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MSCON Controller
Instruction Manual First Edition
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.
[Important]
xThis Instruction Manual is original.
xThe 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.
xInformation contained in this Instruction Manual is subject to change without notice for the purpose of product improvement.
xIf you have any question or comment regarding the content of this manual, please contact the IAI sales office near you.
xUsing or copying all or part of this Instruction Manual without permission is prohibited.
xThe company names, names of products and trademarks of each company shown in the sentences are registered trademarks.
xDeviceNet is a registered mark of ODVA.
xCC-Link is a registered mark of Mitsubishi Electric Corporation.
xPROFIBUS is a registered mark of SIEMENS.
xCompoNet is a registered trademark of OMRON Corporation.
xMECHATROLINK is a registered trademark of MECHATROLINK Members Association.
xEtherCAT® is a registered mark of Beckoff Automation GmbH.
xEtherNet/IP is a trademark used under the license of ODVA.
Contents
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
1.1Product Check ············································································································ 21
1.1.1Parts····················································································································· 21
1.1.2Teaching Tool······································································································· 21
1.1.3Instruction Manuals related to this product,
which are contained in the DVD. ······························································ 22
1.1.4How to read the model plate················································································ 22
1.1.5How to read the model························································································· 23
1.2Basic Specifications ···································································································· 24
1.3Selection of Power Source and Power Supply Supportive Devices··························· 26
1.3.1 Power Capacity and Heat Generation ······························································· 26
1.3.2Selection of Circuit Breaker ················································································· 26
1.3.3Selection of Leak Current Breaker ······································································ 27
1.3.4Control Power (24V DC) Capacity······································································· 27
1.4Specifications for each Fieldbus ················································································· 28
1.4.1Specifications of DeviceNet Interface·································································· 28
1.4.2Specifications of CC-Link Interface······································································ 28
1.4.3Specifications of PROFIBUS-DP Interface·························································· 29
1.4.4Specifications of CompoNet Interface ································································· 29
1.4.5Specifications of MECHATROLINK II Interface ··················································· 30
1.4.6Specifications of EtherNet/IP Interface································································ 30
1.4.7Specifications of EtherCAT Interface ··································································· 30
1.5External Dimensions··································································································· 31
1.5.1Incremental Type ································································································· 31
1.5.2Absolute Type ······································································································ 32
1.6Option·························································································································· 33
1.6.1Regenerative Resistor Unit·················································································· 33
1.7Installation and Storage Environment········································································· 35
1.8Noise Elimination and Mounting Method ···································································· 36
Chapter 2 Wiring·············································································································39
2.1Wiring Diagram (Connection of construction devices)················································ 39
2.2Circuit Diagram ··········································································································· 39
2.3Wiring Method············································································································· 47
2.3.1Wiring of Control Power Supply and Drive Power Supply Input Connector········ 47
2.3.2Wiring Layout of System I/O Connector ······························································ 49
2.3.3Actuator Connection ···························································································· 50
2.3.4Battery Connection (For Absolute Type)······························································ 52
2.3.5Connection of Regenerative Resistance Unit······················································ 53
2.3.6Connection of SIO Connector·············································································· 55
2.3.7Wiring Layout of Field Network Connector·························································· 56
Chapter 3 Operation ·······································································································61
3.1Basic Operation ·········································································································· 61
3.1.1Basic Operation Methods ···················································································· 61
3.1.2Parameter Settings······························································································ 65
3.2Initial Setting ··············································································································· 66
3.3Setting of Position Data ······························································································ 71
3.4Fieldbus Type Address Map························································································ 77
3.4.1PLC Address Construction by each Operation Mode·········································· 77
3.4.2Example for Address Map Construction for each Field Network························· 80
3.4.3Gateway Control Signals (in common for all operation modes) ·························· 90
3.4.4Control Signals for Direct Simple Direct ······························································ 93
3.4.5Control Signals for Positioner 1 Mode································································· 98
3.4.6Control Signals for Direct Indication Mode ························································ 103
3.4.7Control Signals for Direct Indication Mode 2 ····················································· 110
3.4.8Control Signals for Positioner 2 Mode······························································· 117
3.4.9Control Signals for Positioner 3 Mode······························································· 121
3.4.10Control Signals for Remote I/O Mode································································ 124
3.4.11About Commands (Position Data Read/Write and Alarm Axis Read) ··············· 128
3.5Input and Output Signal Process for Field Network·················································· 143
