.4.2 Input Output Interface Specification dedicated for PIO Type································· 31
1.4.3 Filedbus Type Specifications········································································· 32
1.5 Options·········································································································· 35
1.5.1 Regenerative Unit for Motors of up to 750W····················································· 35
1.5.2 Regenerative Unit for Motors of 3000W and above············································ 36
1.5.3 Brake Box: RCB-110-RA13-0········································································ 37
1.5.4 Load Cell·································································································· 38
1.5.5 Pulse Converter: JM-08··············································································· 39
1.6 Installation and Storage Environment···································································· 40
1.7 Noise Elimination and Mounting Method································································ 41
Chapter 2 Wiring ·························································································· 45
2.1 Servo Press Controller for Motors of up to 750W (PIO Control) ·································· 45
2.1.1 Wiring Diagram (Connection of Devices) ························································· 45
2.1.2 Wiring······································································································ 46
2.2 Wiring for Controller for Motors of up to 750W ························································ 59
2.2.1 Wiring for Power Supply Circuit ····································································· 59
2.2.2 Wiring of Emergency Stop Circuit (System I/O)················································· 64
2.2.3 Connection of Actuator················································································ 66
2.2.4 Connection of PIO······················································································ 68
2.2.5 Multi-function Connector·············································································· 69
2.2.6 Connection of Regenerative Unit ··································································· 72
2.2.7 SIO Connector Connection··········································································· 74
2.3 Servo Press Controller for Motors of 3000W and above (PIO Control) ························· 75
2.3.1 Wiring Diagram (Connection of Devices) ························································· 75
2.3.2 Wiring······································································································ 76
2.4 Controller for Motors of 3000W and above····························································· 88
2.4.1 Wiring for Power Supply Circuit ····································································· 88
2.4.2 Wiring of Emergency Stop Circuit (System I/O)················································· 92
2.4.3 Connection of Actuator················································································ 94
2.4.4 Connection of PIO······················································································ 96
2.4.5 Multi-function Connector·············································································· 97
2.4.6 Connection of Regenerative Unit ································································· 100
2.4.7 SIO Connector Connection········································································· 102
Chapter 3 Operation·····················································································103
3.1 Explain the Operation Mode and Setting ····························································· 103
3.1.1 Power Supply and Cutoff ··········································································· 103
3.1.2 Explain the Operation Mode ······································································· 104
3.1.3 Basic Operation Setting ··············································································110
3.1.4 Detailed Settings (Optional Settings) ·····························································117
3.2 Trial Run ······································································································ 122
3.2.1 Manual Operation (Jog etc) ········································································ 122
3.2.2 Press Program Operation ·········································································· 123
3.3 Operation with PIO ························································································· 125
3.3.1 I/O Signal Controls ··················································································· 125
3.3.2 Operation Ready and Auxiliary Signals ························································· 125
3.3.3 Operation ······························································································· 130
Chapter 4 Applicability to Fieldbus ··································································135
Chapter 5 Feature of Multi-function Connector···················································139
5.1 Feedback Pulse Output ··················································································· 139
5.1.1 Setting ··································································································· 139
5.2 Analog Output of Load Data ············································································· 142
5.2.1 Specification ··························································································· 142
5.2.2 Setting ··································································································· 142
5.2.3 Rated Capacity of Loadcell Mounted to Each Actuator······································ 142
5.3 Serial Communication 2 (SIO2) ········································································· 143
5.3.1 Specification ··························································································· 143
5.3.2 Setting ··································································································· 143
Chapter 6 Absolute Type···············································································144
6.1 Absolute Reset ······························································································ 144
6.2 Absolute Battery ···························································································· 145
