IAI America MSCON User Manual

MSCON Controller

Instruction Manual First Edition

[Important]

x This Instruction Manual is original. x 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.

x Information contained in this Instruction Manual is subject to change without notice for the

purpose of product improvement.

x If you have any question or comment regarding the content of this manual, please contact the

IAI sales office near you.

x Using or copying all or part of this Instruction Manual without permission is prohibited. x The company names, names of products and trademarks of each company shown in the

sentences are registered trademarks.

x DeviceNet is a registered mark of ODVA. x CC-Link is a registered mark of Mitsubishi Electric Corporation. x PROFIBUS is a registered mark of SIEMENS. x CompoNet is a registered trademark of OMRON Corporation. x MECHATROLINK is a registered trademark of MECHATROLINK Members Association. x EtherCAT® is a registered mark of Beckoff Automation GmbH. x EtherNet/IP is a trademark used under the license of ODVA.

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 CD or 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.

Safety Guide ·····················································································································1 Precautions in Operation ·································································································· 8 International Standards Compliances············································································· 11 Name for Each Parts and Their Functions······································································ 13 Actuator Axes··················································································································17 Starting Procedures ········································································································ 19

Chapter 1 Specifications Check······················································································ 21

1.1 Product Check ············································································································ 21

1.1.1 Parts····················································································································· 21

1.1.2 Teaching Tool ·······································································································21

1.1.3 Instruction Manuals related to this product, which are contained in the DVD. ······························································ 22

1.1.4 How to read the model plate················································································ 22

1.1.5 How to read the model·························································································23

1.2 Basic Specifications ···································································································· 24

1.3 Selection of Power Source and Power Supply Supportive Devices··························· 26

1.3.1 Power Capacity and Heat Generation ·······························································26

1.3.2 Selection of Circuit Breaker ················································································· 26

1.3.3 Selection of Leak Current Breaker ······································································27

1.3.4 Control Power (24V DC) Capacity······································································· 27

1.4 Specifications for each Fieldbus ·················································································28

1.4.1 Specifications of DeviceNet Interface·································································· 28

1.4.2 Specifications of CC-Link Interface······································································28

1.4.3 Specifications of PROFIBUS-DP Interface·························································· 29

1.4.4 Specifications of CompoNet Interface ·································································29

1.4.5 Specifications of MECHATROLINK II Interface ··················································· 30

1.4.6 Specifications of EtherNet/IP Interface································································ 30

1.4.7 Specifications of EtherCAT Interface ··································································· 30

1.5 External Dimensions··································································································· 31

1.5.1 Incremental Type ·································································································31

1.5.2 Absolute Type ······································································································32

1.6 Option·························································································································· 33

1.6.1 Regenerative Resistor Unit·················································································· 33

1.7 Installation and Storage Environment ········································································· 35

1.8 Noise Elimination and Mounting Method ····································································36

Chapter 2 Wiring·············································································································39

2.1 Wiring Diagram (Connection of construction devices)················································39

2.2 Circuit Diagram ··········································································································· 39

2.3 Wiring Method·············································································································47

2.3.1 Wiring of Control Power Supply and Drive Power Supply Input Connector ········ 47

2.3.2 Wiring Layout of System I/O Connector ······························································49

2.3.3 Actuator Connection ···························································································· 50

2.3.4 Battery Connection (For Absolute Type)······························································ 52

2.3.5 Connection of Regenerative Resistance Unit······················································ 53

2.3.6 Connection of SIO Connector··············································································55

2.3.7 Wiring Layout of Field Network Connector·························································· 56

Chapter 3 Operation ······································································································· 61

3.1 Basic Operation ·········································································································· 61

3.1.1 Basic Operation Methods ···················································································· 61

3.1.2 Parameter Settings······························································································ 65

3.2 Initial Setting ··············································································································· 66

3.3 Setting of Position Data ······························································································71

3.4 Fieldbus Type Address Map························································································ 77

3.4.1 PLC Address Construction by each Operation Mode··········································77

3.4.2 Example for Address Map Construction for each Field Network························· 80

3.4.3 Gateway Control Signals (in common for all operation modes)·························· 90

3.4.4 Control Signals for Direct Simple Direct ······························································93

3.4.5 Control Signals for Positioner 1 Mode································································· 98

3.4.6 Control Signals for Direct Indication Mode ························································103

3.4.7 Control Signals for Direct Indication Mode 2 ····················································· 110

3.4.8 Control Signals for Positioner 2 Mode······························································· 117

3.4.9 Control Signals for Positioner 3 Mode·······························································121

3.4.10 Control Signals for Remote I/O Mode································································ 124

3.4.11 About Commands (Position Data Read/Write and Alarm Axis Read) ··············· 128

3.5 Input and Output Signal Process for Field Network··················································143

3.6 Power Supply and Cutoff ·························································································· 145

3.7 Control and functions of Input and output signals of Modes other than Remote I/O Mode······ 147

3.8 Control and functions of Input and output signals of Remote I/O Mode··················· 169

3.8.1 Operation Supportive Signal = Patterns 0 to 2, 4 and 5 in common ················· 169

3.8.2 Operation with the Position No. Input = Operations of PIO Patterns 0 to 2········· 177

3.8.3 Direct Position Specification (Solenoid Valve Mode 1) = Operation of PIO Pattern 4 ········197

3.8.4 Direct Position Specification (Solenoid Valve Mode 2) = Operation of PIO Pattern 5 ········209

3.9 About Gateway Parameter Setting Tool····································································217

3.9.1 Startup of Tool···································································································· 217

3.9.2 Explanation of each Menu ················································································· 218

3.9.3 Description of Functions ···················································································· 220

3.9.4 Operation Mode Setting·····················································································226

3.10 Field network status LEDs ························································································227

3.10.1 DeviceNet ··········································································································227

3.10.2 CC-Link·············································································································· 227

3.10.3 PROFIBUS ········································································································228

3.10.4 CompoNet··········································································································228

3.10.5 Mechatrolink ······································································································229

3.10.6 EtherNet/IP ········································································································229

3.10.7 EtherCAT ··········································································································· 230

3.11 Gateway status LED ·································································································231

Chapter 4 Vibration Suppress Control Function ···························································233

4.1 Setting Procedure ····································································································· 235

4.2 Settings of Parameters for Vibration Suppress Control············································236

4.3 Setting of Position Data ····························································································237

Chapter 5 Power Saving Function (Automatic Servo-off Function) ······························239

Chapter 6 Absolute Reset and Absolute Battery ··························································241

6.1 Absolute Reset··········································································································241

6.2 Absolute Battery········································································································243

6.2.1 Absolute encoder backup specifications ··························································· 243

6.2.2 Replacement of absolute battery······································································· 245

Chapter 7 Parameter ···································································································· 247

7.1 Parameter List···········································································································248

7.2 Detail Explanation of Parameters ·············································································253

7.3 Servo Adjustment······································································································280

Chapter 8 Troubleshooting ··························································································· 283

8.1 Action to Be Taken upon Occurrence of Problem····················································· 283

8.2 Fault Diagnosis ········································································································· 285

8.2.1 Impossible operation of controller······································································285

8.2.2 Positioning and speed of poor precision (incorrect operation) ·························· 286

8.2.3 Generation of noise and/or vibration ································································· 287

8.2.4 Impossible Communication ··············································································· 287

8.3 Alarm························································································································· 288

8.3.1 Gateway Alarm Codes ·······················································································288

8.3.2 Alarm Code for Each Axis··················································································290

8.4 Noise Prevention·······································································································301

Chapter 9 Appendix ······································································································ 302

9.1 List of Specifications of Connectable Actuators························································ 302

Chapter 10 Warranty ····································································································347

10.1 Warranty Period········································································································ 347

10.2 Scope of the Warranty ······························································································ 347

10.3 Honoring the Warranty······························································································ 347

10.4 Limited Liability ·········································································································347

10.5 Conditions of Conformance with Applicable Standards /Regulations, Etc., and Applications·········· 348

10.6 Other Items Excluded from Warranty········································································ 348

Change History ············································································································· 349

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

1 Model

Selection

Ɣ 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.)

Ɣ Do not use the product outside the specifications. Failure to do so may

considerably shorten the life of the product.

Ɣ 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

Ɣ 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.

No.

Operation

Description

2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or

utilize equipment such as crane.

Ɣ 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.

Ɣ 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.

Ɣ 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.

Ɣ Do not step or sit on the package. Ɣ Do not put any heavy thing that can deform the package, on it. Ɣ When using a crane capable of 1t or more of weight, have an operator

who has qualifications for crane operation and sling work.

Ɣ When using a crane or equivalent equipments, make sure not to hang a

load that weighs more than the equipment’s capability limit.

Ɣ Use a hook that is suitable for the load. Consider the safety factor of the

hook in such factors as shear strength.

Ɣ Do not get on the load that is hung on a crane. Ɣ Do not leave a load hung up with a crane. Ɣ Do not stand under the load that is hung up with a crane.

3 Storage and

Preservation

Ɣ The storage and preservation environment conforms to the installation

environment. However, especially give consideration to the prevention of condensation.

Ɣ 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. Ɣ 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.

Ɣ 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.

Ɣ 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

No.

Operation

Description

(2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator

and controller, and for the teaching tool.

Ɣ 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.

Ɣ Perform the wiring for the product, after turning OFF the power to the

unit, so that there is no wiring error.

Ɣ 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.

Ɣ 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.

Ɣ 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.

4 Installation

and Start

(3) Grounding Ɣ 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.

Ɣ 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

(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).

Ɣ Perform Class D Grounding (former Class 3 Grounding with ground

resistance 100: or below).

No.

Operation

Description

4 Installation

and Start

(4) Safety Measures Ɣ 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.

Ɣ 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.

Ɣ Make sure to install the emergency stop circuit so that the unit can be

stopped immediately in an emergency during the unit operation.

Ɣ 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.

Ɣ 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.

Ɣ 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.

Ɣ Take the measure so that the work part is not dropped in power failure or

emergency stop.

Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure

safety.

Ɣ 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.

Ɣ 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 Ɣ 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.

Ɣ 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.

Ɣ 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.

Ɣ 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.

Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ 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.

No.

Operation

Description

6 Trial

Operation

Ɣ 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.

Ɣ After the teaching or programming operation, perform the check

operation one step by one step and then shift to the automatic operation.

Ɣ 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.

Ɣ 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.

Ɣ 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

Ɣ Check before starting the automatic operation or rebooting after

operation stop that there is nobody in the safety protection fence.

Ɣ Before starting automatic operation, make sure that all peripheral

equipment is in an automatic-operation-ready state and there is no alarm indication.

Ɣ Make sure to operate automatic operation start from outside of the

safety protection fence.

Ɣ 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.

Ɣ 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.

No.

Operation

Description

8 Maintenance

and Inspection

Ɣ 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.

Ɣ 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.

Ɣ When the work is to be performed inside the safety protection fence,

basically turn OFF the power switch.

Ɣ 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.

Ɣ When the operation is to be performed inside the safety protection

Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ For the grease for the guide or ball screw, use appropriate grease

according to the Instruction Manual for each model.

Ɣ Do not perform the dielectric strength test. Failure to do so may result in

a damage to the product.

Ɣ 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.

Ɣ 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.

Ɣ 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

Ɣ Do not modify, disassemble, assemble or use of maintenance parts not

specified based at your own discretion.

10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it

properly as an industrial waste.

Ɣ When removing the actuator for disposal, pay attention to drop of

components when detaching screws.

Ɣ Do not put the product in a fire when disposing of it.

The product may burst or generate toxic gases.

11 Other Ɣ 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.

Ɣ See Overseas Specifications Compliance Manual to check whether

complies if necessary.

Ɣ For the handling of actuators and controllers, follow the dedicated

instruction manual of each unit to ensure the safety.

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

Precautions in Operation

1. Make sure to follow the usage condition, environment and specification range of the product.

Not doing so may cause a drop of performance or malfunction of the product.

2. Use the following teaching tools.

Use the PC software and the teaching pendant stated in the next clause as applicable for this controller. [Refer to 1.1.2 Teaching Tool.]

3. Backup the data to secure for breakdown.

A non-volatile memory is used as the backup memory for this controller. All the registered position data 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 CD-R or hard disk with using the PC software (2) Hard-copy the information of position tables and parameters on paper

4. Set the operation patterns.

To be applied to variety ways of use, this controller corresponds to the control by each fieldbus and, in addition, it possesses multiple operation (PIO) patterns. Setting can be established in the parameters. [Refer to Chapter 3 Operation and Chapter 7 Parameter.] Set the operation pattern setting to the logic that suits to your use after the power is turned ON.

5. The actuators listed below cannot be connected:

1) Actuator with its motor capacity more than 200W

2) Linear Actuator

3) NS-S Type (Nut rotary actuator)

4) RCS2-SRA7BD

5) Slim Small ROBO Cylinder (RCS2-RN5N/RP5N/GS5N/GD5N/SD5N/TCA5N/TWA5N/TFA5N)

6) When the total of the motor capacity of the connected actuators exceeds 900W for 200V motor power or 450W for 100V type

6. Clock setting in calendar function

There may be a case that Gateway Error Code 84A “Real Time Clock Vibration Stop Detect” is issued at the first time to turn the power ON after the product is delivered. In such a case, 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, the clock data may be already lost even in 10 days after the product is shipped out.

Warning: Please note it is very risky when the control sequence and PIO pattern setting do not

match to each other. It may not only cause the normal operation disabled, but also may cause an unexpected operation.

7. For the rotary actuator, it is necessary to pay attention to cable breakage due to twisting and other factors.

Especially for the type with a through hole in the center of rotation, and when using it with cables going through the hole, and also for the actuator with 360q rotation, special care is required because there is no limit to the rotation in one direction.

8. Limitations on operation of rotary actuator in index mode

Rotary actuators of 360q specification can select the normal mode for finite rotations or the index mode enabling multi-rotation control by using parameter No.79 “Rotational axis mode selection”. [Refer to Chapter 7 Parameter.] The following limitations are applied to the index mode:

1) Index Mode cannot be selected in the absolute type controllers. It will issue Alarm Code 0A1 “Parameter Data Error”.

2) In the JOG operation by PC software, a teaching pendant or PIO Signal, the indicated range in one time is from 0 to 360.00q and that makes one turn.

3) Pressing is unavailable. The pressing torque can only be set to 0.

4) Do not issue positioning command around 0q repeatedly during movement near 0°. Failure

to follow this may cause the actuator to rotate in the direction reverse to the specified rotation direction or operate indefinitely.

5) Soft stroke limit is invalid in the index mode.



9. According to sequence program creation

Please note the following things when creating a sequence program. When data transfer is necessary between two devices that have a different scan time from each other, duration more than the longer scan time is required to certainly read the signal. (To have the loading process on PLC side safely, it is recommended to set the timer to at least twice longer than the long scanning time.)

䎃䧎䎃 Operation Image䎃

䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃

This controller (scan time 1msec)

PLC (Programmable Logic Controller)

(example: 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, PLC can only read the input once in 20msec even though this controller output once in 1msec. Because PLC only conducts output process once in 20msec, this controller identifies the same out

ut status for that while.

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.



10. 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 such as the actuator cannot get positioned to the indicated position number in Positioner Mode. Set “2” as the minimum value for the setting of 10msec timer and when setting to 100msec, use 10msec timer and set to “10”.

International Standards Compliances

MSCON comply with the following overseas standards.

RoHS Directive CE Marking UL

To be scheduled Compliance not planned

Name for Each Parts and Their Functions

No.0

No.1

No.2

No.3

No.4

No.5

16) Absolute Battery Unit

1) Control power supply input connector

3) Regenerative resistor unit connector

4) Motor power supply input connector

6) Fan unit

2) Power supply status LED

5) Screw terminal for protective grounding

7) Driver for Axis No.0 and No.1

10) Operation mode setting switch

13) Gateway status LED

11) SIO connector

12) System I/O connector

15) Fieldbus connector

14) Field network status LED

8) Driver for Axis No.2 and No.3

9) Driver for Axis No.4 and No.5

1) Control power supply input connector [Refer to 2.2 [2] Power Supply Circuit and Brake Circuit] Supply 24V DC power for control. For an actuator equipped with a brake, also supply 24V DC power for brake control. (Do not attempt to connect it when there is no actuator with a brake.)