3.6Power Supply and Cutoff ·························································································· 145
3.7Control and functions of Input and output signals of Modes
other than Remote I/O Mode······ 147
3.8Control and functions of Input and output signals of Remote I/O Mode··················· 169
3.8.1Operation Supportive Signal = Patterns 0 to 2, 4 and 5 in common ················· 169
3.8.2Operation with the Position No. Input = Operations of PIO Patterns 0 to 2········· 177
3.8.3Direct Position Specification (Solenoid Valve Mode 1)
=Operation of PIO Pattern 4 ········ 197
3.8.4Direct Position Specification (Solenoid Valve Mode 2)
=Operation of PIO Pattern 5 ········ 209
3.9About Gateway Parameter Setting Tool···································································· 217
3.9.1Startup of Tool···································································································· 217
3.9.2Explanation of each Menu ················································································· 218
3.9.3Description of Functions ···················································································· 220
3.9.4Operation Mode Setting····················································································· 226
3.10Field network status LEDs ························································································ 227
3.10.1DeviceNet ·········································································································· 227
3.10.2CC-Link·············································································································· 227
3.10.3PROFIBUS ········································································································ 228
3.10.4CompoNet·········································································································· 228
3.10.5Mechatrolink ······································································································ 229
3.10.6EtherNet/IP ········································································································ 229
3.10.7EtherCAT ··········································································································· 230
3.11Gateway status LED ································································································· 231
Chapter 4 Vibration Suppress Control Function ···························································233
4.1Setting Procedure ····································································································· 235
4.2Settings of Parameters for Vibration Suppress Control············································ 236
4.3Setting of Position Data ···························································································· 237
Chapter 5 Power Saving Function (Automatic Servo-off Function) ······························239
Chapter 6 Absolute Reset and Absolute Battery ··························································241
6.1Absolute Reset·········································································································· 241
6.2Absolute Battery········································································································ 243
6.2.1Absolute encoder backup specifications ··························································· 243
6.2.2Replacement of absolute battery······································································· 245
Chapter 7 Parameter ····································································································247
7.1Parameter List··········································································································· 248
7.2Detail Explanation of Parameters ············································································· 253
7.3Servo Adjustment······································································································280
Chapter 8 Troubleshooting ···························································································283
8.1Action to Be Taken upon Occurrence of Problem····················································· 283
8.2Fault Diagnosis ········································································································· 285
8.2.1Impossible operation of controller······································································ 285
8.2.2Positioning and speed of poor precision (incorrect operation) ·························· 286
8.2.3Generation of noise and/or vibration ································································· 287
8.2.4Impossible Communication ··············································································· 287
8.3Alarm························································································································· 288
8.3.1Gateway Alarm Codes······················································································· 288
8.3.2Alarm Code for Each Axis·················································································· 290
8.4Noise Prevention······································································································· 301
Chapter 9 Appendix ······································································································302
9.1List of Specifications of Connectable Actuators························································ 302
Chapter 10 Warranty ····································································································347
10.1Warranty Period ········································································································ 347
10.2Scope of the Warranty ······························································································ 347
10.3Honoring the Warranty······························································································ 347
10.4Limited Liability ·········································································································347
10.5Conditions 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 |
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Description |
Description |
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1 |
Model |
Ɣ This product has not been planned and designed for the application |
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Selection |
where high level of safety is required, so the guarantee of the protection |
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of human life is impossible. Accordingly, do not use it in any of the |
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following applications. |
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1) |
Medical equipment used to maintain, control or otherwise affect |
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human life or physical health. |
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2) |
Mechanisms and machinery designed for the purpose of moving or |
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transporting people (For vehicle, railway facility or air navigation |
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facility) |
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3) |
Important safety parts of machinery (Safety device, etc.) |
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Ɣ Do not use the product outside the specifications. Failure to do so may |
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considerably shorten the life of the product. |
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Ɣ Do not use it in any of the following environments. |