6.2.1 Absolute Encoder Backup Specifications······················································· 145
6.2.2 Replacement of Absolute Battery ································································· 146
Chapter 7 Parameter····················································································147
7.1 Parameter List······························································································· 148
7.2 Detail Explanation of Parameters······································································· 151
7.3 Servo Adjustment··························································································· 178
Chapter 8 Troubleshooting ············································································180
8.1 Action Taken upon Occurence of Problem ··························································· 180
8.2 Fault Diagnosis······························································································ 181
8.2.1 Impossible Operation of Controller ······························································· 181
8.2.2 Generation of Noise and/or Vibration···························································· 181
8.3 Alarm Level ·································································································· 182
8.4 Alarm List····································································································· 183
8.4.1 Controller Alarm (Excluding Program Alarm) ·················································· 183
8.4.2 Program Alarm (When Controller alarm 094 is issued)······································ 193
Chapter 9 Appendix ·····················································································199
9.1 Way to Set Multiple Controllers with 1 Teaching Tool·············································· 199
9.1.1 Connecting Example················································································· 199
9.1.2 Detailed Connection Diagram of Communication Lines····································· 200
9.1.3 Axis No. Setting ······················································································· 201
9.1.4 Handling of e-CON Connector (How to Connect) ············································ 202
9.1.5 SIO Converter ························································································· 203
9.1.6 Communications ······················································································ 205
9.1.7 External Dimension ·················································································· 205
9.2 Conformity to Safety Category of to 750W motor corresponding SCON······················ 206
9.3 Maintenance ································································································· 217
9.4 List of Specifications of Connectable Actuators ····················································· 218
9.4.1 List of Specifications for Actuator Operation Conditions ···································· 218
9.4.2 Specifications and Limitations in Pressing Operation········································ 218
Chapter 10 Warranty······················································································223
10.1 Warranty Period····························································································· 223
10.2 Scope of the Warranty····················································································· 223
10.3 Honoring the Warranty ···················································································· 223
10.4 Limited Liability ······························································································ 223
10.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications ···························································································· 224
10.6 Other Items Excluded from Warranty ·································································· 224
Change History······························································································225
Set pressing program is
operated with built-in PLC
Actuator
Controller
PC software
Create Pressing Program
Actuator
Controller
PC software
(Reply)
(Command)
Pressing Program No.
Condition of Judgment
and so on
+
The host PLC selects
the set pressing
program and makes
operation
Create Pressing Program
Starting Procedures
Step 1 Confirm All the Necessary Things are Prepared (Contact us or our sales agency in case of any missing)
Refer to the section this manual “1.1 Product Check” for more detail.
☆ Controller (SCON-CB-F) ☆ Actuator and Connectiong Cable
(The cable differs depending on the actuator type. [Refer to Step3])
* Check also enclosed parts
[Refer to section 1.1.1]
☆ CD-ROM (Enclosed in RCM-101-□□) ☆ DVD Instruction Manual
(The following software is included) (includes the following instruction manuals)
･RC PC Software [Refer to 1.1.3 Operation Manuals related to this product, which are
provided on the DVD more detail.]
1)
SCON-CB/LC-F Servo Press Function Instruciton Manual (This manual)
2) RC PC Software Instruciton Manual (ME0155)
☆
PLC Feature Equipped Type: 3) LC Ladder Programing Manual (ME0329)
Ladder Edit Program (LC-LDS-01) 4) Touch Panel Taching Instruciton Manual (ME0324)
☆ For Fieldbus Type： 5) Each Feildbus Instruciton Manual (ME0254, etc.)
Field Network Setting File 6) Each Actuator Instruciton Manual
(EDS File etc.)
Download it in IAI homepage.
(http://www.iai-robot.co.jp/)
Step 2 Check How to Operate
This product is a controller dedicated for servo press function. (It cannot conduct positioner operation or pulse
train control.)
☆ What is Servo Press Function
It is a pressing method using the servomotor.
There are two types of control available. One is the velocity
control mode which conducts positioning operation to the set position, and the other is the force control mode
which conducts pressing with the set load considered as the target pressing force.
CB/CGB Type LC/LCG Type
☆ What is Fieldbus Control
(Reference) What is Positioner Operation…(Unavailable) (Reference) What is Pulse Train Control…(Unavailable)
Operation is conducted by setting the target position,
velocity and so on in the position table in advance and
indicating the position number.
Send the pulse corresponding to the movement amount
of the actuator to the controller from a tool such as the
positioning unit.
Fieldbus communication is used instead of connected with and controlled by PIO.
Without using position data, operation can also be made by inputting numbers directly.