2) Power supply status LED It shows the status of control power source and driving source. [Refer to 3.6 Power Supply and Cutoff for the details.]

3) Regenerative resistor unit connector [Refer to 2.2 [6] Regenerative Resistor Circuit] This is a connector to plug in the external regenerative unit.

4) Motor power supply input connector This is a connector to supply power to MSCON.

5) Screw terminal for protective grounding It is the terminal for the connection of ground cable to prevent electric shock and noise. It connects to the PE terminal on the motor power supply connector inside MSCON.

6) Fan unit This is the fan unit to cool down the controller. This unit can be detached from the controller for maintenance by removing the two screw in the front of the controller.

7) Actuator driver for Axis No.0 and No.1

8) Actuator driver for Axis No.2 and No.3

9) Actuator driver for Axis No.4 and No.5 One piece of a driver CPU board and one piece of a power stage board make one pair. It is possible to control two axes with one set. Three classes are available to insert at the maximum.

Caution: Do not attempt to insert the driver CPU board to position other than the one that

the board was originally inserted to. The parameter dedicated for the indicated actuator is already written to the driver CPU board at the purchase order. Proper operation cannot be performed with it inserted in a wrong position. It is the same for the power stage board. Also, it may cause such malfunctions as the board being burned down.

Driver CPU Board

x Brake Release Switch (BK RLS/NOM)

This is a switch to compulsorily release the brake of the actuator equipped with a brake.

Warning: In normal operation, make sure to set this

switch to NOM side. The brake would not work even with the servo OFF condition if the switch is on the RLS side. In the vertical type, the work may drop and cause an injury or the work to be damaged.

x Encoder Connector (PG)

It is the connector to connect the actuator encoder cable. [Refer to Section 2.4.3 Actuator Connection for the details of how to connect.]

x Motor Cable Connector (M)

It is the connector to connect the actuator motor cable. [Refer to Section 2.4.3 Actuator Connection for the details of how to connect.]

x Absolute Battery Connector

Connect an absolute battery if absolute type.

x Driver Status LED

These show the current condition of the drivers. Upper one shows the status of even axis numbers (0, 2 and 4), and lower shows the status of odd axis numbers (1, 3 and 5). Note: The axis number is determined by the slot the driver

board is inserted.

{: Illuminating, ×: OFF, : Flashing

LED (SV*/ALM*)

*: Axis No. = 0 to 5

Lamp status Color

Driver status

{ Green Servo ON  Green During automatic servo OFF

× – Servo OFF

{ Red

Alarm generated, Emergency-stop input, Motor driving power OFF

Power Stage Board

Brake for even axis numbers

Brake for odd axis numbers

10) Operation mode setting switch This is a switch to change the operation mode between Automatic Operation (AUTO) and Manual Operation (MANU). The operation modes are provided to avoid the duplication of the operation using PC software or a teaching pendant (described as teaching tool from now on) and the operation with Fieldbus. For the details of the mode selection, refer to 12) System I/O connector.

11) SIO connector This is a connector dedicated for the teaching tool connection.

12) System I/O connector This is a connector for additional devices for the input of all-axes external emergency stop and AUTO/MANU switchover. It is connected in a series with the operation mode setting switch (AUTO/MANU) on the front panel. The controller can be in the following modes by the mode selection on each switch and teaching tool.

Condition

MSCON

status

Switch on front panel

Operation mode switchover input

Note 1

AUTO AUTO Short-circuit A/M- and A/M+

AUTO Open A/M- and A/M+ terminals

MANU

MANU Short-circuit A/M- and A/M+

Note 1: Refer to Sections 2.2 [3] Emergency Circuit and 2.2 [7] Mode Switchover Circuit

for the details.

13) Gateway status LED Gateway condition (status) is displayed. [Refer to 3.11 Gateway status LED for the details.]

14), 15) Field network connector and field network status LED

Connect the field network cable to connector. [Refer to 2.2 [8] Wiring for Field Network for details.] Field network status LEDs show the status (condition) of the fieldbus. [Refer to 3.10 Field network status LEDs for the details.]



16) Absolute Battery Unit [Refer to Chapter 6.]

If the actuator is the absolute encoder type, set one unit of this battery unit per unit of actuator to the base frame on the bottom of MSCON, and connect it to the battery connector

(Note)

on the driver board.

Note : There is an indication of axis number to the battery connectors. Connect Absolute

Battery Unit to the battery connector of the axis number that an absolute encoder type actuator is connected. [Refer to 2.4.4 Battery Connection.]

Caution: When in MANU Mode of the teaching tool, select “PIO startup prohibited” for the

operation mode.

Actuator Axes

Refer to the pictures below for the actuator axes that can be controlled. 0 defines the home position, and items in ( ) are for the home-reversed type (option).

Caution: There are some actuators that are not applicable to the origin reversed type. Check

further on the catalog or the Instruction Manual of the actuator.

(1) Rod Type

(2) Slider Type

(3) Flat Type

(4) Arm Type

300°0°

(5) Gripper Type

(6) Rotary Type

(300q Rotation Specification) (360qRotation Specification)

(360qRotation Specification)

For Multiple Rotation Type with the origin reversed type, the directions of + and – are the other way around.

Finger Attachment

Starting Procedures

When using this product for the first time, work while making sure to avoid omission and incorrect wiring by referring to the procedure below. “PC” stated in this section means “PC software”.

No ψ

Contact your local IAI distributor.

ωYes

No ψ

Check Item

Is RDY in Gateway Status LEDs turned ON in green?

Connect the PC software, confirm the alarm code, and remedy the indicated situation.

Check Item

Is SV* on the status LED display for the driver on the axis number indicated for the servo-on turned ON in green?

Check of Safety Circuit

Does the emergency stop circuit (drive cutoff circuit) work properly and turn the servo OFF?

Target Position Setting [Except for simple direct mode and direct numerical specification mode: Chapter 3]

Set a target position in the “Position” field for each position in the position table.

ωYes

Check if there is any problem with the installation of the actuator and the condition of the actuator use exceeds the ranges of the rated values. Adjust the servo if necessary.

If an alarm is generated, check the detail of the alarm on the PC and have an appropriate treatment.

ωYes

Check Item

Any vibration or abnormal noise?

No ψ

Check of Packed Items

Are all the delivered items present?

Installation and Wiring [Refer to 1. and 2.]

Install the controller and actuator and perform wiring according.

Important Check Item

• Is frame ground (FG) connected? • Has the noise countermeasure been taken?

Power Supply and Alarm Check

Connect the PC software, set the operation mode setting switch to “MANU” side and turn the power ON. Select [Teaching Mode 1 Safety Speed Activated / Prohibit PIO Startup] in the PC software.

Initial Setting and PIO Pattern Select =Refer to 3.2

Conduct the initial selection for those such as PIO Patterns for each axis from the PC. Register the operation mode to MSCON using Gateway Parameter Setting Tool.

Servo ON

Turn the servo ON for all the connected axes by operating the PC.

Check the emergency stop circuit.

 Caution

Please perform this process with the actuator away from the mechanical end or interfering objects as much as possible. Move the actuator away from interfering surroundings.

It may generate an alarm if the actuator hit the mechanical end or interfering objects when the servo is turned ON. The slider may get slightly dropped by self-weight if servo ON and OFF is repeatedly performed at the same position. Be careful not to pinch the hand or damage the work.

No ψ

ωYes

Test Run Adjustment 1

1) Cancel the emergency stop, do not put a work piece on, set to low speed and check the operation with commands from the PC.

2) Check the operation (of communication) with commands from the host system (PLC, etc.).

Test Run Adjustment 2

Check the system operation conducted.

Establish Link to Field Network

1) Assign MSCON as the host controller [Refer to the instruction manual of the master unit].

2) Put the operation mode setting switch on the front panel of MSCON to AUTO side, and reboot the power.

3) Once the link with the master unit is established, turn ON MON signal in the gateway control signals.

(While MON Signal is ON, control from field network is available.)

Chapter 1 Specifications Check

1.1 Product Check

1.1.1 Parts

The standard configuration of this product is comprised of the following parts. If you find any fault in the contained model or missing parts, contact us or our distributor.

No. Part Name Model Quantity Remarks

1 Controller

Refer to “How to read the model plate”, “How to read the model”

Accessories

Control Power Supply Connector

MC1.5/5-STF-3.81 (Supplier: PHOENIX CONTACT)

1 

Motor Power Supply Connector

GMSTB2.5/3-STF-7.62 (Supplier: PHOENIX CONTACT)

1 

4 System I/O Connector

FMCD1.5/4-ST-3.5 (Supplier: PHOENIX CONTACT)

1 

CC-Link Connector (For CC-Link Type)

SMSTB2.5/5-ST-5.08 AU (Supplier: PHOENIX CONTACT)

DeviceNet Connector (For DeviceNet Type)

SMSTB2.5/5-ST-5.08 AU (Supplier: PHOENIX CONTACT)

Absolute Battery Unit (Absolute Type)

(Battery AB-5) 1

Number of batteries is determined by the number of axes to be connected.

8 First Step Guide 1

9 Instruction Manual (DVD) 1

10 Safety Guide 1

1.1.2 Teaching Tool

For the setup operation such as position setting and parameter setting by a teaching, conduct it on PC software. Prepare a teaching tool such as PC software and so on for the operations and tunings.

No. Part Name Model

PC Software (Includes RS232C Exchange Adapter + Peripheral Communication Cable)

RCM-101-MW

PC Software (Includes USB Exchange Adapter + USB Cable + Peripheral Communication Cable)

RCM-101-USB

3 Teaching Pendant (Touch panel teaching) CON-PTA

Teaching Pendant (Touch panel teaching equipped with a deadman switch)

CON-PDA

Teaching Pendant (Touch panel teaching equipped with a deadman switch + TP adapter (RCB-LB-TG))

CON-PGA

6 Teaching Pendant CON-T

Teaching Pendant (equipped with dead man’s switch + TP adapter (RCB-LB-TG))

CON-TG

8 Gateway Parameter Setting Tool –

Chapter 1 Specications Check

1.1.3 Instruction Manuals related to this product, which are contained in the DVD.

No. Name Manual No.

1 MSCON Controller Instruction Manual ME0304

PC software RCM-101-MW/ RCM-101-USB Instruction Manual

ME0155

3 Touch panel teaching CON-PTA/PDA/PGA Instruction Manual ME0295

4 Teaching Pendant CON-T/TG Instruction Manual ME0178

1.1.4 How to read the model plate

Actuetor Type / SERIAL No.

No. 0

No. 1

No. 2

No. 3

No. 4

No. 5

Connected actuator type

RCS3-SA6C-I-150-20-500-T2

RCS2-SA6C-I-20-6-200-T2-B

Model

Serial numbe

MODEL MSCON-C-6-150I -150I -20I -20I -20I -20I -DV-0-1

SERIAL No. *********

MADE IN JAPAN

1.1.5 How to read the model

(Example) Consists of 5 axes : Axis No.0, 2, 3 : 60W actuators to be connected

Axis No.4, 5 : 100W actuators to be connected Axis No.1 : Not connected

 

MSCON

– C – 5 - 60I–N–60I–60I–100I–100IHA – DV - 0 – 2 –**

C : Standard Type

1 to 6 : Number of driver axes

[Motor Type] 12 : 12W Servo Motor 20 : 20W Servo Motor 30D : 30W Servo Motor 30R : 30W Servo Motor (for RS Series) 60 : 60W Servo Motor 100 : 100W Servo Motor 150 : 150W Servo Motor 200 : 200W Servo Motor N : Not connected (not equipped with motor driver) [Encoder Type]

I : Incremental A : Absolute

[Option]

HA : High Accel/Decel Type L : Home Sensor/Limit Switch Type C : Creep Sensor Type B : Brake Type

<Identification for IAI use only> *There is no identification in some cases

<Power-supply Voltage>

1 : 100V AC 2 : 200V AC

0 : No cable

<I/O Type> DV : DeviceNet Type CC : CC-Link Type PR : PROFIBUS-DP Type CN : CompoNet Type ML : MECHATROLINK Type EP : EtherNet/IP Type EC : EtherCAT Type

xis No.

0 1 2 3 4 5

Chapter 1 Specications Check

1.2 Basic Specifications

Number of Controlled Axes Max. 6-axis

Control Power Voltage

24V DC r10%

Control Power Current Consumption Max. 2.4A

Add the Control Power In Rush Current

(Note1)

Max. 7A 5msec or less

Driving Source Voltage 100V AC Specification

AC100 to 115V r10%

Drive (Motor) Power Supply Voltage

Driving Source Voltage 200V AC Specification

AC200 to 230V r10%

Driving Source Voltage 100V AC Specification

10A max. with 20A for 80msec (driving source voltage 100V in ambient temp. 25qC) 10A max. with 45A for 80msec (driving source voltage 115V × 10% in ambient temp. 40qC)

Drive (Motor) Power Supply In-Rush Current

(Note1)

Driving Source Voltage 200V AC Specification

10A max. with 45A for 40msec (driving source voltage 200V in ambient temp. 25qC) 10A max. with 95A for 40msec (driving source voltage 230V × 10% in ambient temp. 40qC)

Driving Source Voltage 100V AC Specification

Max. 200W/axis (up to 450W in total for six axes)

Motor Capacity of Connectable Actuators

Driving Source Voltage 200V AC Specification

Max. 200W/axis (up to 900W in total for six axes)

Electromagnetic Brake Power Supply Voltage (when brake-equipped actuator connected)

24V DC r10%

Brake Power Supply Current Max. 1A/axis (0.5A/axis at steady state)

Brake Power Supply In-Rush Current

(Note1)

Max. 10A 10msec or less

Drive (Motor) Power Capacity Refer to 1.3.1 Power Capacity and Heat Generation.

Leak Current

3.5mA (Motor power supply) ٧ There is no leak current of control power supply and brake power supply.

Heat Generation Refer to 1.3.1 Power Capacity and Heat Generation.

Drive (Motor) Frequency

50/60Hz r5%

Transient Power Cutoff Durability

1msec (Control Power Supply), 20msec (Drive (Motor) Power Supply), 5msec (Brake Power Supply)

Motor Control System Sinusoidal Wave PWM Vector Current Control

Applicable Encoder Incremental Serial Encoder

Absolute Serial Encoder

Actuator Cable Length Max. 20m

Serial Communication (SIO Port: For Teaching)

RS485 1ch (complying with Modbus Protocol) Speed : 9.6 to 230.4kbps

External Interface

DeviceNet

(Note)

, CC-Link, PROFIBUS-DP, CompoNet, MECHATROLINK II,

EtherNet/IP, EtherCAT [Refer to Section 1.4. Fieldbus Type]

Data Setting and Input PC software, Teaching pendant, Gateway parameter setting tool

Data Retention Memory

Position data and parameters are saved in the nonvolatile memory. (There is no limitation in number of writing)

Number of Positioning Points

Max. 256 points (There is no limit for simple direct and direct indication modes) Note: The number of positioning points differs depending on the operation mode

select by the parameter setting.

LED Indication (Mounted on Front Panel)

LED lamp for driver status display 2 points Gateway Status LED 5 points Fieldbus Status LED 2 points Power Supply Status LED 2 points

Forcibly Releasing of Electromagnetic Brake (Mounted on Front Panel)

Switching NOM (standard)/RLS (compulsory release)

Protective Functions Overload, overcurrent, overvoltage, etc.

Protection Function against Electric Shock Class I

Insulation Resistance (Between secondary power source and FG)

500V DC 10M: or more

Withstanding Voltage (Between primary and secondary power sources, Between primary power source and PE)

1500V AC for 1 min. (for MSCON individually)

Cooling Method Forced air-cooling

External Dimensions 225W × 154H × 115D

Incremental Type Approx. 1900g

Weight (when drivers for 6 axes mounted)

Absolute Type Approx. 2000g (including batteries)

Surrounding air temperature

0 to 40 qC

Surrounding humidity 85%RH or less (non-condensing)

Surrounding environment [Refer to 1.7 Installation and Storage Environment.]