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1) |
Location where there is any inflammable gas, inflammable object or |
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explosive |
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2) |
Place with potential exposure to radiation |
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3) |
Location with the ambient temperature or relative humidity exceeding |
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the specification range |
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4) |
Location where radiant heat is added from direct sunlight or other |
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large heat source |
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5) |
Location where condensation occurs due to abrupt temperature |
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changes |
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6) |
Location where there is any corrosive gas (sulfuric acid or |
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hydrochloric acid) |
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7) |
Location exposed to significant amount of dust, salt or iron powder |
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8) |
Location subject to direct vibration or impact |
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Ɣ For an actuator used in vertical orientation, select a model which is |
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equipped with a brake. If selecting a model with no brake, the moving |
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part may drop when the power is turned OFF and may cause an |
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accident such as an injury or damage on the work piece. |
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1
No. |
Operation |
Description |
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Description |
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2 |
Transportation |
Ɣ When carrying a heavy object, do the work with two or more persons or |
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utilize equipment such as crane. |
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Ɣ When the work is carried out with 2 or more persons, make it clear who |
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is to be the leader and who to be the follower(s) and communicate well |
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with each other to ensure the safety of the workers. |
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Ɣ When in transportation, consider well about the positions to hold, weight |
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and weight balance and pay special attention to the carried object so it |
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would not get hit or dropped. |
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Ɣ Transport it using an appropriate transportation measure. |
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The actuators available for transportation with a crane have eyebolts |
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attached or there are tapped holes to attach bolts. Follow the |
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instructions in the instruction manual for each model. |
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Ɣ Do not step or sit on the package. |
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Ɣ Do not put any heavy thing that can deform the package, on it. |
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Ɣ When using a crane capable of 1t or more of weight, have an operator |
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who has qualifications for crane operation and sling work. |
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Ɣ When using a crane or equivalent equipments, make sure not to hang a |
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load that weighs more than the equipment’s capability limit. |
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Ɣ Use a hook that is suitable for the load. Consider the safety factor of the |
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hook in such factors as shear strength. |
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Ɣ Do not get on the load that is hung on a crane. |
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Ɣ Do not leave a load hung up with a crane. |
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Ɣ Do not stand under the load that is hung up with a crane. |
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3 |
Storage and |
Ɣ The storage and preservation environment conforms to the installation |
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Preservation |
environment. However, especially give consideration to the prevention |
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of condensation. |
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Ɣ Store the products with a consideration not to fall them over or drop due |
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to an act of God such as earthquake. |
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4 |
Installation |
(1) Installation of Robot Main Body and Controller, etc. |
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and Start |
Ɣ Make sure to securely hold and fix the product (including the work part). |
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A fall, drop or abnormal motion of the product may cause a damage or |
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injury. |
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Also, be equipped for a fall-over or drop due to an act of God such as |
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earthquake. |
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Ɣ Do not get on or put anything on the product. Failure to do so may cause |
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an accidental fall, injury or damage to the product due to a drop of |
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anything, malfunction of the product, performance degradation, or |
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shortening of its life. |
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Ɣ When using the product in any of the places specified below, provide a |
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sufficient shield. |
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1) Location where electric noise is generated |
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2) Location where high electrical or magnetic field is present |
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3) Location with the mains or power lines passing nearby |
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4) Location where the product may come in contact with water, oil or |
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chemical droplets |
2
No. |
Operation |
Description |
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Description |
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||
4 Installation |
(2) Cable Wiring |
||
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and Start |
Ɣ Use our company’s genuine cables for connecting between the actuator |
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and controller, and for the teaching tool. |
|
ƔDo 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.
ƔPerform the wiring for the product, after turning OFF the power to the unit, so that there is no wiring error.
ƔWhen 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.
ƔConnect 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.