Check the operation modes and control methods available on the controller you have purchased.
It can be defined on the controller model code shown on the label in the front face of the controller.
Notation Example
Step 3 Installation
• External Dimensions * Check in 1.3 Appearance Dimensions. • Grounding for Noise Prevention (Frame Ground)
Controller unit (~750W)
Controller unit (3000~3300W)
Earth Terminal
(Grounding resistance at 100Ω or less)
Copper Wire: Connect to a
ground cable with diameter
2mm
2
(AWG14) or more.
Connect the ground line
together to the main unit
using the fixing screw.
MODEL :SCON-CB-100IF-NP-5-2
SERIAL No. :100283729
INPUT :φ100-115V,50/60Hz,1.8A
OUTPUT :3φ,0-230V,0-333Hz,1.1A
Type Name
1) CB / CGB (Positioner)
2) LC / LCG (Ladder control)
I/O Type (For PIO control)
1) NP / PN (dedicated for positioner operation)
2) For others (dedicated for fieldbus control)
Encoder Option
1) F (dedicated for Servo Press Function)
“Refer to 1.6 Installation and Storage Environment” “1.7 Noise Elimination and Mounting Method”
For Absolute Battery
(For Absolute Encoder Type)
Earth Terminal
(Grounding resistance at 100Ω or less)
Copper Wire: Connect to a ground cable
with diameter 3.3mm
2
(AWG12).
Connect the ground line to PE terminal
on the power supply connector.
•
Heat Radiation and Installation
Keep the ambient temperature of the controller at 40C or less.
To fix the units in the control box, use the attachment holes on top and bottom of the unit for the screw-fixed type.
Install in the orientation shown in the figure below for heat radiation.
For 3000 ~ 3300W type
Brake Box
Regeneration
Unit
Air Flow
Fan
10mm
or more
100mm
or more
50mm
or more
50mm
or more
100mm
or more
30mm
or more
50mm
or more
50mm
or more
50mm
or more
50mm
or more
10mm or more
150mm or more
Air Flow
A
ir Flow
150mm
or more
100mm
or more
50mm
or more
30mm or more
50mm or more
30mm or more
Power Supply for Brake
It is necessary when actuator with brake
Absolute Battery
(for Absolute Type)
PC Software
(option)
(Note1)
PLC
(Note1)
Regenerative Resistor Unit
(RESU-1 [for secondary
unit] : option)
Regenerative Resistor Unit
(RESU-2 : option)
Required depending
on usage condition
Power
Supply
Connector
Flat Cable
(Accessories)
CB-SC-REU010
CB-ST-REU010
FG Connection
Terminal
24V DC
24V DC
Power
Source
Single
Phase
100V AC
or
200V AC
Power Source for
I/O Control
(Note1)
Changeover Switch
Actuator
Step 4 Wiring Refer to Chapter 2 “Wiring”
* Refer in Chapter 4 for Fieldbus Type.
●Example for Basic Connection 1 (~ 750W or less)
●Example for Basic Connection 2 (3000~ 3300W)
The connecting cable differs depending on
the actuator [Refer to section 2.1.2 [4]]
Teaching Tool
Power Cutoff Breaker
As SCON-CGB for 3000 to 3300W does not have
the drive cutoff circuit, make sure to establish
cutoff externally.
Step 5
Operation
How you should look in the instruction manuals will differ depending on the operation modes and control
methods you choose.
Establish the settings for your operation needs.
● For Operation with PIO Control
Chapter 3. Operation
● For Fieldbus Type
●For PLC Feature Equipped
Caution Set it away from the mechanical end or peripherals as much as possible when turning the servo ON.
Move it apart when it interferes with peripherals. It may generate an alarm if it hits to the mechanical end or
peripherals when the servo is turned ON. Also, in case the actuator is installed in vertical orientation, turning
ON/OFF the servo at the same spot may cause a slight drop by the self-gravity. Pay attention not to pinch
your finger or damage a work piece.
Caution
Pay attention not to pinch your finger or damage a work piece by dropping the actuator with self-gravity when
it is released compulsorily with the brake release switch placed on the front panel of this controller.