Surrounding storage temperature

20 to 70

Note: 0 to 40 qC for absolute battery.

Surrounding storage humidity 85%RH or less (non-condensing)

Usable Altitude 1000m or lower above sea level

Vibration Durability

Frequency 10 to 57Hz/

Swing width: 0.075mm

Frequency 57 to 150Hz/

Acceleration 9.8m/s

XYZ Each direction Sweep time: 10 min. Number of sweep: 10 times

Package Drop Dropping height 800mm, 1 corner, 3 edges and 6 surfaces

Protection Class IP20

Pollution Degree II

Environment

Overvoltage Category III

Note1: The rush current value varies depending on the impedance of the power line.

Chapter 1 Specications Check

1.3 Selection of Power Source and Power Supply Supportive Devices

1.3.1 Power Capacity and Heat Generation

Shown in the table is the relation between the motor wattage and motor power capacity of an actuator that can be connected to MSCON.

Actuator Motor

Wattage

Motor Power Capacity

[VA]

Peek Max. Motor

Power Capacity [VA]

Heat Generation [W]

12 41 123 1.7

20 50 150 2.0

30D (

Excluding RS

) 47 141 2.0

30R (for RS) 138 414 4.0

60 146 438 4.8

100 238 714 7.0

150 328 984 8.3

200 421 1263 9.2

RS : Rotary Shaft

1.3.2 Selection of Circuit Breaker

For the selection of the circuit breaker, perform it according to the following items.

• 3 times of the rated current flows to the controller during the acceleration/deceleration. Select an interrupter that does not trip with this value of current. If a trip occurs, select an interrupter that possesses the rated current of one grade higher. (Check the operation characteristics curves in the product catalog.)

• Select an interrupter that does not trip with the in-rush current. (Check the operation characteristics curves in the product catalog.)

• Consider the current that enables to cutoff the current even when a short circuit current is flown for the rated cutoff current. Rated Interrupting Current > Short Circuit Current = Circuit Breaker Primary Power Capacity / Power Voltage

Consider margin for the rated current on the circuit breaker.

Rated Current for Circuit Interrupter > Total capacity of motor power for all the connected actuators / AC input voltage

× Safety margin (1.2 to 1.3 for

reference)

1.3.3 Selection of Leak Current Breaker

• It may be mandatory by law to install a leakage breaker.

• A ground fault circuit interrupter needs to be selected carefully considering the purposes of prevention of fire and protection of human (Determined by law).

• Leak current varies depending on the capacity of connected motor, cable length and the surrounding environment. Measure the leak current at the point where a ground fault circuit interrupter is to be installed when leakage protection is conducted.

• Use the harmonic type (for inverter) for the ground fault circuit interrupter.

1.3.4 Control Power (24V DC) Capacity

Follow the description below for the calculation of 24V DC power capacity. (1) Control Power Current Consumption :

Select from control power supply current in the table below ·················································· 1)

Number of Controlled

Axes

(Note1)

1 axis 2 axis 3 axis 4 axis 5 axis 6 axis

Control Power Unit

Heating Value [W]

25.5 31.5 38.2 44.2 50.9 56.9

Control Power

Capacity [A]

1.1 1.3 1.6 1.8 2.1 2.4

Note 1: See the line of max. number of controlled axes connectable to corresponding

MSCON. It can be defined on the manufacturing name plate. MSCON-C-*-• • • •: “*” is the maximum number of connectable axes.

(2) Current Consumption of Brake Power Supply:

1A or 0.5A

(Note 2)

× number of brake-equipped actuators························································ 2)

Note 2: The maximum current of 1A per actuator runs for approximately 100ms when a brake

is released. The current consumption after the release is 0.5A per unit. Calculate the capacity with 0.5A per unit when a 24V DC power supply corresponding to transient load change such as peak load appliance is used and capable for the maximum current described above. For other cases, calculate with 1A per unit.

(3) Add the Control Power In Rush Current: 7A ·········································································· 3) [Selection of Power Supply]

Usually, the rated current is to be approximately 1.3 times higher than the total of Control Power 1) and Motor Power 2) above considering approximately 30% of margin to the load current. However, considering the inrush currents [excitation (3)], even though it is a short time, select a power supply with sufficient “peak load capacity”. If a power supply with insufficient peak capacity is utilized, a transient voltage drop or cutoff may occur. This may present issues with power supplies providing remote sensing functionality.

(Remark) Selection of Power Supply Protection Circuit Breaker

It is recommended that the power supply protection is conducted on the primary side (AC power side) of the 24V DC power supply unit. If having 24V DC turned ON/OFF, keep the 0V connected and have the +24V ON/OFF (cut one side only). Be careful to the in-rush current of the 24V DC power supply unit when making a selection. (Check it in the operation characteristics curve graph in a catalog provided by the supplier.) Consider the current that enables to cutoff the current even when a short circuit current is flown for the rated cutoff current.

y Rated Interrupting Current > Short Circuit Current = Circuit Breaker Primary Power

Capacity / Power Voltage

y (Remark) In-rush Current of IAI Power Supply Unit PS241 = 50 to 60A, 3msec

Chapter 1 Specications Check

1.4 Specifications for each Fieldbus

1.4.1 Specifications of DeviceNet Interface

Item Specification

DeviceNet2.0

Group 2 Dedicated Server

Communication Protocol

Network-Powered Insulation Node

Baud Rate Automatically follows the master

Communication System Master-Slave System (Polling)

Number of Occupied Channels

Refer to 3.4.1 PLC Address Construction by each Operation Mode

Number of Occupied Nodes

1 Node

Baud Rate Max. Network Length

Total Branch

Line Length

Max. Branch Line

Length

500kbps 100m 39m

250kbps 250m 78m

Communication Cable Length

(Note2)

125kbps 500m 156m

Communications Cable Use the dedicated cable.

Connector

(Note1)

MSTBA2.5/5-G-5.08-ABGY AU (Manufactured by PHOENIX CONTACT or equivalent)

Consumption Current of Communication Power Supply

60mA

Communication Power Supply

24V DC (Supplied from DeviceNet)

Note1: The cable-side connector is a standard accessory. (SMSTB2.5/5-ST-5.08 AU by PHOENIX CONTACT)

Note2: For T branch communication, refer to the Instruction Manuals for the master unit and programmable logic

controller (stated as PLC from now on) to be mounted.

1.4.2 Specifications of CC-Link Interface

Item Specification

Communication Protocol

CC-Link Ver1.1 or Ver2

Station Type Remote device station (4 stations max. to occupy)

Baud Rate 10M/5M/2.5M/625K/156kbps

Communication System

Broadcast Polling System

Number of Occupied Stations

Refer to 3.4.1 PLC Address Construction by each Operation Mode

Baud Rate [bps] 10M 5M 2.5M 625k 156k Communication

Cable Length

(Note2)

Total Cable

Length [m]

100 160 400 900 1200

Communications Cable

Use the dedicated cable.

Connector

(Note1)

MSTBA2.5/5-G-5.08 AU (Manufactured by PHOENIX CONTACT or equivalent)

Note1: The cable-side connector is a standard accessory. (SMSTBA2.5/5-ST-5.08 AU by PHOENIX CONTACT)

Note2: For T branch communication, refer to the Instruction Manuals for the master unit and PLC to be mounted.

1.4.3 Specifications of PROFIBUS-DP Interface

Item Specification

Communication Protocol

PROFIBUS-DP

Baud Rate Automatically follows the master

Communication System

Hybrid System (Master-Slave System or Token Passing System)

Number of Occupied Stations

Refer to 3.4.1 PLC Address Construction by each Operation Mode

Max. Total Network Length Baud Rate Cable Type

100m 12,000/6,000/3,000kbps

200m 1,500kbps

400m 500kbps

1000m 187.5kbps

Communication Cable Length

1200m 9.6/19.2/93.75kbps

Type A Cable

Communications Cable

STP cable AWG18

Connector

(Note1)

9 pin female D-sub Connector

Transmission Path Format

Bus/Tree/Star

Note 1: Prepare the 9-pin male D-sub connector as the connector on the cable side.

1.4.4 Specifications of CompoNet Interface

Item Specification

Communication System CompoNet specialized protocol

Communication Type Remote I/O Communication

Baud Rate Automatically follows the master

Communication Cable Length Follows CompoNet Type

Slave Type Word Mixed Slave

Available Node Addresses for Setting

0 to 63 (Setting conducted on controller parameter)

Number of Occupied Channels Refer to 3.4.1 PLC Address Construction by each Operation Mode

Communications cable

(Note1)

Round-type cable (JIS C3306, VCTF2 conductors) Flat cable I (with no sheathed) Flat cable II (sheathed)

Connector (Controller side) XW7D-PB4-Rmanufactured by OMRON or equiv.

Note1: Prepare a communication cable separately.

Chapter 1 Specications Check

1.4.5 Specifications of MECHATROLINK II Interface

Item Specification

Slave Type Intelligent I/O

Baud Rate MECHATROLINK II 10Mbps

Max. Transmittable Distance 50m

Min. Distance between Stations 0.5m

Number of Occupied Bytes Refer to 3.4.1 PLC Address Construction by each Operation Mode

Transmission Frequency 1 to 8ms

Data Length MECHATROLINK II 32 bytes

Settable Node Address Range 61 to 7F [hex.]

Communications Cable

(Note1)

STP Cable (characteristic impedance 130:)

Connector Controller Side DUSB-ARB82-T11A-FA (Manufactured by DDK or equivalent)

Note1: Prepare the communication cable separately.

1.4.6 Specifications of EtherNet/IP Interface

Item Specification

Communication Protocol IEC61158 (IEEE802.3)

Baud Rate 10BASE-T/100BASE-T (Autonegotiation setting is recommended)

Communication Cable Length

EtherNet/IP Specifications (Distance between hub and each node: 100m or less)

Number of Connection Master Unit

Available Node Addresses for Setting

0.0.0.0 to 255.255.255.255

Communications Cable

(Note1)

Category 5e or higher (Double shielded cable braided with aluminum foil recommended)

Connector RJ45 Connector × 1pc

Note1: Please prepare a communication cable separately.

1.4.7 Specifications of EtherCAT Interface

Item Specification

Communication Protocol IEC61158 type12

Physical Layer 100Base-TX (IEEE802.3)

Baud Rate Automatically follows the master

Communication Cable Length

Depends on EtherCAT® Specification (Distance between each node: 100m or less)

Slave Type I/O slave

Available Node Addresses for Setting

0 to 127 (17 to 80 : When connected to the master (CJ1W-NC*82) manufactured by OMRON)

Communications Cable

(Note1)

Category 5e or more (Double shielded cable braided with aluminum foil recommended)

Connector RJ45 Connector × 2pcs (Input×1, Output×1)

Connection Daisy chain only

Note1: Please prepare a communication cable separately.

1.5 External Dimensions

1.5.1 Incremental Type

102

204

225

102

136

10.510.5

10.5

154

145

4.54.5

(9)

3-φ5

Front View

10.5

(77 from DIN rail center)

115

Side View

Chapter 1 Specications Check

1.5.2 Absolute Type

102

204

225

102

136

10.5

154

145

4.5

(9)

(22.3)

3-φ5

Front View

10.5

115

10.5

(77 from DIN rail center)

(134)

Side View

1.6 Option

1.6.1 Regenerative Resistor Unit

This unit is necessary to be connected in the case that the regenerative energy cannot be consumed by the regenerative resistor built into the MSCON. [Specification]

Item Specifications

RESU-2 (Screw Attachment Type)

First Unit

RESUD-2 (DIN Rail Attachment Type)

MSCON Connection Cable (Model CB-SC-REU010) 1m enclosed

RESU-1 (Screw Attachment Type)

Model

2nd unit or later

RESUD-1 (DIN Rail Attachment Type)

Regenerative unit connection cable (Model CB-ST-REU010) 1m enclosed

Dimensions W35.6 × H136 × D115 Body Weight Approx. 0.7kg Built-in Regeneration Resistor

220: 80W

[Reference for connectable number of units]

Total Wattage for Motors of 6 Axes

Actuator horizontally

oriented

Actuator vertically oriented

No. of Connected

Regenerative Resistance

Units to 450 to 200 0 to 900 to 600 1

– to 800 2 – to 900 3

Caution : The number of connectable units is a reference for when operation is made

under the following condition; [Condition] When 1,000mm of back and forth operation is made under the

actuator maximum speed, acceleration/deceleration 0.3G and rated load with the duty 50%.

In some operational conditions, gateway alarm “0A2 Motor Power Voltage

However, please note the number of maximum connectable regenerative

resistance units is 4. It is not effective even with connection more than necessary. Consider to change the operational conditions (to reduce the load) or to use a higher specification actuator.

Chapter 1 Specications Check

[RESU-*Type External Dimensions: Screw Attachment Type]

16.85

17.15

30.7

106.5

4.5

1.5

4.5

R2.5

145

154

136

[RESUD-*Type External Dimensions: DIN Rail Attachment Type]

(77 from DIN rail center)

4.5

145

154

30.7

R2.5

(9)

136

1.5

8.5

115

1.7 Installation and Storage Environment

This product is capable for use in the environment of pollution degree 2

or equivalent.

*1 Pollution Degree 2: Environment that may cause non-conductive pollution or transient

conductive pollution by frost (IEC60664-1) [1] Installation Environment Do not use this product in the following environment.

• Location where the surrounding air temperature exceeds the range of 0 to 40°C

• Location where condensation occurs due to abrupt temperature changes

• Location where relative humidity exceeds 85%RH

• Location exposed to corrosive gases or combustible gases

• Location exposed to significant amount of dust, salt or iron powder

• Location subject to direct vibration or impact

• Location exposed to direct sunlight

• Location where the product may come in contact with water, oil or chemical droplets

• Environment that blocks the air vent [Refer to 1.8 Noise Elimination and Mounting Method]

When using the product in any of the locations specified below, provide a sufficient shield.

• Location subject to electrostatic noise

• Location where high electrical or magnetic field is present

• Location with the mains or power lines passing nearby

[2] Storage Environment

• Storage environment follows the installation environment. Especially in a long-term storage, consider to avoid condensation of surrounding air. Unless specially specified, moisture absorbency protection is not included in the package when the machine is delivered. In the case that the machine is to be stored in an environment where dew condensation is anticipated, take the condensation preventive measures from outside of the entire package, or directly after opening the package.

Chapter 1 Specications Check

1.8 Noise Elimination and Mounting Method

(1) Noise Elimination Grounding (Frame Ground)



(2) Precautions regarding wiring method

1) Wire is to be twisted for the power supply.

2) Separate the signal and encoder lines from the power supply and power lines.

(3) Noise Sources and Elimination

Carry out noise elimination measures for electrical devices on the same power path and in the same equipment. The following are examples of measures to eliminate noise sources.

1) AC solenoid valves, magnet switches and relays [Measure] Install a Surge absorber parallel with the

coil.

2) DC solenoid valves, magnet switches and relays [Measure] Mount the windings and diodes in parallel.

Select a diode built-in type for the DC relay.

Earth Terminal Class D grounding (Formerly Class-III grounding: Grounding resistance at 100: or less)

Copper Wire: Connect to an ground cable with diameter 1.6mm (2mm

: AWG14) or

more.

Connect using FG connection terminal on the main unit.

MSCON

+24V

0V+24V

Relay coil

Surge absorber

Do not share the ground wire with or connect to other equipment. Ground each controller.

Controller

Other

equipment

Controller

Other

equipment

Other

equipment

(4) Heat Radiation and Installation

Design and Build the system considering the size of the controller box, location of the controller and cooling factors to keep the ambient temperature around the controller below 40qC Pay a special attention to the battery unit since the performance of it would drop both in the low and high temperatures. Keep it in a room temperature environment as much as possible. (Approximately 20qC is the recommended temperature.)

To install the unit, use the attachment holes on the top and bottom of the main body and affix with screws, or attach to DIN rails. (Regenerative resistance unit is separated to screw attachment type and DIN rail attachment type. Have an appropriate way to affix the unit for each type.)