ƔNever cut and/or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length. Failure to do so may cause the product to malfunction or cause fire.
(3) Grounding
ƔThe grounding operation should be performed to prevent an electric shock or electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation.
ƔFor 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 0.5mm2 (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).
ƔPerform Class D Grounding (former Class 3 Grounding with ground resistance 100: or below).
3
No. |
Operation |
Description |
|
Description |
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4 Installation |
(4) Safety Measures |
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and Start |
Ɣ When the work is carried out with 2 or more persons, make it clear who |
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is to be the leader and who to be the follower(s) and communicate well |
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with each other to ensure the safety of the workers. |
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ƔWhen 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.
ƔMake sure to install the emergency stop circuit so that the unit can be stopped immediately in an emergency during the unit operation.
ƔTake 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.
ƔTake 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.
ƔWhen 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.
ƔTake the measure so that the work part is not dropped in power failure or emergency stop.
ƔWear protection gloves, goggle or safety shoes, as necessary, to secure safety.
ƔDo 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.
ƔWhen 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.
5Teaching 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.
ƔPerform 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.
ƔWhen 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.
ƔWhen 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.
ƔPlace a sign “Under Operation” at the position easy to see.
ƔWhen 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.
4
No. |
Operation |
Description |
|
Description |
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||
6 |
Trial |
Ɣ When the work is carried out with 2 or more persons, make it clear who |
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|
Operation |
is to be the leader and who to be the follower(s) and communicate well |
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|
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with each other to ensure the safety of the workers. |
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Ɣ After the teaching or programming operation, perform the check |
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operation one step by one step and then shift to the automatic |
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operation. |
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Ɣ When the check operation is to be performed inside the safety |
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protection fence, perform the check operation using the previously |
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specified work procedure like the teaching operation. |
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Ɣ Make sure to perform the programmed operation check at the safety |
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speed. Failure to do so may result in an accident due to unexpected |
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motion caused by a program error, etc. |
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Ɣ Do not touch the terminal block or any of the various setting switches in |
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|
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the power ON mode. Failure to do so may result in an electric shock or |
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|
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malfunction. |
|
7 |
Automatic |
Ɣ Check before starting the automatic operation or rebooting after |
|
|
Operation |
operation stop that there is nobody in the safety protection fence. |
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Ɣ Before starting automatic operation, make sure that all peripheral |
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equipment is in an automatic-operation-ready state and there is no |
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alarm indication. |
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Ɣ Make sure to operate automatic operation start from outside of the |
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safety protection fence. |
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Ɣ In the case that there is any abnormal heating, smoke, offensive smell, |
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or abnormal noise in the product, immediately stop the machine and |
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turn OFF the power switch. Failure to do so may result in a fire or |
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damage to the product. |
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Ɣ When a power failure occurs, turn OFF the power switch. Failure to do |
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so may cause an injury or damage to the product, due to a sudden |
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|
|
motion of the product in the recovery operation from the power failure. |
5
No. |
Operation |
Description |
|
Description |
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|
|
8Maintenance Ɣ When the work is carried out with 2 or more persons, make it clear who
|
and |
is to be the leader and who to be the follower(s) and communicate well |
|
Inspection |
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 |
|
|
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 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. |
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|
* Safety protection Fence : In the case that there is no safety protection |
|
|
fence, the movable range should be indicated. |
9 |
Modification |
Ɣ Do not modify, disassemble, assemble or use of maintenance parts not |
|
and Dismantle |
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. |
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|
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. |
6
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 |
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This indicates an imminently hazardous situation which, if the |
Danger |
Danger |
product is not handled correctly, will result in death or serious |
|
|
injury. |
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|
|
This indicates a potentially hazardous situation which, if the |
Warning |
Warning |
product is not handled correctly, could result in death or serious |
|
|
injury. |
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|
Caution |
This indicates a potentially hazardous situation which, if the |
Caution |
product is not handled correctly, may result in minor injury or |
||
|
property damage. |
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Notice |
This indicates lower possibility for the injury, but should be kept to |
Notice |
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use this product properly. |
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|
7
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.