Caution This controller is equipped with a safety velocity function to make the operation in low speed compulsorily.
It is recommended to have this function activated in the first operation.
Instruction Manual for Each Fieldbus
(Provided Separately, Refer to Chapter 4 for Manual Number)
Chapter 3. Operation
Operation with Fieldbus
(provided separately,
instruction manual for each
fieldbus)
LC Ladder Programming
Manual (provided separately
ME0329)
1
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
Operation
Description
Description
1 Model
Selection
● This product has not been planned and designed for the application
where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect
human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
● Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
● Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
● For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving
part may drop when the power is turned OFF and may cause an
accident such as an injury or damage on the work piece.
2
No.
Operation
Description
Description
2 Transportation ● When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
● Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the
instructions in the instruction manual for each model.
● Do not step or sit on the package.
● Do not put any heavy thing that can deform the package, on it.
● When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
● When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
● Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
● Do not get on the load that is hung on a crane.
● Do not leave a load hung up with a crane.
● Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
● The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention
of condensation.
● Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
● Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
● Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
● When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
3
No.
Operation
Description
Description
4 Installation
and Start
(2) Cable Wiring
● Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
● Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
● When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
● Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
● Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so
may cause the product to malfunction or cause fire.
(3) Grounding
● The grounding operation should be performed to prevent an electric
shock or electrostatic charge, enhance the noise-resistance ability and
control the unnecessary electromagnetic radiation.
● For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair
cable with wire thickness 0.5mm
2
(AWG20 or equivalent) or more for
grounding work. For security grounding, it is necessary to select an
appropriate wire thickness suitable for the load. Perform wiring that
satisfies the specifications (electrical equipment technical standards).
● Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100 or below).
4
No.
Operation
Description
Description
4 Installation
and Start
(4) Safety Measures
● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection fence)
so that nobody can enter the area within the robot’s movable range.
When the robot under operation is touched, it may result in death or
serious injury.
● Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
● Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
● Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
● When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!”
etc. Sudden power input may cause an electric shock or injury.
● Take the measure so that the work part is not dropped in power failure or
emergency stop.
● Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
● Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or fire.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching ● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● Perform the teaching operation from outside the safety protection fence,
if possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
● When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
● When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
● Place a sign “Under Operation” at the position easy to see.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
5
No.
Operation
Description
Description
6 Trial
Operation
● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic
operation.
● When the check operation is to be performed inside the safety
protection fence, perform the check operation using the previously
specified work procedure like the teaching operation.
● Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
● Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
● Check before starting the automatic operation or rebooting after
operation stop that there is nobody in the safety protection fence.
● Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no
alarm indication.
● Make sure to operate automatic operation start from outside of the
safety protection fence.
● In the case that there is any abnormal heating, smoke, offensive smell,
or abnormal noise in the product, immediately stop the machine and
turn OFF the power switch. Failure to do so may result in a fire or
damage to the product.
● When a power failure occurs, turn OFF the power switch. Failure to do
so may cause an injury or damage to the product, due to a sudden
motion of the product in the recovery operation from the power failure.
6
No.
Operation
Description
Description
8 Maintenance
and
Inspection
● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
● When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
● When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
● When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
● Place a sign “Under Operation” at the position easy to see.
● For the grease for the guide or ball screw, use appropriate grease
according to the Instruction Manual for each model.
● Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
● The slider or rod may get misaligned OFF the stop position if the servo
is turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
● Pay attention not to lose the cover or untightened screws, and make
sure to put the product back to the original condition after maintenance
and inspection works.
Use in incomplete condition may cause damage to the product or an
injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
● Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal ● When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
● When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
● Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other ● Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing
so may affect the performance of your medical device.
● See Overseas Specifications Compliance Manual to check whether
complies if necessary.
● For the handling of actuators and controllers, follow the dedicated
instruction manual of each unit to ensure the safety.
7
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the Instruction Manual for each model.
Level Degree of Danger and Damage Symbol
Danger
This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious
injury.
Danger
Warning
This indicates a potentially hazardous situation which, if the
product is not handled correctly, could result in death or serious
injury.