20mm or more

50mm or more

20mm or more

30mm or more

20mm or more

10mm or more

50mm or more

150mm or more

Waste Heat

Chapter 1 Specications Check

Chapter 2 Wiring

2.1 Wiring Diagram (Connection of construction devices)

Teaching Pendant Touch Panel Teaching (to be purchased separately)

Host System (Master Unit) (PLC, etc.…Please prepare separately)

Communication power supply (if necessary) (24V DC

Please prepare se

aratel

ctuato

Emergency Stop Circuit

PC software (to be purchased separately)

Regenerative Resistor Unit

Each Fieldbus communication cable

Follow the specifications of each Fieldbus for how to lay out wiring.

Control Power Supply (24V DC Please prepare separately)

Drive Power Supply (100/200V AC Please prepare separately)

Chapter 2 Wiring

2.2 Circuit Diagram

Sample circuit diagrams are shown below.

[1] Drive (Motor) Power Supply Circuit

Note: Drive power supply voltage (100V/200V AC) cannot be changed after the product is

delivered.

Circuit Breaker

Leak Current

Noise

Filter

Surge Absorber

MSCON

(Earth on either of them)

Class D grounding (Formerly Class-III grounding: Grounding resistance at 100Ω or less)

Motor power supply connector

Screw terminal for protective grounding

[2] Control Power Supply and Brake Power Supply Circuit

Caution: • When using an actuator equipped with a brake, supply a brake power (24V DC).

With the power not being supplied, 0A5 Electromagnetic Brake Non-Release Error will occur. Do not attempt to supply a brake power if there is no actuator with a brake.

• If having the control power supplied/cut on the 24V DC side, keep the 0V connected and have the +24V supplied/cut (cut one side only). If cut also on 0V side (cut both sides), it may damage the internal circuit.

Brake Power Su

pply

Control Power Supply

24V

+24V

+ -

MSCON

Control Power Supply Connector

[3] Emergency Stop Circuit

It is the example of circuit layout when an emergency switch of the teaching pendant is used to the emergency stop circuit of the equipment.

Note 1: When the teaching pendant is not connected, S1 and S2 become short-circuited

inside the controller.

Note 2: When the motor power must be disconnected externally for safety category

compliance, apply a safety rated contactor between L and N.

Note 3: The rating for the emergency stop signal (EMG-) to turn ON/OFF at contact CR1 is

24V DC and 30mA.

Note 4: For CR1, select the one with coil current 0.1A or less.

+24V

CR1

Emergency stop reset switch

Emergency stop switch

Emergency stop switch for the teaching pendant

(Note 1)

CR1

(Note 4)

MC1

(Note 1)

MSCON

+24V

Motor Power Cutoff Relay

Motor power supply

C100V

C200V

CR1

(Note 3)

MC1

(Note 2)

EMG+

EMG–

MSCON Second unit

CR1

System I/O Connector

Motor Power Input Connector

System I/O Connector

SIO Connector

(Note 1)

+24V

Motor Power Cutoff Relay

C100V

C200V

CR1

(Note 3)

MC1

(Note 2)

EMG+

EMG–

Motor Power Input Connector

Motor power supply

Chapter 2 Wiring

[4] Motor • Encoder Circuit

MSCON

Note 1: Applicable Moter Cable types ƑƑƑ: cable length Example) 030 = 3m

Model Name Cable Reference

CB-RCC-MAƑƑƑ-RB Robot cable from 0.5 to 20m CB-RCC-MAƑƑƑ Standard cable from 0.5 to 20m CB-X-MAƑƑƑ-RB Robot cable from 0.5 to 20m

For Single Axis Robot Connection

CB-X-MAƑƑƑ Standard cable from 0.5 to 20m

Note 2: Applicable Encoder Cable types ƑƑƑ: cable length Example) 030 = 3m

Model Name Cable Reference For Single Axis Robot Connection

CB-X1-PAƑƑƑ Robot cable from 0.5 to 20m

For Connection of Single Axis Robot Equipped with LS (Option)

CB-X1-PLAƑƑƑ Robot cable from 0.5 to 20m

CB-X3-PAƑƑƑ Robot cable from 0.5 to 20m For RCS2 [models equipped with LS and rotary models (RT*) are excluded]

CB-RCS2-PAƑƑƑ Standard cable from 0.5 to 20m

CB-X2-PLAƑƑƑ Robot cable from 0.5 to 20m RCS2 [for models equipped with LS and rotary models (RT*)]

CB-RCS2-PLAƑƑƑ Standard cable from 0.5 to 20m

[5] Absolute Battery Circuit (for Absolute Type Only)



MSCON



       

BAT*

bsolute Battery Connector (AX0 to AX5)

Motor

Cable

(Note 1)

Encoder Cable

(Note 2)

M0 to 5 Motor Connector

PG0 to 5 Encoder Connector

Absolute Battery

(AB-5)

[6] Regenerative Resistance Circuit



MSCON

           

[7] Mode Switchover (AUTO/MANU) Circuit

When a switchover of the operation modes (AUTO/MANU) is required with an external input, connect a device such as a switch between A/M + terminal and A/M – terminal. If not switching externally, apply a jumper on A/M + terminal and A/M – terminal.

                

/M-

/M+

System I/O Connector

External Operation Mode Setting (AUTO/MANU) Switch

ON : AUTO OFF : MANU

Operation Mode Setting (AUTO/MANU)

Switch

MANU

UTO

24V

5.6K:

Inner Circuit

MSCON

RB IN

RB OUT

RB IN

RB OUT

Regenerative Resistor Unit (RESU-2, RESUD-2)

Regenerative Resistor Unit (RESU-1,RESUD-1)

CB-SC-REU010

CB-ST-REU010

Caution: Do not attempt to connect 5 units or more of the regenerative resistance unit. (4 units at maximum)

RB Regenerative Resistor Unit Connector

Chapter 2 Wiring

[8] Field Network Circuit (For Field Network Type)

Refer to the instruction manual of the master unit for each field network and constructed PLC for the details of the circuit.



1) DeviceNet Type

MSCON DeviceNet Type

V+

Drain

(Shield)

CAN_H

CAN_L

V-

V+

Drain

(Shield)

CAN_H

CAN_L

V+

Drain

(Shield)

CAN_H

CAN_L

V-

Communication power needs to be supplied by an external device.

Connect the terminal resistor if the unit is placed at the end of the network.

V-

Terminal Resistance

121

Terminal Resistance

121

24V Power Supply

Class D grounding (Formerly Class-III grounding : Grounding resistance at 100Ω or less)

Master Unit Slave Device

2) CC-Link Type

MSCON CC-Link Type

SLD and FG are internally connected.

Connect the terminal resistor if the unit is placed at the end of the network.

The terminal resistor differs depending on the type of the dedicated cable for CC-Link.

• Cable FANC-SBH··· 130Ω1/2W (High Performance Cable dedicated for CC-Link)

• Cable FANC-SB······ 110Ω1/2W (CC-Link Dedicated Cable)

Class D grounding (Formerly Class-III grounding: Grounding resistance at 100Ω or less)

Master Unit Slave Device

Terminal Resistance

Terminal

Resistance

3) PROFIBUS-DP Type

MSCON PROFIBUS Type

Terminal Resistance is required to be mounted on the terminal.

Master Unit Slave Device

Class D grounding (Formerly Class-III grounding : Grounding resistance at 100Ω or less)

4) CompoNet Type

BS+

BDL

BDH

BS-

BS+

BDL

BDH

BS-

BS+

BDL

BDH

BS-

Master Unit Slave Device

Terminal Resistance

121

MSCON CompoNet Type

Connect the terminal resistor if the unit is placed at the end of the network.

24V

Power Supply

Supply power separately to the slave devices that requires the communication power supply. It is not necessary to supply communication power to MSCON, however, there is no problem even if communication power is supplied.

5) EtherNet/IP Type

Master Unit

Switching Hub

Slave Device

EtherNet Straight Cable Category 5e or more Double shielded cable braided with aluminum foil recommended

MSCON EtherNet/IP Type

Chapter 2 Wiring

6) MECHATROLINK Type

Master Unit Slave Device

MECHATROLINK Cable

MSCON MECHATROLINK Type

Terminal Resistance

JEPMC-W6022

Connect the terminal resistor if the unit is placed at the end of the network.

130

DATA

/DATA

Connect shield to connector shell

DATA

/DATA

DATA

/DATA

Connect shield to connector shell

7) EtherCAT Type

Note: Terminal resistor is not required.

Master Unit

Slave Device

EtherNet Straight Cable Category 5e or more Double shielded cable braided with aluminum foil recommended

MSCON EtherCAT Type

2.3 Wiring Method

2.3.1 Wiring of Control Power Supply and Drive Power Supply Input Connector

Insert the wires to the enclosed connector (plug). Strip the sheath of the applicable wires for 7mm and insert them to the connector. When inserting, twist the affixing screw on the side of the inlets to the left with a slotted screw driver to open an inlet. After inserting a cable, twist the affixing screw to the right to hold the cable.

(1) Control Power Supply Input Connector

㩷

Power Supply Input Connector

Model Remarks

Cable Side MC1.5/5-STF-3.81 Enclosed in standard

package Manufactured by PHOENIX CONTACT

Controller Side MC1.5/5-GF-3.81

Pin No.

Signal

Name

Contents Applicable Cable

1 BK PWR+ 2 BK PWR-

Brake Power Input (24V DC ±10%)

KIV0.75mm

(AWG19)

3 24V

4 0V

Control Power Input (24V DC ±10%)

KIV3.5 to 0.75mm2 (AWG 12 to 19) Select the cable thickness allowable for the current figured out in the power capacity. If supplying power with using a 24V DC, having it turned ON/OFF, keep the 0V connected and have the +24V supplied/cut (cut one side only).

5 FG

Functional Ground Cable

It is connected to the shield of the encoder connector and fieldbus frame ground terminal inside the unit.

Front view of connector on controller side

Accessory Connector (Plug)

PWR

24V

Chapter 2 Wiring

(2) Drive (Motor) Power Supply Input Connector

㩷

Power Supply Input Connector

Model Remarks

Cable Side MC2.5/3-STF-7.62 Enclosed in standard

package Manufactured by PHOENIX CONTACT

Controller Side MC2.5/3-GF-7.62

Pin No.

Signal

Name

Contents Applicable Cable

1 N

2 L

Motor Power Input

(100V AC or 200V AC … to be determined when ordered)

KIV3.5 to 1.25mm2 (AWG12 to16) Select the cable thickness allowable for the current figured out in the power capacity.

3 PE

Functional Ground Cable

It is connected to the shield of the encoder connector and fieldbus frame ground terminal inside the unit.

Front view of connector on controller side

2.3.2 Wiring Layout of System I/O Connector

This consists of the emergency stop input and cable terminals for the operation mode (AUTO/MANU) switch. Strip the sheath of the applicable wires for 10mm and insert them to the connector. Push a protrusion beside the cable inlet with a small slotted screwdriver to open the inlet. Once the cable is inserted, take the slotted screwdriver off the protrusion to fix the cable to the terminal.

㩷㩷

System I/O Connector

Model Remarks

Cable Side FMCD1.5/4-ST-3.5 Enclosed in standard

package Manufactured by PHOENIX CONTACT

Controller Side MCDN1.5/4-G1-3.5P26THR

Pin No.

Signal Name

Contents

Applicable

Cable

1 EMG+ +24V power output for emergency stop

2 S2 For external emergency stop signal input

3 S1 For external emergency stop signal output

4 EMG- Emergency-stop input

5 A/M+

+24V output for operation mode (AUTO/MANU) switchover

6 A/M-

Operation mode (AUTO/MANU) switchover signal input

KIV1.25 to

0.2mm (AWG16 to

24)

7 NC 8 NC

Connection is not required

Accessory Connector (Plug) Emergency Stop Circuit

Front view of connector on controller side

A/M-

A/M+

EMG-

EMG+

Chapter 2 Wiring

2.3.3 Actuator Connection

To the encoder connector and motor connector on each actuator, connect the relay cables. [Refer to the Note.] Check in the instruction manual of each actuator for the details of the relay cables.

(1) Encoder Connector

㩷

Encoder Connector Model Remarks Cable Side 10126-3000PE Controller Side 10226-52A2PL

Pin No.

Signal

Name

Contents Applicable Cable

1 NC 2 NC 3 NC 4 NC 5 NC 6 NC

Unconnected

7 SRD+ Serial Encoder Communication+ 8 SRD- Serial Encoder Communication9 LC_SD+

10 LC_SD-

For future extension (Reserved)

11 NC Unconnected 12 24VOUT 13 0V

24V power supply for sensors

14 BATT 15 BATTGND

Battery power supply for ABS

16 VCC 17 GND

Encoder Power Supply

18 LC_VCC 19 LC_GND

For future extension (Reserved)

20 BK21 BK+

Brake Power Supply

22 NC Unconnected 23 RSV Sensor Input (Reserve) 24 OT Sensor Input (Over Travel) 25 CREEP Sensor Input (Creep Sensor) 26 LS Sensor Input (Limit Switch)

Cable dedicated for IAI products

Front view of connector on controller side

(2) Motor Connector

㩷

Motor Connector Model Remarks Cable Side GIC2.5/4-STF-7.62 Controller Side GIC2.5/4-GF-7.62

Pin No.

Signal

Name

Contents Applicable Cable

1 PE

Protective ground terminal

2 U Motor cable U-phase 3 V Motor cable V-phase 4 W Motor cable W-phase

Cable dedicated for IAI products

Caution: There is an axis number shown on the actuator cables (Encoder Cable: PG0 to 5,

Motor Cable: M0 to 5). Refer to the figure below to plug the actuators correctly. Also, there are the model code and manufacturing number of the connected actuator printed on the front panel that you can refer to. There is a risk of wrong operation or operation out of control of actuators if the connectors are plugged in to the wrong positions. Check in the instruction manual of each actuator for the details (connection layout diagram) of each cable.



If an actuator is purchased individually, there is no axis number written on the connection cable. Check the actuator model code on the front panel and plug in the connector.

1st Axis

M0 PG0

2nd Axis

M1 PG1

3rd Axis

M2 PG2

4th Axis

M3 PG3

5th Axis

M4 PG4

6th Axis

M5 PG5

Front view of connector on controller side

xis number, actuator model code and manufacturing numbe

Chapter 2 Wiring

2.3.4 Battery Connection (For Absolute Type)

If the actuator is the absolute type, connect the harness of the absolute battery unit laid on the bottom of the main unit to the specified absolute battery connector.

㩷

Absolute Battery Connector Model Remarks Cable Side IL-2S-S3L-(N) Already connected to battery Controller Side IL-2P-S3FP2-1

Pin No.

Signal Name

Contents Applicable Cable

1 BAT- Battery Negative Side 2 BAT+ Battery Positive Side

Already connected to battery (AB-5)

Top: for Axis No.0 Bottom: for Axis No.1

Top: for Axis No.2 Bottom: for Axis No.3

Top: for Axis No.4 Bottom: for Axis No.5

Front view of connector on controller side

BAT

2.3.5 Connection of Regenerative Resistance Unit

Connect the regenerative resistance unit with a cable enclosed with it referring to the figure below. The cable to connect with MSCON and that to connect each regenerative resistance unit differ to each other in the model code.

㩷

Regenerative Resistance Unit Connector Model Remarks Cable Side 1-178128-3 Controller Side 1-178138-5

Pin No.

Signal Name Contents Applicable Cable

1 RB+ Regenerative Resistance +

2 RB- Regenerative Resistance -

3 PE Protective Ground Terminal

Dedicate cable enclosed with regenerative resistance unit

Refer to the table below to connect the necessary number of units.

Total Wattage for Motors of 6 Axes

Actuator horizontally

oriented

Actuator vertically oriented

No. of Connected

Regenerative Resistance

Units to 450 to 200 0 to 900 to 600 1

- to 800 2

- to 900 3

Caution : The number of connectable units is a reference for when operation is made

under the following condition; [Condition] When 1,000mm of back and forth operation is made under the

actuator maximum speed, acceleration/deceleration 0.3G and rated load with the duty 50%.

In some operational conditions, gateway alarm “0A2 Motor Power Voltage

Error” or “0AB Estimated Regenerative Discharge Power Excess” may be generated, and it may require more regenerative resistor that described in the table above. In such cases, add more regenerative resistance units. However, please note the number of maximum connectable regenerative resistance units is 4. It is not effective even with connection more than necessary. Consider to change the operational conditions (to reduce the load) or to use a higher specification actuator.