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.
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.
8
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.)
|
Operation Image |
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PLC (Programmable Logic Controller) |
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(example: scan time is 20msec) |
As shown in the diagram, the input and output |
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timings of two devices that have different scan |
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time do not match, of course, when transferring |
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a signal. |
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This controller |
There is no guarantee that PLC would read the |
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(scan time 1msec) |
signal as soon as this controller signal turns |
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ON. |
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||
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In such a case, make the setting to read the |
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Output |
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signal after a certain time that is longer than the |
||
|
Process |
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longer scan time to ensure the reading process |
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to succeed on the PLC side. |
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It is the same in the case this controller side |
Input |
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|
reads the signal. |
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In such a case, it is recommended to ensure 2 |
||
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Process |
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to 4 times of the scan time for the timer setting |
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margin. |
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It is risky to have the setting below the scan |
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time since the timer is also processed in the |
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scan process. |
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In the diagram, PLC can only read the input |
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||
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once in 20msec even though this controller |
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output once in 1msec. |
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Because PLC only conducts output process |
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once in 20msec, this controller identifies the |
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same output status for that while. |
9
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”.
10
International Standards Compliances
MSCON comply with the following overseas standards.
RoHS Directive |
CE Marking |
UL |
|
To be scheduled |
Compliance not planned |
11
12
Name for Each Parts and Their Functions
8) Driver for Axis No.2 and No.3 |
|
|
7) Driver for Axis No.0 and No.1 |
9) Driver for Axis No.4 and No.5 |
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|
||
6) Fan unit |
10) Operation mode |
|
|
setting switch |
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5) Screw terminal |
11) SIO connector |
|
for protective |
12) System I/O |
|
grounding |
||
connector |
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||
4) Motor power supply |
13) Gateway |
|
input connector |
status LED |
|
3) Regenerative |
|
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resistor unit |
14) Field network |
|
connector |
||
status LED |
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||
2) Power supply |
15) Fieldbus |
|
status LED |
||
connector |
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|
1)Control power supply
input connector
No.0 No.1 No.2 No.3 No.4 No.5
16) Absolute Battery Unit
13
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.
14
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.
Driver
CPU Board
Brake for even axis numbers
Brake for odd axis numbers
xBrake 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.
xEncoder 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 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*) |
|
Driver status |
|
*: Axis No. = 0 to 5 |
|||
Lamp status |
Color |
|
|
{ |
Green |
Servo ON |
|
|
Green |
During automatic servo OFF |
|
× |
– |
Servo OFF |
|
{ |
Red |
Alarm generated, Emergency-stop input, |
|
Motor driving power OFF |
|||
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|
||
xMotor 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.]
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.
15
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.
|
MSCON |
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Condition |
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status |
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Switch on front panel |
Operation mode switchover input Note 1 |
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AUTO |
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AUTO |
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Short-circuit A/M- and A/M+ |
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MANU |
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AUTO |
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Open A/M- and A/M+ terminals |
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MANU |
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Short-circuit A/M- and A/M+ |
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Note 1: Refer to Sections 2.2 [3] Emergency Circuit and 2.2 [7] Mode Switchover Circuit for the details.
Caution: When in MANU Mode of the teaching tool, select “PIO startup prohibited” for the operation mode.
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.]
16
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
17
(5) Gripper Type
Finger Attachment
(6) Rotary Type |
|
(300q Rotation Specification) |
(360qRotation Specification) |
0° |
300° |
- |
+ |
(360qRotation Specification)
-+
For Multiple Rotation Type with the origin reversed type, the directions of + and – are the other way around.
18
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”.
Check of Packed Items |
No |
|
|
Contact your local IAI distributor. |
|||
Are all the delivered items present? |
|
||
|
|||
|
|
Yes |
|
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.
Check Item |
No |
Connect the PC software, confirm the alarm code, |
|
Is RDY in Gateway Status LEDs turned ON in green? |
and remedy the indicated situation. |
||
|
|||
Yes |
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|
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.