Warning
Caution
This indicates a potentially hazardous situation which, if the
product is not handled correctly, may result in minor injury or
property damage.
Caution
Notice
This indicates lower possibility for the injury, but should be kept to
use this product properly.
Notice
8
Precautions in Operation
1. Use the following teaching tools.
In this controller servo press function for only use the PC sotware.
[Refer to 1.1.2 Teaching Tool.]
2. Backup the data to secure for breakdown.
A non-volatile memory is used as the backup memory for this controller. All the registered press
program and parameters are written into this memory and backed-up at the same time.
Therefore, you will not usually lose the data even if the power is shut down. However, make
sure to save the latest data so a quick recovery action can be taken in case when the controller
is broken and needs to be replaced with another one.
How to Save Data
(1) Save the data to non-volatile memory with using the PC software.
3. Set the operation patterns.
Servo press type controller processes 9 types of control logics to meet various ways of usage.
To select the operation mode can be performed by using the PC software.
[Refer to Chapter 3 Operation]
Set the pressurize operation mode setting to the logic that suits to your use after the power is
turned on.
4. Clock setting in calendar function
There may be a case that alarm code 069 [Real Time Clock Vibration Stop Detect] is issued at
the first time to turn the power on after the product is delivered. In the case this happens, set
the current time with a teaching tool.
If the battery is fully charged, the clock data is retained for approximately 10 days after the
power is turned off. Even though the time setting is conducted before the product is shipped out,
the battery is not fully charged. Therefore, there may be a case that the clock data is lost even
with fewer days than described above passed since the product is shipped out.
5. Actuator would not operate without servo-ON.
Servo ON signal (SON) is selectable from Enable or Disable by using a parameter.
The setup can be performed by using the Parameter No. 21 [To select the servo-ON signal
input disable].
[Refer to Chapter 7 Parameter]
If it is set to Enable, the actuator would not operate unless turning this signal on.
If parameter No.21 is set to “1”, SON is made disable.
If it is set to Disable, the servo becomes on and the actuator operation becomes enabled as
soon as the power supply to the controller is turned on and the emergency stop signal is
cancelled.
[Refer to 3.3.2 [1] Preparation for Operation and Supportive Signal]
It is set to “0” (enable) at delivery. Establish the settings considering the using control systems.
Warning : SCON controller dedicated for the servo press function is to be operated with the
dedicated press program.
It cannot be operated with the positioner mode or pulse train control mode.
9
6. About the create a sequence program
Please note the following when create a sewuence program.
To certainly transfer the signal between controllers with different scan time, it is necessary to
have longer scan time than the one longer than the other equipment. (To ensure to end the
process safely, it is recommended to have the timer setting more than twice as long as the
longer scan time at least)
● Operation Image
Also, if one tries to read the signal that is being re-written by the other, the signal may be read wrongly.
Make sure to read the signal after the rewriting is complete. (It is recommended to have more than 2 scan
periods to wait.) Make sure not to have the output side to change the output until the other side completes
the reading. Also, a setting is made on the input area not to receive the signal less than a certain time to
prevent a wrong reading of noise. This duration also needs to be considered.
7. PLC timer setting
Do not have the PLC timer setting to be done with the minimum setting.
Setting to “1” for 100msec timer turns ON at the timing from 0 to 100msec while 10msec timer
from 0 to 10msec for some PLC.
Therefore, the same process as when the timer is not set is held and may cause a failure, and
set “2” as the minimum value for the setting of 10msec timer and when setting to 100msec, use
10msec timer and set to “10”.
This controller
(scan time 1msec)
Host Controller
(e.g. scan time is 20msec)
Output
Process
Input
Process
As shown in the diagram, the input and output
timings of two devices that have different scan
time do not match, of course, when transferring
a signal.
There is no guarantee that PLC would read the
signal as soon as this controller signal turns on.
In such a case, make the setting to read the
signal after a certain time that is longer than the
longer scan time to ensure the reading process
to succeed on the PLC side.
It is the same in the case this controller side
reads the signal.
In such a case, it is recommended to ensure 2
to 4 times of the scan time for the timer setting
margin.
It is risky to have the setting below the scan
time since the timer is also processed in the
scan process.