1) CB-SC-REU010 2) CB-ST-REU010

(2nd unit or later)

Front view of connector on controller side

RB+

RB-

Chapter 2 Wiring

Connection Cable

1) Regenerative resistance connection cable for SCON (CB-SC-REU010)

Cable length : 1m

Regenerative Resistor Unit Side

Display of Cable Mode Code

Controller Side

KIV

1.0mm

(AWG17)

Light Blue

Brown

Green/Yellow

RB+ RBPE

1 2 3

Wiring Color Signal No.

KIV

1.0mm

(AWG17)

Light Blue

Brown

Green/Yellow

RB+ RBPE

1 2 3

No. Signal Coler Wiring

2) Regenerative resistance connection cable for XSEL (CB-ST-REU010) Cable length : 1m

Regenerative Resistor Unit Side

KIV

1.0mm

(AWG17)

Display of Cable Mode Code

Light Blue

Brown

Green/Yellow

RB+ RBPE

1 2 3

Wiring Color Signal No.

KIV

1.0mm

(AWG17)

Light Blue

Brown

Green/Yellow

RB+ RBPE

1 2 3

No. Signal Coler Wiring

2.3.6 Connection of SIO Connector

Connect an applicable teaching tool such as the PC software.

㩷

SIO connector Model Remarks Cable Side miniDIN 8 Pin Controller Side TCS7587-0121077

Pin No.

Signal Name

Contents Applicable Cable

1 SGA Teaching Tool Signal + 2 SGB Teaching Tool Signal 3 5V Power Supply for Teaching Tool 4 ENB Enable Signal Input 5 EMGA Emergency Stop Signal A 6 24V Power Supply for Teaching Tool 7 0V 0V 8 EMGB Emergency Stop Signal B

Shell 0V 0V

Cable dedicated for IAI products

Chapter 2 Wiring

2.3.7 Wiring Layout of Field Network Connector

Check the instruction manuals for each Field Network master unit and mounted PLC for the details.

1) DeviceNet Type

Shield

BL (CAN L)

RD (V+)

WT (CAN H)

BK (V-)

DeviceNet Connector

Model Remarks

Cable Side SMSTB2.5/5-ST-5.08 AU Enclosed in standard package

Manufactured by PHOENIX CONTACT

Controller Side

MSTBA2.5/5-G-5.08 ABGY AU

Pin No. Signal Name Contents Applicable Cable

1 V- (BK)

Power Supply Cable Negative Side

2 CAN L (BL)

Communication Data Low Side

3 Shield (None)

Shield

4 CAN H (WT)

Communication Data High Side

5 V+ (RD)

Power Supply Cable Positive Side

DeviceNet Dedicated Cable

(Note): Connect a terminal resistor (121:) between CAN L and CAN H

to the end of the network. [Refer to 2.2 [8] Field Network Circuit (For Field network Type)]

Blue

Black

Red

White

Front view of connector on controller side

2) CC-Link Type

WT (DB)

BL (DA)

Shield (SLD)

YW (DG)

㩷

CC-Link Connector Model Remarks Cable Side SMSTB2.5/5-ST-5.08 AU Enclosed in standard

package Manufactured by PHOENIX CONTACT

Controller Side MSTBA2.5/5-G-5.08 AU

Pin No.

Signal Name

(Color)

Contents

Applicable

Cable 1 DA (BL) Communications Line A 2 DB (WT) Communications Line B 3 DG (YW) Digital GND

4 SLD

Connect the shield of the shielded cable (Connect the FG of the 5 pins and controller FG internally)

5 FG

Frame Ground (Connect the SLD of the 4 pins and controller FG internally)

CC-Link Dedicated Cable

(Note): Connect a terminal resistor (121:) between DA and DB to the

end of the network. [Refer to 2.2 [8] Field network Circuit (For Field network Type)]

Front view of connector on controller side

SLD

Chapter 2 Wiring

3) PROFIBUS-DP Type

5 1

9 6

Cable

Shield

Red B line (Positive side)

Use the type A cable for PROFIBUS-DP (EN5017).

Green A line (Negative side)

㩷

PROFIBUS-DP Connector

Model Remarks

Cable Side D-sub 9-pin connector (Male) Please prepare separately

Controller Side D-sub 9-pin connector (Female)

Pin No.

Signal Name Contents Applicable Cable

1 NC Unconnected 2 NC Unconnected

3 B-Line

Communications Line B

(RS485) 4 RTS Request for Sending 5 GND Signal GND (Insulated) 6 +5V +5V Output (Insulated) 7 NC Unconnected

8 A-Line

Communications Line A

(RS485) 9 NC Unconnected

PROFIBUS-DP Dedicated Cable

(Note): Connect a terminal resistor (220:) between A-Line and B-Line to

the end of the network. [Refer to 2.2 [8] Field network Circuit (For Field network Type)]

Front view of connector on controller side

4) CompoNet Type

㩷㩷

CompoNet Connector Model Remarks

Cable Side

Connector that

complies with

CompoNet standards

Please prepare separately

Controller Side XW7D-PB4-R Manufactured by OMRON

Pin No.

Signal Name

(Color)

Contents Applicable Cable

1 BS+ (RD)

Communication Power

Supply +

(Note 1)

2 BDH (WT) Signal Cable H Side 3 BDL (BL) Signal Cable L Side

4 BS- (BK)

Communication Power

Supply -

(Note 1)

CompoNet Dedicated Cable

Note 1: It is unnecessary to supply the communication power. (Internal

power source is used.) If conducting multi power supply to other slave devices via communication cables, there is no problem with connecting the power supply to BS+ and BS- terminals.

(Note): Connect a terminal resistor (121:) between BDH and BDL to

the end of the network. [Refer to 2.2 [8] Field network Circuit (For Field network Type)]

5) EtherNet/IP Type

㩷

EtherNet/IP Connector Model Remarks Cable Side 8P8C Modular Plug Controller Side 8P8C Modular Jack

Pin No.

Signal Name

(Color)

Contents Applicable Cable

1 TD+ Sent data + 2 TD- Sent data 3 RD+ Received data + 4 ʊ Not used 5 ʊ Not used 6 RD- Received data 7 ʊ Not used 8 ʊ Not used

For EtherNet cable, use a straight STP cable that possesses the performance of Category 5e or more.

Front view of connector on controller side

BK (BS-)

BL (BDL)

RD (BS+)

WT (BDH)

Chapter 2 Wiring

6) MECHATROLINK Type

㩷

MECHATROLINK Connector Model Remarks Cable Side Connector that

complies with MECHATROLINK standards

Controller Side DUSB-ARB82-T11A-FA Manufactured by DDK

Pin No.

Signal Name

(Color)

Contents Applicable Cable

A1/B1 NC Unconnected A2/B2

/DATA Signal Cable - Side A3/B3 DATA Signal Cable + Side A4/B4 SH Shield

MECHATROLINK Dedicated Cable

(Note): Connect a terminal resistor (JEPMC-W6022) between DATA and

DATA if the unit comes to the end of the network. [Refer to 2.2 [8] Field network Circuit (For Field network Type)]

7) EtherCAT Type

㩷

EtherCAT Connector Model Remarks Cable Side 8P8C Modular Plug Controller Side 8P8C Modular Jack

Pin No.

Signal Name

(Color)

Contents Applicable Cable

1 TD+ Sent data + 2 TD- Sent data 3 RD+ Received data + 4 ʊ Not used 5 ʊ Not used 6 RD- Received data 7 ʊ Not used 8 ʊ Not used

For EtherNet cable, use a straight STP cable that possesses the performance of Category 5e or more.

Front view of connector on controller side

Chapter 2 Wiring

Chapter 3 Operation

3.1 Basic Operation

3.1.1 Basic Operation Methods

This controller is to be controlled with fieldbus. Even though there are several types for an actuator, such as slider type, rod type, rotary type, gripper type, etc., the method to control the operation is the same unless otherwise specified in this manual.



PLC (Master)

Actuator

Controller (Slave)

Transfer data with Fieldbus

Teaching pendant

Slave

Command target position, speed, etc.

Confirmation of movement complete (read status si

nal

)

Slave

Chapter 3 Operation

3.1 Basic Operation

[Basic Operation Procedures]

[1] Establish the parameter settings on all the connected axes by using a teaching tool such

as the PC software.

1) When using an operation pattern in those described in the next page except for Remote I/O Mode, set the Parameter No. 25 PIO Pattern to 8. When using Remote I/O Mode

(Note 1)

, establish the setting in Parameter No. 25 PIO Pattern considering the suitable operation mode to be used. [Refer to 3.4.10 Control Signals in Remote I/O Mode.] Note 1: It is necessary to set all the axes of MSCON to Remote I/O Mode.

2) Set the zone (Parameters No.1 and 2) and soft limit (Parameter No.3 and 4) that suit to the system. [Refer to Chapter 7 Parameter Setting]

[2] Initial Setting [Refer to Sections 3.2 and 3.9]

Establish the settings for those such as the slave addresses in the field network using Gateway Parameter Setting Tool. Establish the settings of the motions for all the axes.

1) Establish the setting following the procedure described in Section 3.2.

2) Set the gateway parameters to suit the system to be used. Establish such settings as the calendar function (clock setting) use or the speed unit change in Direct Indication Mode.

[3] Setting of Position Data [Refer to Sections 3.3]

(Note) Setting of Direct Indication Mode is not necessary. Set the data for those to be used such as target position, speed, etc. to the position data.

[4] Field Network Settings [Refer to Sections 3.4.1 and 3.4.2]

Assign MSCON to PLC (master unit). [Refer to the instruction manuals for the master unit and PLC]

[5] Link to Network

1) Put the operation mode setting switch on the front panel of MSCON to AUTO side and reboot the power. (By putting to AUTO, field network line activates.)

2) Once the link to PLC (master unit) is established

(Note 2)

, turn ON MON Signal of the

gateway control signals

(Note 3)

. While MON Signal is ON, control from field network is available. Note 2: By referring to 3.10 Field network status LEDs display, confirm that the

communication is established in the normal condition.

Note 3: Refer to 3.4.3 Control Signals of Gateway.

[6] Operation Control in Each Operation Mode [Refer to Sections 3.4.4 to 3.4.10]

1) Send the information of the target position, speed, acceleration/deceleration, etc. from PLC (master unit) to the MSCON.

2) The actuator follows the received information of the target position, speed, acceleration/deceleration, etc. to perform a positioning at the specific coordinates.

3) Confirm the status of positioning complete.

Ɣ Operation Mode Available

7 types of operation modes are available to select from. The settings are to be established with Gateway Parameter Setting Tool. Shown below are the outline.

Operation

Pattern

Contents Overview

Positioner 1

In Positioner 1 Mode, 256 points of position data can be registered at the maximum and is able to stop at the registered positions. Monitoring of the current position is also available.

Simple Direct Mode

In Simple Direct Mode, the target position can be indicated directly by inputting a value. Monitoring of the current position is also available. Those other than the target position are to be indicated in the position table, and the setting can be done for 256 points at maximum.

Communication with Fieldbus

Dedicated Cable

100V/200V AC+24V

Target Position Target Position No. Control Signal

PLC

Current Position Completed Position No. Status Signal

Electric Cylinder

Direct Indication Mode

Direct Indication 2 Mode

The target position, speed acceleration/deceleration and pressing current limit can be indicated with inputting a number. Monitoring of not only the current position, but also the current speed and indicated current are available. In Direct Indication 2 Mode, anti-vibration control is available instead of JOG operation.

+24V 100V/200V AC

Target Position Positioning Width Speed Acceleration/Deceleration Push % Control Signal

PLC

Current Position Current Value (Command Value) Current Speed (Command Value)

Alarm Code Status Signal

Communication with Field Network

Dedicated Cable

Electric Cylinder

Position 2 Mode

This is the operation mode of the position data of 256 points at maximum set in the position table. The monitoring of the current position is not available This mode is that the transferred data is reduced from Positioner 1 Mode.

+24V 100V/200V AC

Target Position No. Control Signal

PLC

Completed Position No. Status Signal

Communication with Fieldbus

Dedicated Cable

Electric Cylinder

Position 3 Mode

This is the operation mode of the position data of 256 points at maximum set in the position table. The monitoring of the current position is not available This is the mode to control with the minimized number of signals to perform the positioning operation by reducing the amount of sent and received data from Positioner 2 Mode.

+24V 100V/200V AC

Target Position No. Control Signal

PLC

Completed Position No. Status Signal

Communication with Fieldbus

Dedicated Cable

Electric Cylinder

3.1 Basic Operation

Operation

Pattern

Contents Overview

Remote I/O

Five types

(Note 1)

of control same for PIO are available. Note : It is to be switched

with PIO patterns (driver board parameters)

+24V 100V/200V AC

Target Position No. Control Signal

PLC

Completed Position No. Status Signal

Communication with Fieldbus

Dedicated Cable

Electric Cylinder

Note 1: Available PIO pattern numbers: 0, 1, 2, 4 and 5

[See 3.4.10 Control Signal for Remote I/O Mode.]

3.1.2 Parameter Settings

Parameter data should be set appropriately according to the applicaiton requirements. Parameters are variables to be set to meet the use of the controller in the similar way as settings of the ringtone and silent mode of a cell phone and settings of clocks and calendars.

(Example) Software Stroke Limit : Set a proper operation range for definition of the stroke end, prevention

of interferences with peripherals and safety.

Zone Output : Set to require signal outputs in an arbitrary position zone within the

operation zone.

Parameters should be set to meet the use of the controller prior to operation. Once set, they may not set every operation. Refer to Chapter 7 for the parameter types and the details.

3.1 Basic Operation

3.2 Initial Setting

The operation mode is to be set using Gateway Parameter Setting Tool (Ver. 1.2.0.0 or later). Registration of positions and setting of parameters are to be conducted on RC PC Software

(Note1)

Note1: See the instruction manual of the PC software for the applicable version.

Shown below is the process for the setup. Follow the instruction to conduct the setting properly.

(Preparation) Install RC PC Software and Gateway Parameter Setting. For Gateway

Parameter Setting Tool, install the file stored in the CD-ROM for PC software, or download from our website, intelligentactuator.com. [Refer to the instruction manual of the PC software for the details of the PC

software.] Make sure the system I/O connector wires and operation mode setting switch are in MANU condition when having the setting done.

[Step 1] Join the PC and SIO connector of MSCON with using the cable enclosed in RC PC

Software, and start up RC PC Software. Establish the setting in Parameter No. 25 PIO Pattern. [Refer to 3.1.1 Selectable Operation Patterns.]

Operation Pattern PIO Pattern Setting Types other than Remote I/O Mode 8 Remote I/O Mode 0, 1, 2, 4, 5 (select number referring to

Section 3.4.10)

[Step 2] Close RC PC Software and open Gateway Parameter Setting Tool.

The following window appears. Select “MSCON” GW and click OK.

[Step 3] Once MSCON is detected the detected unit numbers become available to select. Select

the unit number to be connected and click the OK button.

MSCON being detected Select the unit number to be connected

[Step 4] The main window opens. The main window opens even when MSCON could not be

detected.

Main windows (Initial condition)

[Step 5] Reading is started from MSCON to PC. Click on the Read button and a confirmation

window appears. Click on the “Yes” button. If the writing is finished in normal condition, writing complete window appears. Click OK.

3.2 Initial Setting

[Step 6] The parameters input to MSCON are listed as shown below. Indicate the Field Network

node addresses in Address.

Caution

In the following slave, set the value the number of occupied station is added to the current station number.



[Step 7] Select whether to use Remote I/O Mode or any other mode (such as Positioner Mode).

When Remote I/O Mode is selected, any other mode except for Remote I/O Mode cannot be selected for all the axes on MSCON.

       

[Step 8] Select an operation mode for each drive unit (in 2 axes unit). Select an operation mode for Drive Unit 0 (AX0: 1st axis, AX1: 2nd axis) first. (Only

Remote I/O Mode can be selected if Remote I/O Mode was selected in Step 7.)