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.
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?
Yes
Check of Safety Circuit
Does the emergency stop circuit (drive cutoff circuit) work properly and turn the servo OFF?
Yes
No
No
If an alarm is generated, check the detail of the alarm on the PC and have an appropriate treatment.
Check the emergency stop circuit.
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.
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.)
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.).
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No |
Check Item |
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Any vibration or abnormal noise? |
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Yes
Test Run Adjustment 2
Check the system operation conducted.
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.
19
20
Chapter 1 Specifications Check
1.1Product Check
1.1.1Parts
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 |
1 |
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plate”, “How to read the model” |
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Accessories |
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2 |
Control Power Supply |
MC1.5/5-STF-3.81 |
1 |
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Connector |
(Supplier: PHOENIX CONTACT) |
||||
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3 |
Motor Power Supply |
GMSTB2.5/3-STF-7.62 |
1 |
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Connector |
(Supplier: PHOENIX CONTACT) |
||||
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4 |
System I/O Connector |
FMCD1.5/4-ST-3.5 |
1 |
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(Supplier: PHOENIX CONTACT) |
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5 |
CC-Link Connector |
SMSTB2.5/5-ST-5.08 AU |
1 |
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(For CC-Link Type) |
(Supplier: PHOENIX CONTACT) |
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6 |
DeviceNet Connector |
SMSTB2.5/5-ST-5.08 AU |
1 |
|
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(For DeviceNet Type) |
(Supplier: PHOENIX CONTACT) |
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7 |
Absolute Battery Unit |
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Number of batteries is |
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(Battery AB-5) |
1 |
determined by the number |
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(Absolute Type) |
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of axes to be connected. |
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8 |
First Step Guide |
|
1 |
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9 |
Instruction Manual (DVD) |
|
1 |
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10 |
Safety Guide |
|
1 |
|
1.1.2Teaching 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 |
|
1 |
PC Software |
RCM-101-MW |
|
(Includes RS232C Exchange Adapter + Peripheral Communication |
|||
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Cable) |
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PC Software |
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2 |
(Includes USB Exchange Adapter + USB Cable + Peripheral |
RCM-101-USB |
|
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Communication Cable) |
|
|
3 |
Teaching Pendant (Touch panel teaching) |
CON-PTA |
|
4 |
Teaching Pendant |
CON-PDA |
|
(Touch panel teaching equipped with a deadman switch) |
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Teaching Pendant |
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5 |
(Touch panel teaching equipped with a deadman switch + TP adapter |
CON-PGA |
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(RCB-LB-TG)) |
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6 |
Teaching Pendant |
CON-T |
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7 |
Teaching Pendant (equipped with dead man’s switch + TP adapter |
CON-TG |
|
(RCB-LB-TG)) |
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8 |
Gateway Parameter Setting Tool |
– |
Check Specifications 1 Chapter
21
Chapter 1 Specifications 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 |
|
2 |
PC software |
ME0155 |
|
RCM-101-MW/ RCM-101-USB Instruction Manual |
|||
|
|
||
3 |
Touch panel teaching CON-PTA/PDA/PGA Instruction Manual |
ME0295 |
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4 |
Teaching Pendant CON-T/TG Instruction Manual |
ME0178 |
1.1.4 How to read the model plate
|
Actuetor Type / SERIAL No. |
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No. 0 |
RCS3-SA6C-I-150-20-500-T2 |
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No. 1 |
RCS3-SA6C-I-150-20-500-T2 |
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Connected actuator |
No. 2 |
RCS2-SA6C-I-20-6-200-T2-B |
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No. 3 |
RCS2-SA6C-I-20-6-200-T2-B |
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type |
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No. 4 |
RCS2-SA6C-I-20-6-200-T2-B |
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No. 5 |
RCS2-SA6C-I-20-6-200-T2-B |
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Model |
MODEL MSCON-C-6-150I -150I -20I -20I -20I -20I -DV-0-1 |
|
Serial number |
SERIAL No. ********* |
MADE IN JAPAN |
|
|
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22
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