In the diagram, host controller can only read
the input once in 20msec even though this
controller output once in 1msec.
Because host controller only conducts output
process once in 20msec, this controller
identifies the same output status for that while.
10
8. Handling of built-in drive cutoff relay and cautions in caution in handling
The product equips a built-in drive cutoff relay, and it is necessary to be careful in handling.
Use the product with narrow understanding to the following notes.
The drive cutoff relay built in our controllers is designed under assumption of limited frequency of use
such as a case to require emergency stop of a system, and frequent operation is not considered.
Therefore, in a condition to require high frequency of use of the drive cutoff relay such as a case to turn
ON/OFF the driving source in every setup change, the life of the relay may reach to the end in early
stage.
The relay itself may not meet a sufficient safety demand level when it is used in a system that prioritizes
safety in the drive cutoff system. It is necessary to construct a system to meet the safety demand level
in a circuit that a customer prepares.
IAI products equip a built-in drive cutoff relay considering customer’s usage. However, as described
above, whether it can be used or not relies on such facts as the safety demand level and frequency of
drive cutoff. Please use it in limitation to the way to use as described below.
Do not expect reliability of the drive cutoff relay (Anything can do as long as driving source can be cut off.)
Take around 5 times a day as a reference to turn ON/OFF the drive cutoff relay
Thermistor type (which the resistance gets high and restrains in-rush current in low temperature, and
resistance gets low and reduce loss in high temperature) in-rush current limiter circuit is equipped.
Therefore, to keep the thermistor temperature as low as possible when turning the power on is a key
point to make degradation slower on such components as the drive cutoff relay. As a reference, it is
preferred to have approximately 30 minutes for cooling after the driving source being cut off.
(Note) There is no built-in drive cutoff relay equipped in those types for 3000W or more.
Establish the construction of the circuit to have an external cutoff.
9. Regarding Servo Press Equipment (Device)
● Regarding the safety circuit, make sure to establish the construction that satisfies the safety
requirements as the system by having the risk assessment conducted on the device by its own.
● Have the safety protection fences. Also, make sure to install safety equipment in order to cut off the
power supply when an operator gets into the working area.
● Install the controller inside the enclosure of the control panel.
● The circuit inside the controller is charged with high voltage. Do not attempt to touch it while the
electricity is conducted or after conduction (when Charge Status Display LED lamp is on). It may cause
electric shock.
● The controller temperature gets high. Do not attempt to touch it.
11
International Standards Compliances
This product comply with the following international standards:
Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
Controller RoHS Directive CE Marking UL
SCON-(For Servo Press)
{
Please contact IAI
{
(to 750W)
±
(3000 to 3300W)
UL
1. Use Environment
• It can be used in pollution degree 2 environment.
• Maximum surrounding air temperature rating, 40°C ;
2. Solid State Motor Overload Protection
Solid state motor overload protection in the SCON controller is provided.
The overload protection works at 115% of the whole load current of the servomotor as the
criteria.
3. Short Circuit Current Rating (SCCR)
This product is to be used with a power supply of 5,000Arms or lower. The available maximum
voltage is as shown below:
200V system products: 240V AC
100V system products: 120V AC
4. Branch Circuit Protection
Integral solid state short circuit protection does not provide branch circuit protection. Branch
circuit protection must be provided in accordance with the National Electric Code and any
additional local codes.
5. Risk of Electric Shock
Do not touch terminals within 10 minutes after disconnect the power. Risk of electric shock.
12
Name for Each Parts and Their Functions
● ~750W Type
1) FG Grounding Terminal [Refer to 1.7 Installation and Noise Prevention]
It is a terminal to connect the grounding line to prevent electric shock and noise. It is connected
with the PE of the power connector in the controller.
2) Power Supply Connector (PWR) [Refer to 2.1.2 [1] Main Power Circuit]
It is the connector to supply the power to the controller and to the control board.
3) Motor Connector (MOT) [Refer to 2.1.2 [4] Motor • Encoder Circuit]
It is a connector to connecting the motor encoder cable of the actuator.