               

[Step 9] For MSCON with the number of driver axes 3 or more, select the operation mode of

Drive Unit 1 (AX2: 3rd axis, AX3: 4th axis).

(Note) By selecting the operation mode for Drive Unit 0 [Refer to Step 8], the

operation mode for Drive Unit 1 becomes available to be selected.

[Step 10] For MSCON with the number of driver axes 5 or more, select the operation mode of

Drive Unit 2 (AX4: 5th axis, AX5: 6th axis).

(Note) By selecting the operation mode for Drive Unit 1 [Refer to Step 9], the

operation mode for Drive Unit 2 becomes available to be selected.

[Step 11] In case there is an actuator that is connected but not to be activated (reserved axis),

tick on “Axis n Reserved” beside the operation mode setting box for each drive unit. (n indicate the axis number) (Note) An error will be issued if an actuator is not connected.

Caution: If set as the reserved axis, but an actuator not to be connected, set as the

invalid axis in Parameter No. 158 Invalid Axis Setting. Even if the total number of the used axes is an odd number, make the last axis in reservation to get an even number. It is necessary to secure as much area as when not set as reserved even if set as the reserved axis.

[Step 12] Conduct only for EtherNet/IP Type (move onto Step 13 if not applied)

Click on Setting in the menu and select EtherNet/IP Setting, and the setting window for the IP address, subnet mask and default gateway opens. Establish the settings to suit your system.

3.2 Initial Setting

[Step 13] Write the edited operation mode setting parameters to MSCON. Click on the “Transfer”

button shown below and a confirmation window pops up. Click on the “Yes” button. If the writing is finished in normal condition, writing complete window appears. Click OK.

                      

[Step 14] A confirmation window for Gateway Unit reboot opens. Click “Yes” to accept the reboot.

       

[Step 15] After rebooting, a confirmation window for parameter reading appears for confirmation

of the written contents. Click “Yes” to accept the reading. Once the reading process is complete, confirm that the written contents are reflected. If not written properly, do the process again from Step 2.

  Reference: The settings are conducted in the special parameters for the process

of communication error, change in pressing method for Fieldbus Type and speed unit change for Direct Indication Mode. Refer to 3.9. About Gateway Parameter Setting Tool for the details.

3.2 Initial Setting

3.3 Setting of Position Data

The values in the position table can be set as shown below. In the case that only positioning is necessary, all you have to do is to input the position data, and nothing else is required as long as the indication of acceleration and deceleration is needed. For the speed and acceleration/deceleration, the data set to the parameters is automatically reflected to the setting. Therefore, the work can be simple if you put the speed and acceleration/deceleration data to the parameter setting.

1) 2) 3) 4) 5) 6) 7) 8) 9) 10) 11) 12) 13) 14) 15)

No.

Position

[mm]

Velocity

[mm/s]

Accele-

ration

[G]

Decele-

ration

[G]

Pressing

[%]

Thresh-

old [%]

Positioning

width [mm]

Zone+

[mm]

Zone-

[mm]

Acceleration/ Deceleration

mode

Incre-

mental

Gain

set

Stop

mode

Vibration suppress

No.

Comment

0 0.00 100.00 0.30 0.30 0.00 0.00 0.10 0.00 0.00 0 0 0 0 0 1 100.00 100.00 0.30 0.30 0.00 0.00 0.10 0.00 0.00 0 0 0 0 0 2 150.00 200.00 0.30 0.30 50.00 0.00 30.00 0.00 0.00 0 0 0 0 0 3 200.00 400.00 1.00 1.00 0.00 0.00 0.10 0.00 0.00 0 0 0 0 1 4 200.00 200.00 0.30 0.30 0.00 0.00 0.10 250.00 230.00 0 0 0 0 2 5 500.00 50.00 0.10 0.10 0.00 0.00 0.10 0.00 0.00 0 0 0 0 0 6 7

Caution: The input value is treated as the angle for the rotary actuator. Therefore; [mm]ĺ[deg] ············· 1.2=1.2deg [mm/s]ĺ[deg/s]········ 100=100deg/s

They are treated as above. Please note that the display on the screen of a teaching tool such as the PC software is in [mm].

1) Position No.········· It is the number commanded by PLC in operation command.

Caution: Do not use position No.0 if available positions remains enough.

At the first servo ON after power ON, the completed position No. output is 0 even if the actuator is not located at position No.0. The actuator enters into the same state as that at positioning to position No.0. The completed position No. output is 0 during movement of the actuator. To use position No.0, get the command history by using the sequence program to check completed position No.0 based on the history.

2) Position [mm] ······ Positioning coordinate value. Enter it as the distance from the home position. For pitch feed (relative movement = incremental feed), enter the pitch width. A value with – indicates that the actuator moves toward the home position. A value without – indicates that the actuator moves to be away from the home position.

Caution: (1) In the case of a Gripper Type:

Set the coordinate value on the single finger basis. Set the value for the movement of one finger from the home position. Stroke information in the specification is shown in the total value of movement distance of the two fingers. Therefore, the stroke is 1/2 of what is described in the specifications.

(2) In the case of a Rotary Type

Set the coordinate value by an angle from the home.

3.3 Setting of Position Data

3) Velocity [mm/s]···· Set the velocity in the operation. Do not attempt to input a value more than the maximum velocity or less than the minimum velocity

*1 Minimum velocity [mm/sec] =

Lead length [mm] / Number of encoder pulse / 0.001 [sec]

4) Acceleration [G] ·· Set the acceleration at start.

5) Deceleration [G] ·· Set the deceleration at stop.

(Reference) How to set the acceleration is described below The same idea

can be applied to the deceleration. 1G=9800mm/s

: Acceleration capable to accelerate up to

9800mm/s per second

0.3G : Acceleration capable to accelerate up to 9800mm/s × 0.3 = 2940mm/s per second

  Caution: (1) Set the velocity, acceleration and deceleration so that they do not

exceed the rating values described in the brochure or the catalog or instruction manual of the actuator. The setting that exceeds the rated acceleration/deceleration speed may shorten the actuator life remarkably.

(2) Consider to lower the acceleration/deceleration speed when a shock

or vibration is applied to the actuator or work. In such cases, do not continue the use of the actuator, otherwise the product life may be shortened extremely fast.

(3) If the payload is extremely lighter than the rated payload, increase

acceleration/deceleration to larger than their rated values to shorten the tact time. Contact our company. Inform us of the weight, shape and mounting method of the work and the installation conditions of the actuator.

(4) For the gripper type, have the setting done for the speed and

acceleration/deceleration in the basis of one finger. Therefore, note that the relative speed and acceleration/deceleration speed become twice as it is set for the two fingers.

6) Pressing [%] ······· Setting proper data here allows pressing to be done. Set a pressing torque (limit current value) in %. If the value is set to 0, the normal positioning operation is performed. The speed for the pressing operation is set in Parameter No.34. If the setting done in 3) is less than the pressing speed setting value, the pressing operation is performed at this setting value.

7) Threshold [%] ····· Set the threshold value of the pressing torque in %. If the torque (load current) becomes larger than this setting value during pressing, the detection signal is output. This feature is used to monitor the load current and judge whether the operation is good or not in such an operation as press fitting in pressing.

Velocity

Time

9800mm/s

2940mm/s

0.3G

8) Positioning width [mm] ··In Positioner * Mode, Simple Direct Mode and PIO patterns*1 0 to

2 and 4 in Remote I/O Mode, the positioning complete signal is output if the remaining moving distance is entered within the zone set here when positioning is performed. For pressing, the actuator is moved at the setup velocity and acceleration/deceleration in the same way as normal positioning to the position of the coordinate value set in 2) and then performs pressing movement by the data set here. For PIO pattern 5, the positioning band is not the complete signal output range against positioning command. Despite the specified position number, the relevant output signal (LS*) is turned ON when the actuator reaches the setting range. The operation is accomplished as if a sensor were installed to detect the actuator. PIO pattern 5 does not correspond to the pressing operation. Set the positioning band more than the minimum unit of the movement amount (movement amount for one pulse of an encoder) of the used actuator.

*1 PIO pattern: This is the operation pattern of Remote I/O Mode.

[Refer to 3.8 Control and functions of Input and output signals of Remote I/O Mode]

9) Zone + [mm]

(Note)

········· Set the coordinate value on the positive side at which position zone output signal PZONE is turned ON. PZONE is set to ON in the zone between this value and the coordinate value on the negative side set in 10). The feature follows the specified position number. It is valid only when the position is specified but invalid in another position operation.

[Example of PIO pattern 5]

The figure below shows the position table and the position at which each of the LS signals is

turned ON. If the actuator passes any of the positioning bands in the operation by another position number or manual operation in the servo-off state, the relevant LS signal is always turned ON.

No.

Position

[mm]

Velocity

[mm/s]

Accele-

ration

[G]

Decele-

ration

[G]

Pressing

[%]

Thresh-

old [%]

Positioning

width [mm]

Zone+

[mm]

Zone-

[mm]

Acceleration/ Deceleration

mode

Incre-

mental

Gain

set

Stop

mode

0 0.00 250.00 0.20 0.20 0 0 5.00 0.00 0.00 0 0 0 0 1 70.00 250.00 0.20 0.20 0 0 10.00 0.00 0.00 0 0 0 0 2 150.00 250.00 0.20 0.20 0 0 5.00 0.00 0.00 0 0 0 0

Home=0mm

70mm

150mm

LS0 is ON

0 r5mm

LS1 is ON

70 r10mm

LS2 is ON

150 r5mm

3.3 Setting of Position Data

10) Zone - [mm]

(Note)

·········· Set the coordinate value on the negative side at which position zone output signal PZONE is turned ON.

Note: If set to Zone + < Zone -, PZONE Signal turns ON out of the ranges of Zone + and Zone -.

11) Acceleration/deceleration mode ········ Select a proper acceleration/deceleration pattern depending on the load.

Set

value

Acceleration/Deceleration

Pattern

Operation

0 Trapezoid

Velocity

Time

1 S-shaped Motion

(Refer to Caution at

S-shaped Motion)

Velocity

Time

Set the S-motion rate with parameter No.56.

2 First-Order Delay Filter

(Refer to Caution at

First-order Delay Filter)

Velocity

Time

Set the delay time constant with parameter No.55.

Caution at S-shaped Motion

1) Since it requires a speed change during the operation, even if having the position command or direct command that S-shaped motion is set while the actuator is moving, S-shaped motion control cannot be performed and will be the trapezoid control. Make sure to make a command while the actuator is stopped.

2) S-shaped motion control is invalid in the index mode of the rotary actuator. It will be the trapezoid control even if S-shaped acceleration/deceleration control is indicated.

3) Do not use S-shaped acceleration/deceleration control if the setting of the acceleration time or the deceleration time exceeds 2 seconds. It will be the trapezoid control.

4) Do not pause on the move during acceleration or deceleration. It will change the speed (acceleration) and may cause a danger.

Caution at First-order Delay Filter:

1) Since it requires a speed change during the operation, even if having the position command or direct command that first-order delay filter is set while the actuator is moving, first-order delay filter control cannot be performed and will be the trapezoid control. Make sure to make a command while the actuator is stopped.

2) First-order delay filter control is invalid in the index mode of the rotary actuator. It will be the trapezoid control even if first-order delay filter control is indicated

12) Incremental········· Set to 1 for pitch feed (relative movement = incremental feed). The value set for the position in 1) indicates the pitch feed distance. With the value set to 0, positioning is defined to the position in 1) based on the absolute coordinate system.

Caution: In the pitch feed, do not perform a command with a pitch smaller than the

minimum encoder resolution (lead/encoder pulse number) or that less than positioning accuracy repeatability. There would be no deviation to occur even with the command because it is an operation command to the same position as the positioning complete condition, but the positioning control cannot be performed properly. When solenoid valve mode 2 is selected, set this to 0. Setting this to 1 causes the position data error to occur.

13) Gain set ·············· Six parameters required for servo gain adjustment are collected to be a

single set. 4 types of settings are able to be registered and the servo gains can be switched over for each positioning operation. By utilizing Smart Tuning Function

(Note)

in the PC software, the setting close to the

optimum can be obtained.

(Note) Refer to Chapter 9 Appendix Connectable Actuators for the

applicable models. It may require the setting of the gain set dedicated for the home-return operation in the case this function is used to have the high-speed setting or the setting to apply a transported weight more than the ratings. For how to set up and the caution items, refer to the instruction manual for RC PC Software.

[Parameters constructed in 1 set]

y Servo Gain Number (Position Gain) y Position Feed Forward Gain y Speed Loop Proportional Gain y Speed Loop Integral Gain y Torque Filter Time Constant y Current Control Band Number

It is able to establish the gain set that corresponds to the position number to be operated to the indicated gain set.

[Refer to “Servo Adjustment” in Section 7.3 for each gain parameter

details.]

Setting Parameter Set Select Parameter No.

0 Gain Set 0 7, 71, 31 to 33, 54 1 Gain Set 1 120 to 125 2 Gain Set 2 126 to 131 3 Gain Set 3 132 to 137

14) Stop mode ·········· Automatic servo OFF is enabled after a certain period from the

completion of positioning for power saving. A proper period can be selected from three parameters.

Setting

Operation after Positioning

Complete

Parameter No.

0 Keep the servo ON ʊ 1 Automatic servo-off in a

certain time

2 Automatic servo-off in a

certain time

3 Automatic servo-off in a

certain time

3.3 Setting of Position Data

  Caution: y No retaining torque is provided in automatic servo OFF. Pay sufficient

attention to the setting because the actuator may be moved by external force applied to it.

y Do not use the automatic servo OFF if the next moving command is relative

distance specification (pitch feed). Failure to follow it may cause position shift to occur.

y Do not use the automatic servo OFF in pressing. If used, the pressing force is

lost.

y Automatic Servo OFF would not function in the operation with teaching mode

of PC software.

15)Vibration suppress No.····· Suppresses vibration (sympathetic vibration) of the load

installed on the actuator. It possesses a capacity to deal with 3 types of vibration. There are 4 parameters corresponds to 1 type of vibration and they are compiled in 1 set. Set the parameter set corresponds to the position number necessary for the vibration control in the position table. [Refer to Chapter 5 Vibration Suppress Control Function.

Setting

Vibration Control Frequency

(Specific Frequency)

Parameter No.

0 Vibration suppress frequency

(Natural frequency)

1 Vibration Control Parameter

Set 1

97 to 100

2 Vibration Control Parameter

Set 2

101 to 104

3 Vibration Control Parameter

Set 3

105 to 108

  Caution: (1) The vibration frequency that can be controlled (applicable specific

frequency) is from 0.5 to 30Hz.

(2) The vibration control is applicable only for the vibration generated by the

load of the actuator connected to this controller. Other vibrations cannot be controlled.

(3) The vibration control is applicable only for the vibration in the direction of the

actuator operation. Vibration in other directions cannot be controlled.

(4) The vibration control is not applicable for home-return and pressing

operations.

(5) If the vibration frequency setting is low, the takt time may become long. The

value below approximately 6Hz makes the positioning finishing to take more than 150ms.



3.3 Setting of Position Data

3.4 Fieldbus Type Address Map

3.4.1 PLC Address Construction by each Operation Mode

The address domain to be occupied differs depending on the operation mode. Refer to the example in Section 3.4.2 for the assignment.

y PLC Output ĺ MSCON Input (n is PLC output top word address to MSCON)

(Note 1)

PLC output

Area

Simple Direct Mode

Positioner 1 Mode

Direct Indication Mode

Direct Indication Mode 2

Positioner 2 Mode

Positioner 3 Mode

Remote I/O Mode

Details

n Gateway Control 0

n+1 Gateway Control 1

3.4.3

n+2 Demand Command

n+3 Data 0

n+4 Data 1

n+5 Data 2

n+6 Data 3

MSCON Gateway

Control Area

n+7 Occupied Area

(Note 2)

3.4.11

n+8

Specified

Position No.

(Axis No.0)

Control Signal/

Position No.

(Axis No.0)

Assignment

Area for

Axis No.0

n+9

Target

Position

(Axis No.0)

Occupied

Area

(Note 2)

Target

Position

(Axis No.0)

Target

Position

(Axis No.0)

Control

Signal

(Axis No.0)

Assignment

Area for

Axis No.1

Assignment

Area for

Axis No.1

n+10

Specified

Position No.