4) Regenerative Unit Connector (RB) [Refer to 2.1.2 [6] Regenerative Unit Circuit]
It is a connector to connecting regenerative unit.
5) System I/O Connector (SYS I/O) [Refer to 2.1.2 [3] Actuator Emergency Stop Circuit (System I/O
connector)]
It is a connector to connecting the operation mode stop switch of the actuator.
2) Power Supply Connector
4) Regenerative Unit
Connector
3) Motor Connector
5) System I/O Connector
6) Piano Switch
(Not to use)
7) Axis No. Setting Switch
8) Status Indicator LED
1) FG Grounding Terminal
10) PIO Connector
9) Multi-Function
Connector
12) SIO Connector
11) Operation Mode
Setting Switch
13) Brake Release Switch
14)
Motor Power Supply Connector
15) Encoder Connector
16) Absolute Battery Connector
17) Absolute Battery Holder
13
6) Piano Switch
Not to use.
7) Axis No. Setting Switch (ADRS)
This switch is used to set an axis number in multi-axis operation through serial communication.
Using the SIO converter allows multiple axes to be controlled on a teaching tool such as a PC
without connection/disconnection of the connection cable connector. The SIO converter can
specify up to 16 axes with hexadecimal numbers 0 to F. [Refer to 9.1.3 Axis No. Setting.]
The setting of the switch is read at power-on of the controller. Changing the setting after the
power-on is invalid.
Caution : Note duplicate axis number setting, which causes a communication error
(alarm code 30C: no connection axis error) to occur and disables normal
communication.
8) Status Indicator LED (PWR, SV, ALM, EMG)
Following show the controller operation status:
{ : Illuminating × : OFF ∆ : Undefined (flashing or OFF)
LED
PWR
(Green)
SV
(Green)
ALM
(Orange)
EMG
(Red)
Operation Status
× × × ×
Control power supply OFF
{
×
× ×
Controller in normal startup
{
×
× ×
Servo OFF
{
{
(Note 1)
× ×
Servo ON
{
×
{
∆
Alarm being generated
{
×
∆
{
In emergency stop condition
{
∆
∆
∆
Warning being generated
Note 1 Blinking in auto servo-OFF state. Blinking in 1Hz
Point the arrow at a desired
number with a slotted
screwdriver
14
9) Multi-Function Connector (MF I/F) [Refer to 2.1.2 [7] Multi-Function Connector]
It is a connector to use the feedback pulse output, analog output of loadcell load data and SIO
communication function (SIO2).
10) PIO Connector (PIO) [Refer to 2.1.2 [5] PIO Circuit]
The PIO connector is used for control I/O signals.
(Note) It is not mounted in fieldbus type.
11) Operation Mode Setting Switch (MANU/AUTO)
The switch for interlock.
Setting to switch SCON-CB SCON-LC
AUTO
Allows auto operation by PIO
signals. The teaching tool can
only operate the monitor.
Allows operation by Ladder. The
teaching tool can only operate the
monitor.
MANU
Allows the teaching tool to
operate the controller.
The ladder stops. Allows the teaching
tool to operate the controller.
12) SIO Connector (SIO) [Refer to 2.2.7 SIO Connector]
The SIO connector is used to connect the controller with a teaching tool such as PC software or
a gateway unit through a proper communication cable.
13) Brake Release Switch (BK RLS /NOM)
For the actuator equipped with a brake, the switch is used to release the brake control.
14) Motor Power Supply Connector
(
BK PWR) [2.1.2 [2] Brake Power Supply Circuit]
For the actuator equipped with a brake, the connector supplies the power (24V DC) to release
the brake.
15) Encoder Connector (PG) [Refer to 2.1.2 [4] Motor • Encoder Circuit]
This connector is used to connect the encoder cable of the actuator.
16) Absolute Battery Connector
In the absolute specification, the connector is connected with the absolute battery.
17) Absolute Battery Holder (enclosed in the absolute specification)
This is the holder of the absolute battery.
Warning : Always set the switch to NOM in normal operation.
The brake would not work even with the servo OFF condition if the switch is
on the RLS side. In the vertical oriented mount, the work may drop and
cause an injury or the work to be damaged.
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