(Axis No.0)

Specified

Position No.

(Axis No.0)

Assignment

Area for

Axis No.2

Assignment

Area for

Axis No.2

n+11

Control

Signal

(Axis No.0)

Control

Signal

(Axis No.0)

Positioning

Width

(Axis No.0)

Positioning

Width

(Axis No.0)

Assignment

Area for

Axis No.1

Assignment

Area for

Axis No.3

Assignment

Area for

Axis No.3

n+12

Velocity

(Axis No.0)

Velocity

(Axis No.0)

Assignment

Area for

Axis No.4

Assignment

Area for

Axis No.4

n+13

Occupied

Area

(Note 2)

Acceleration/

Deceleration

(Axis No.0)

Acceleration/

Deceleration

(Axis No.0)

Assignment

Area for

Axis No.5

Assignment

Area for

Axis No.5

n+14

Current

Limitation

Value

(Axis No.0)

Current

Limitation

Value

(Axis No.0)

n+15

Assignment

Area for

Axis No.1

Assignment

Area for

Axis No.1

Control

Signal

(Axis No.0)

Control Signal

(Axis No.0)

n+16

n+23

Assignment

Area for

Axis No.1

Assignment

Area for

Axis No.1

Connected Axes Control Area

n+24

n+71

Assignment

Area for

Axis No.2

and later

Assignment

Area for

Axis No.2

and later

Assignment

Area for

Axis No.2

and later

Assignment

Area for

Axis No.2

and later

Assignment

Area for

Axis No.2

and later

3.4.4 to

3.4.10

3.4 Fieldbus Type Address Map

Note1: For CC-Link, n and n+1 are for input and output bit addresses, and n+8 is for the top

address of data register.

Note2: This is the domain occupied unconditionally. Therefore, this domain cannot be used for

any other purpose.

٧ In the case of CC-Link

Station Type: Ver.2 Remote device station Extended Cyclic Setting/Occupied Station Number Setting: Register the information of the occupations displayed on Gateway Parameter Setting Tool to the master unit. Connection cannot be established if information other than occupation is set. [Refer to 3.2 Initial Setting.]

Caution: Ɣ Remote I/O Mode cannot be used together with other modes.

Ɣ Only Positioner 3 Mode and Remote I/O Mode are available to be selected in

MECHATROLINK and CompoNet. (CompoNet occupies 32 bytes no matter of the number of axes.)

y MSCON Output ĺ PLC Input (n is PLC input top word address from MSCON)

(Note 1)

PLC Input Area

Simple Direct Mode

Positioner 1 Mode

Direct Indication Mode

Direct Indication

Mode 2

Positioner 2 Mode

Positioner 3 Mode

Remote I/O Mode

Details

n Gateway Status 0

n+1 Gateway Status 1

3.4.3

n+2 Response Command

n+3 Data 0

n+4 Data 1

n+5 Data 2

n+6 Data 3

MSCON Gateway

Response Area

n+7 Occupied Area

(Note 2)

3.4.11

n+8

Completed

Position No./

Simple

Alarm ID

(Axis No.0)

Status

Signal/

Completed

Position

(Axis No.0)

Assignment

Area for

Axis No.0

n+9

Current Position

(Axis No.0)

Current

Position

(Axis No.0)

Current

Position

(Axis No.0)

Status Signal

(Axis No.0)

Assignment

Area for

Axis No.1

Assignment

Area for

Axis No.1

n+10

Completed Position No./

Simple Alarm ID

(Axis No.0)

Assignment

Area for

Axis No.2

Assignment

Area for

Axis No.2

n+11

Status Signal

(Axis No.0)

Command

Current

(Axis No.0)

Command

Current

(Axis No.0)

Assignment

Area for

Axis No.1

Assignment

Area for

Axis No.3

Assignment

Area for

Axis No.3

n+12

Current

Speed

(Axis No.0)

Current

Speed

(Axis No.0)

Assignment

Area for

Axis No.4

Assignment

Area for

Axis No.4

n+13

Occupied

Area

(axis No.0)

Occupied

Area

(Axis No.0)

Assignment

Area for

Axis No.5㩷

Assignment

Area for

Axis No.5

n+14

Alarm Code

(Axis No.0)

Alarm Code

(Axis No.0)

n+15

Assignment

Area for

Axis No.1

Status Signal

(Axis No.0)

Status Signal

(Axis No.0)

n+16

n+23

Assignment

Area for

Axis No.1

Assignment

Area for

Axis No.1

Connected Axes Response Area

n+24

n+71

Assignment

Area for

Axis No.2

Assignment

Area for

Axis No.2

and later

Assignment

Area for

Axis No.2

and later

Assignment

Area for

Axis No.2

and later

3.4.4 to

3.4.10

Note1: For CC-Link, n and n+1 are for input and output bit addresses, and n+8 is for the top

address of data register.

Note2: This is the domain occupied unconditionally. Therefore, this domain cannot be used for

any other purpose.

٧ In the case of CC-Link

Caution: Ɣ Remote I/O Mode cannot be used together with other modes.

Ɣ Only Positioner 3 Mode and Remote I/O Mode are available to be selected in

MECHATROLINK and CompoNet. (CompoNet occupies 32 bytes no matter of the number of axes.)

3.4 Fieldbus Type Address Map

3.4.2 Example for Address Map Construction for each Field Network

Shown below is an example for the address map by the combination of operation modes for each Fieldnetwork. Refer to it for the address assignment. The example for the address map shown below is provided for each field network, however is described together for the networks of the same address assignment. Note In the order of each field network address map description

1) DeviceNet and CompoNet

2) CC-Link

3) PROFIBUS, EtherNet/IP, MECHATROLINK, EtherCAT

٧ In the case of CC-Link

Caution: Ɣ Remote I/O Mode is selected, all the axes connected to MSCON are involved in

Remote I/O Mode.

Ɣ Only Positioner 3 Mode and Remote I/O Mode are available to be selected in

MECHATROLINK and CompoNet. (CompoNet occupies 32 bytes no matter of the number of axes.)

[1] Address Map with Combination of Positioner 1/Simple Direct Modes and

Direct Indication Mode

3 types of examples are shown below for the contraction of the address maps when operation is made with the combination of Simple Direct Mode and Direct Indication Mode for six axes for each field network.

Example of

Combinations

Number of Simple Direct

Mode Axes

Number of Direct Indication

Mode Axes 1 6 0 2 4 2 3 0 6

1) DeviceNet (CompoNet is not applicable for this mode) [Combination Example 1] When number of Simple Direct Mode axes is 6 and number of Direct

Indication Mode 0 (n is the top channel number for each PLC input and output between MSCON and PLC)

PLCĺMSCON MSCONĺPLC

CH No. Contents CH No. Contents

n to n+1 Gateway Control n to n+1 Gateway Status

n+2 to n+7

Demand

Command

n+2 to n+7

Response

Command

n+8 to n+11

Axis No.0 Control

Information

n+8 to n+11

Axis No.0 Status

Information

n+12 to n+15

Axis No.1 Control

Information

n+12 to n+15

Axis No.1 Status

Information

n+16 to n+19

Axis No.2 Control

Information

n+16 to n+19

Axis No.2 Status

Information

n+20 to n+23

Axis No.3 Control

Information

n+20 to n+23

Axis No.3 Status

Information

n+24 to n+27

Axis No.4 Control

Information

n+24 to n+27

Axis No.4 Status

Information

n+28 to n+31

Axis No.5 Control

Information

n+28 to n+31

Axis No.5 Status

Information

[Combination Example 2] When number of Simple Direct Mode axes is 4 (axis No.0 to No.3)

and number of Direct Indication Mode 2 (axis No.4, No.5) (n is the top channel number for each PLC input and output between MSCON and PLC)

PLCĺMSCON MSCONĺPLC

CH No. Contents CH No. Contents

n to n+1 Gateway Control n to n+1 Gateway Status

n+2 to n+7

Demand

Command

n+2 to n+7

Response

Command

n+8 to n+11

Axis No.0 Control

Information

n+8 to n+11

Axis No.0 Status

Information

n+12 to n+15

Axis No.1 Control

Information

n+12 to n+15

Axis No.1 Status

Information

n+16 to n+19

Axis No.2 Control

Information

n+16 to n+19

Axis No.2 Status

Information

n+20 to n+23

Axis No.3 Control

Information

n+20 to n+23

Axis No.3 Status

Information

n+24 to n+27 n+24 to n+27

n+28 to n+31

Axis No.4 Control

Information

n+28 to n+31

Axis No.4 Status

Information

n+32 to n+35 n+32 to n+35

n+36 to n+39

Axis No.5 Control

Information

n+36 to n+39

Axis No.5 Status

Information

[Combination Example 3] When number of Simple Direct Mode axes is 0 and number of Direct

Indication Mode 6 (n is the top channel number for each PLC input and output between MSCON and PLC)

PLCĺMSCON MSCONĺPLC

CH No. Contents CH No. Contents

n to n+1 Gateway Control n to n+1 Gateway Status 0

n+2 to n+7

Demand

Command

n+2 to n+7

Response

Command

n+8 to n+11 n+8 to n+11

n+12 to n+15

Axis No.0 Control

Information

n+12 to n+15

Axis No.0 Status

Information n+16 to n+19 n+16 to n+19 n+20 to n+23

Axis No.1 Control

Information

n+20 to n+23

Axis No.1 Status

Information n+24 to n+27 n+24 to n+27 n+28 to n+31

Axis No.2 Control

Information

n+28 to n+31

Axis No.2 Status

Information n+32 to n+35 n+32 to n+35 n+36 to n+39

Axis No.3 Control

Information

n+36 to n+39

Axis No.3 Status

Information n+40 to n+43 n+40 to n+43 n+44 to n+47

Axis No.4 Control

Information

n+44 to n+47

Axis No.4 Status

Information n+48 to n+51 n+48 to n+51 n+52 to n+55

Axis No.5 Control

Information

n+52 to n+55

Axis No.5 Status

Information

3.4 Fieldbus Type Address Map

2) CC-Link

[Combination Example 1] When number of Simple Direct Mode axes is 6 and number of Direct

Indication Mode 0 (Extended Cyclic Setting/Number of Occupied Stations 4 times/2 stations)

PLCĺMSCON MSCONĺPLC

Address Contents Address Contents

RY 00 to 1F Gateway Control RX 00 to 1F Gateway Status

RY 20 to 6F

Demand

Command

RX 20 to 6F

Response

Command RY 70 to 7F Unavailable RX 70 to 7F Unavailable RY 80 to BF Unavailable RX 80 to BF Unavailable

RWw 00 to 03

Axis No.0 Control

Information

RWr 00 to 03

Axis No.0 Status

Information

RWw 04 to 07

Axis No.1 Control

Information

RWr 04 to 07

Axis No.1 Status

Information

RWw 08 to 0B

Axis No.2 Control

Information

RWr 08 to 0B

Axis No.2 Status

Information

RWw 0C to 0F

Axis No.3 Control

Information

RWr 0C to 0F

Axis No.3 Status

Information

RWw 10 to 13

Axis No.4 Control

Information

RWr 10 to 13

Axis No.4 Status

Information

RWw 14 to 17

Axis No.5 Control

Information

RWr 14 to 17

Axis No.5 Status

Information

[Combination Example 2] When number of Simple Direct Mode axes is 2 (axis No.0 to No.3)

and number of Direct Indication Mode 2 (axis No.4, No.5) (Extended Cyclic Setting/Number of Occupied Stations: 4 times/2 stations)

PLCĺMSCON MSCONĺPLC

Address Contents Address Contents

RY 000 to 01F Gateway Control RX 000 to 01F Gateway Status

RY 020 to 06F

Demand

Command

RX 020 to 06F

Response

Command

RY 070 to 07F Unavailable RX 070 to 07F Unavailable

RY 080 to 0BF Unavailable RX 080 to 0BF Unavailable

RWw 00 to 03

Axis No.0 Control

Information

RWr 00 to 03

Axis No.0 Status

Information

RWw 04 to 07

Axis No.1 Control

Information

RWr 04 to 07

Axis No.1 Status

Information

RWw 08 to 0B

Axis No.2 Control

Information

RWr 08 to 0B

Axis No.2 Status

Information

RWw 0C to 0F

Axis No.3 Control

Information

RWr 0C to 0F

Axis No.3 Status

Information RWw 10 to 13 RWr 10 to 13 RWw 14 to 17

Axis No.4 Control

Information

RWr 14 to 17

Axis No.4 Status

Information

RWw 18 to 1B RWr 18 to 1B RWw 1C to 1F

Axis No.5 Control

Information

RWr 1C to 1F

Axis No.5 Status

Information

[Combination Example 3] When number of Simple Direct Mode axes is 0 and number of Direct

Indication Mode 6 (Extended Cyclic Setting/Number of Occupied Stations: 8 times/2 stations)

PLCĺMSCON MSCONĺPLC

Address Contents Address Contents

RY 000 to 01F Gateway Control RX 000 to 01F Gateway Status

RY 020 to 06F

Demand

Command

RX 020 to 06F

Response

Command RY 070 to 07F Unavailable RX 070 to 07F Unavailable RY 080 to 17F Unavailable RX 080 to 17F Unavailable

RWw 00 to 03 RWr 00 to 03 RWw 04 to 07

Axis No.0 Control

Information

RWr 04 to 07

Axis No.0 Status

Information RWw 08 to 0B RWr 08 to 0B RWw 0C to 0F

Axis No.1 Control

Information

RWr 0C to 0F

Axis No.1 Status

Information

RWw 10 to 13 RWr 10 to 13 RWw 14 to 17

Axis No.2 Control

Information

RWr 14 to 17

Axis No.2 Status

Information RWw 18 to 1B RWr 18 to 1B RWw 1C to 1F

Axis No.3 Control

Information

RWr 1C to 1F

Axis No.3 Status

Information

RWw 20 to 23 RWr 20 to 23 RWw 24 to 27

Axis No.4 Control

Information

RWr 24 to 27

Axis No.4 Status

Information RWw 28 to 2B RWr 28 to 2B RWw 2C to 2F

Axis No.5 Control

Information

RWr 2C to 2F

Axis No.5 Status

Information

3) PROFIBUS-DP, EtherNet/IP, EtherCAT (MECHATROLINK is not applicable for this mode)

[Combination Example 1] When number of Simple Direct Mode axes is 4 and number of Direct

Indication Mode 0 (n is the top channel number for each PLC input and output between MSCON and PLC)

PLCĺMSCON MSCONĺPLC

Node address

(Byte Address)

Contents

Node address

(Byte Address)

Contents

n to n+3 Gateway Control n to n+3 Gateway Status

n+4 to n+15

Demand

Command

n+4 to n+15

Response

Command

n+16 to n+23

Axis No.0 Control

Information

n+16 to n+23

Axis No.0 Status

Information

n+24 to n+31

Axis No.1 Control

Information

n+24 to n+31

Axis No.1 Status

Information

n+32 to n+39

Axis No.2 Control

Information

n+32 to n+39

Axis No.2 Status

Information

n+40 to n+47

Axis No.3 Control

Information

n+40 to n+47

Axis No.3 Status

Information

3.4 Fieldbus Type Address Map

[Combination Example 2] When number of Simple Direct Mode axes is 4 (axis No.0 to No.3)

and number of Direct Indication Mode 2 (axis No.4, No.5) (n is the top channel number for each PLC input and output between MSCON and PLC)

PLCĺMSCON MSCONĺPLC

Node address

(Byte Address)

Contents

Node address

(Byte Address)

Contents

n to n+3 Gateway Control n to n+3 Gateway Status

n+4 to n+15

Demand

Command

n+4 to n+15

Response

Command

n+16 to n+23

Axis No.0 Control

Information

n+16 to n+23

Axis No.0 Status

Information

n+24 to n+31

Axis No.1 Control

Information

n+24 to n+31

Axis No.1 Status

Information

n+32 to n+39

Axis No.2 Control

Information

n+32 to n+39

Axis No.2 Status

Information

n+40 to n+47

Axis No.3 Control

Information

n+40 to n+47

Axis No.3 Status

Information

n+48 to n+55 n+48 to n+55

n+56 to n+63

Axis No.4 Control

Information

n+56 to n+63

Axis No.4 Status

Information

n+64 to n+71 n+64 to n+71

n+72 to n+79

Axis No.5 Control

Information

n+72 to n+79

Axis No.5 Status

Information

[Combination Example 3] When number of Simple Direct Mode axes is 0 and number of Direct

Indication Mode 6 (n is the top channel number for each PLC input and output between MSCON and PLC)

PLCĺMSCON MSCONĺPLC

Node address

(Byte Address)

Contents

Node address

(Byte Address)

Contents

n to n+3 Gateway Control n to n+3 Gateway Status

n+4 to n+15

Demand

Command

n+4 to n+15

Response

Command n+16 to n+23 n+16 to n+23 n+24 to n+31

Axis No.0 Control

Information

n+24 to n+31

Axis No.0 Status

Information n+32 to n+39 n+32 to n+39 n+40 to n+47

Axis No.1 Control

Information

n+40 to n+47

Axis No.1 Status

Information n+48 to n+55 n+48 to n+55 n+56 to n+63

Axis No.2 Control

Information

n+56 to n+63

Axis No.2 Status

Information n+64 to n+71 n+64 to n+71 n+72 to n+79

Axis No.3 Control

Information

n+72 to n+79

Axis No.3 Status

Information n+80 to n+87 n+80 to n+87 n+88 to n+95

Axis No.4 Control

Information

n+88 to n+95

Axis No.4 Status

Information

n+96 to n+103 n+96 to n+103

n+104 to n+111

Axis No.5 Control

Information

n+104 to n+111

Axis No.5 Status

Information

[2] Address Map for Positioner 2 Mode

Shown below is the address map for each Field network when six axes of MSCON are operated in Positioner 2 Mode.

1) DeviceNet (CompoNet is not applicable for this mode) (n is the top channel number for each PLC input and output between MSCON and PLC)

PLCĺMSCON MSCONĺPLC

CH No. Contents CH No. Contents

n to n+1 Gateway Control n to n+1 Gateway Status

n+2 to n+7

Demand

Command

n+2 to n+7

Response

Command

n+8 to n+9

Axis No.0 Control

Information

n+8 to n+9

Axis No.0 Status

Information

n+10 to n+11

Axis No.1 Control

Information

n+10 to n+11

Axis No.1 Status

Information

n+12 to n+13

Axis No.2 Control

Information

n+12 to n+13

Axis No.2 Status

Information

n+14 to n+15

Axis No.3 Control

Information

n+14 to n+15

Axis No.3 Status

Information

n+16 to n+17

Axis No.4 Control

Information

n+16 to n+17

Axis No.4 Status

Information

n+18 to n+19

Axis No.5 Control

Information

n+18 to n+19

Axis No.5 Status

Information

2) CC-Link

(Extended Cyclic Setting/Number of Occupied Stations: 1 times/4 stations)

PLCĺMSCON MSCONĺPLC

Address Contents Address Contents

RY 00 to 1F Gateway Control RX 00 to 1F Gateway Status

RY 20 to 6F

Demand

Command

RX 20 to 6F

Response

Command

RY 70 to 7F Unavailable RX 70 to 7F Unavailable

RWw 00 to 01

Axis No.0 Control

Information

RWr 00 to 01

Axis No.0 Status

Information

RWw 02 to 03

Axis No.1 Control

Information

RWr 02 to 03

Axis No.1 Status

Information

RWw 04 to 05

Axis No.2 Control

Information

RWr 04 to 05

Axis No.2 Status

Information

RWw 06 to 07

Axis No.3 Control

Information

RWr 06 to 07

Axis No.3 Status

Information

RWw 08 to 09

Axis No.4 Control

Information

RWr 08 to 09

Axis No.4 Status

Information

RWw 0A to 0B

Axis No.5 Control

Information

RWr 0A to 0B

Axis No.5 Status

Information

3.4 Fieldbus Type Address Map

3) PROFIBUS-DP, EtherNet/IP, EtherCAT

(MECHATROLINK is not applicable for this mode)

(n is the top node address for each PLC input and output between MSCON and PLC)

PLCĺMSCON MSCONĺPLC

Node address

(Byte Address)

Contents

Node address

(Byte Address)

Contents

n to n+3 Gateway Control n to n+3 Gateway Status

n+4 to n+15

Demand

Command

n+4 to n+15

Response

Command

n+16 to n+19

Axis No.0 Control

Information

n+16 to n+19

Axis No.0 Status

Information

n+20 to n+23

Axis No.1 Control

Information

n+20 to n+23

Axis No.1 Status

Information

n+24 to n+27

Axis No.2 Control

Information

n+24 to n+27

Axis No.2 Status

Information

n+28 to n+31

Axis No.3 Control

Information

n+28 to n+31

Axis No.3 Status

Information

n+32 to n+35

Axis No.4 Control

Information

n+32 to n+35

Axis No.4 Status

Information

n+36 to n+39

Axis No.5 Control

Information

n+36 to n+39

Axis No.5 Status

Information

[3] Address Map for Positioner 3 Mode

Shown below is the address map for each Field network when six axes of MSCON are operated in Positioner 3 Mode.

1) DeviceNet, CompoNet (n is the top channel number for each PLC input and output between MSCON and PLC)

PLCĺMSCON MSCONĺPLC

CH No. Contents CH No. Contents

n to n+1 Gateway Control n to n+1 Gateway Status

n+2 to n+7

Demand

Command

n+2 to n+7

Response

Command

n+8

Axis No.0 Control

Information

n+8

Axis No.0 Status

Information

n+9

Axis No.1 Control

Information

n+9

Axis No.1 Status

Information

n+10

Axis No.2 Control

Information

n+10

Axis No.2 Status

Information

n+11

Axis No.3 Control

Information

n+11

Axis No.3 Status

Information

n+12

Axis No.4 Control

Information

n+12

Axis No.4 Status

Information

n+13

Axis No.5 Control

Information

n+13

Axis No.5 Status

Information

2) CC-Link

(Extended Cyclic Setting/Number of Occupied Stations: 1 times/4 stations)

PLCĺMSCON MSCONĺPLC

Address Contents Address Contents

RY 00 to 1F Gateway Control RX 00 to 1F Gateway Status

RY 20 to 6F

Demand

Command

RX 20 to 6F

Response

Command

RY 70 to 7F Unavailable RX 70 to 7F Unavailable

RWw 00

Axis No.0 Control

Information

RWr 00

Axis No.0 Status

Information

RWw 01

Axis No.1 Control

Information

RWr 01

Axis No.1 Status

Information

RWw 02

Axis No.2 Control

Information

RWr 02

Axis No.2 Status

Information

RWw 03

Axis No.3 Control

Information

RWr 03

Axis No.3 Status

Information

RWw 04

Axis No.4 Control

Information

RWr 04

Axis No.4 Status

Information

RWw 05

Axis No.5 Control

Information

RWr 05

Axis No.5 Status

Information

3) PROFIBUS-DP, EtherNet/IP, MECHATROLINK, EtherCAT

(n is the top node address for each PLC input and output between MSCON and PLC)

PLCĺMSCON MSCONĺPLC

Node address

(Byte Address)

Contents

Node address

(Byte Address)

Contents

n to n+3 Gateway Control n to n+3 Gateway Status

n+4 to n+15

Demand

Command

n+4 to n+15

Response

Command

n+16, n+17

Axis No.0 Control

Information

n+16, n+17

Axis No.0 Status

Information

n+18, n+19

Axis No.1 Control

Information

n+18, n+19

Axis No.1 Status

Information

n+20, n+21

Axis No.2 Control

Information

n+20, n+21

Axis No.2 Status

Information

n+22, n+23

Axis No.3 Control

Information

n+22, n+23

Axis No.3 Status

Information

n+24, n+25

Axis No.4 Control

Information

n+24, n+25

Axis No.4 Status

Information

n+26, n+27

Axis No.5 Control

Information

n+26, n+27

Axis No.5 Status

Information

3.4 Fieldbus Type Address Map

[4] Address Maps in Remote I/O Mode

Shown below are the address maps when operation of 6-axis MSCON is made with Remote I/O Mode.

1) DeviceNet, CompoNet (n is the top channel number for each PLC input and output between MSCON and PLC)

PLCĺMSCON MSCONĺPLC

CH No. Contents CH No. Contents

n to n+1 Gateway Control n to n+1 Gateway Status

n+2 to n+7

Demand

Command

n+2 to n+7

Response Command

n+8

Axis No.0 Control

Information

n+8

Axis No.0 Status

Information

n+9

Axis No.1 Control

Information

n+9

Axis No.1 Status

Information

n+10

Axis No.2 Control

Information

n+10

Axis No.2 Status

Information

n+11

Axis No.3 Control

Information

n+11

Axis No.3 Status

Information

n+12

Axis No.4 Control

Information

n+12

Axis No.4 Status

Information

n+13

Axis No.5 Control

Information

n+13

Axis No.5 Status

Information

2) CC-Link

(Extended Cyclic Setting/Number of Occupied Stations: 1 times/4 stations)

PLCĺMSCON MSCONĺPLC

Address Contents Address Contents

RY 00 to 1F Gateway Control RX 00 to 1F Gateway Status

RY 20 to 6F

Demand

Command

RX 20 to 6F

Response

Command

RY 70 to 7F Unavailable RX 70 to 7F Unavailable

RWw 00

Axis No.0 Control

Information

RWr 00

Axis No.0 Status

Information

RWw 01

Axis No.1 Control

Information

RWr 01

Axis No.1 Status

Information

RWw 02

Axis No.2 Control

Information

RWr 02

Axis No.2 Status

Information

RWw 03

Axis No.3 Control

Information

RWr 03

Axis No.3 Status

Information

RWw 04

Axis No.4 Control

Information

RWr 04

Axis No.4 Status

Information

RWw 05

Axis No.5 Control

Information

RWr 05

Axis No.5 Status

Information

3) PROFIBUS-DP, EtherNet/IP, MECHATROLINK, EtherCAT

(n is the top node address for each PLC input and output between MSCON and PLC)

PLCĺMSCON MSCONĺPLC

Node address

(Byte Address)

Contents

Node address

(Byte Address)

Contents

n to n+3 Gateway Control n to n+3 Gateway Status

n+4 to n+15

Demand

Command

n+4 to n+15

Response

Command

n+16, n+17

Axis No.0 Control

Information

n+16, n+17

Axis No.0 Status

Information

n+18, n+19

Axis No.1 Control

Information

n+18, n+19

Axis No.1 Status

Information

n+20, n+21

Axis No.2 Control

Information

n+20, n+21

Axis No.2 Status

Information

n+22, n+23

Axis No.3 Control

Information

n+22, n+23

Axis No.3 Status

Information

n+24, n+25

Axis No.4 Control

Information

n+24, n+25

Axis No.4 Status

Information

n+26, n+27

Axis No.5 Control

Information

n+26, n+27

Axis No.5 Status

Information



3.4 Fieldbus Type Address Map

3.4.3 Gateway Control Signals (in common for all operation modes)

When operating the system with Fieldbus, the axes are controlled via MSCON. The top 2 words of input and output in each operation mode are the signals Gateway control and status monitoring.



(n is the top word address for each PLC input and output between MSCON and PLC)

PLCĺMSCON (PLC Output) MSCONĺPLC (PLC Input) Control Signal 0 n Status Signal 0 n Control Signal 1 n+1 Status Signal 1 n+1



(1) PLC I/O Signal

PLC Output

 

Address n

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Control

Signal 0

MON

–

RTE

–

    

Address n+1

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Control

Signal 1

(to be fixed to

0)䎃

䎃䎃

PLC Input

䎃

Address n

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Status

Signal 0

RUN

LERC

ERRT

MOD

ALMH

ALML

–

EMG

ALMC128

ALMC64

ALMC32

ALMC16

ALMC8

ALMC4

ALMC2

ALMC1

䎃䎃䎃䎃䎃

Address n+1

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Status

Signal 1

–

MNT5

MNT4

MNT3

MNT2

MNT1

MNT0

–

LNK5

LNK4

LNK3

LNK2

LNK1

LNK0

䎃

  

Output of communication available axis number

Output of alarm-issued axis number

1 word=16 bit

Signal to cancel the remained condition of communication error (ERR-T/ERR-C) during an operation

Signal to activate operation control by communication

1 word=16 bit

Each type of control status monitoring output signals

(2) List for Input and Output Signal

(ON = Applicable bit is “1”, OFF = Applicable bit is “0”)

Signal Type Bit Symbol Contents Details

b15 MON

Operation control with communication is available while it is ON

–

b14

–

Unavailable

–

b13 RTE

Retained condition of ERR-T or ERR-C during an operation is cancelled if it is ON It is the cancel signal when ERR-T or ERR-C occurrence is set to latch in Gateway Parameter Setting Tool

–

b12 b11 b10

b9 b8 b7 b6 b5 b4 b3 b2 b1

Control

Signal 0

–

Unavailable

–

b15 b14

b13

b12 b11 b10

b9 b8 b7 b6 b5 b4 b3 b2 b1

PLC Output

Control

Signal 1

–

Unavailable

(Make it to all.)

–

䎃

3.4 Fieldbus Type Address Map

(ON = Applicable bit is “1”, OFF = Applicable bit is “0”)

Signal Type Bit Symbol Contents Details

b15 RUN

This signal turns ON when Gateway is in normal operation.

–

b14 LERC

This signal turns ON if the ERR-T or ERR-C occurred during an operation is retained and turns OFF if cancel signal RTE is turn ON. It is effective when ERR-T or ERR-C occurrence is set to latch in Gateway Parameter Setting Tool.

–

b13 ERRT

This signal turns ON when a communication error is detected between the Gateway and each axis.

–

b12 MOD

This signal turns ON if the operation mode switch on the front of the unit is selected to be on MANU side, and turns OFF if on AUTO side.

–

b11 ALMH

This signal turns ON when an error

(Note 1)

caused by the Gateway that requires a reboot is occurred. (A wrong setting in the parameters can be considered. Check the parameters settings.)

–

b10 ALML

This signal turns ON when a light error

(Note 1)

caused by the Gateway is occurred. (It is considered that there shall be a loss of the calendar data. Check the parameters settings.)

–

b9 㧙

Unavailable

–

b8 EMG

This signal turns ON when EMG- input of the system I/O connector is OFF (emergency stop). In case this bit turns ON, all the connected axes perform an emergency stop.

–

b7 b6 b5 b4 b3 b2 b1

Status

Signal 0

ALMC1 to 128

It is an output of an alarm code caused by the Gateway. [Refer to Gateway alarm codes in Chapter 8. Troubleshooting for details.]

–

b15 – b14 – b13 MNT5 b12 MNT4 b11 MNT3 b10 MNT2

b9 MNT1 b8 MNT0

The bit of an axis number that a light malfunction alarm is generated turns ON. Axis No.0=MNT0 to Axis No.5=MNT5

–

b7 – b6 – b5 LNK5 b4 LNK4 b3 LNK3 b2 LNK2 b1 LNK1

PLC Input

Status

Signal 1

b0 LNK0

The bit of an axis number that is identified as effective by Gateway turns ON. Axis No.0=LNK0 to Axis No.5=LNK5

–

Note 1: Refer to Chapter 8. Troubleshooting for the details of the errors.

IAI America MSCON User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Contents

Safety Guide

Precautions in Operation

International Standards Compliances

Name for Each Parts and Their Functions

Actuator Axes

Starting Procedures

Chapter 1 Specifications Check

1.1 Product Check

1.2 Basic Specifications

1.3 Selection of Power Source and Power Supply Supportive Devices

1.4 Specifications for each Fieldbus

1.5 External Dimensions

1.6 Option

1.7 Installation and Storage Environment

1.8 Noise Elimination and Mounting Method

2.1 Wiring Diagram (Connection of construction devices)

Chapter 2 Wiring

2.2 Circuit Diagram

2.3 Wiring Method

3.1 Basic Operation

Chapter 3 Operation

3.2 Initial Setting

3.3 Setting of Position Data

3.4 Fieldbus Type Address Map