IAI America PCON-CA User Manual

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PCON-CA/CFA Controller

Instruction Manual

Fifth Edition

POWER CON

PCON-CA/CFA

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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/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]

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

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POWER CON

PCON-CA/CFA

POWER CON

PCON-CA/CFA

Safety Guide ·····················································································································1 Precautions in Operation ·································································································· 8 International Standards Compliances············································································· 11 CE Marking ····················································································································· 11 UL ······················································································································· 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 instruction manual (CD/DVD). ······································································· 22

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

1.1.5 How to read the model························································································· 22

1.2 List of Basic Specifications ························································································· 23

1.3 Appearance·················································································································24

1.3.1 CA Type ··········For Incremental Screw-fixed Type ··············································24

1.3.2 CA Type ··········For Incremental DIN rail-fixed Type ············································ 25

1.3.3 CA Type ··········For Simple Absolute Screw-fixed Type······································· 26

1.3.4 CA Type ········· For Simple Absolute DIN rail-fixed Type····································· 27

1.3.5 CFA Type ········For Incremental Screw-fixed Type ··············································28

1.3.6 CFA Type ········For Incremental DIN rail-fixed Type ············································ 29

1.3.7 Absolute Battery Unit (Option for Simple Absolute Type)···································· 30

1.4 I/O Specifications ········································································································31

1.4.1 PIO Input and Output Interface············································································31

1.4.2 Pulse Train Input Output Interface·······································································32

1.5 Options························································································································ 32

1.5.1 Pulse converter : AK-04 ······················································································· 32

1.6 Installation and Storage Environment ·········································································33

1.7 Noise Elimination and Mounting Method ····································································34

Chapter 2 Wiring·············································································································37

2.1 Positioner Mode (PIO Control)···················································································· 37

2.1.1 Wiring Diagram (Connection of devices)····························································· 37

2.1.2 PIO Pattern Selection and PIO Signal································································· 38

2.1.3 Circuit Diagram ····································································································43

[1] Power Supply Connector (for power supply and emergency stop) ······················· 43 [2] Motor • Encoder Circuit·························································································· 44 [3] Absolute Circuit (For Simplified Absolute Type Only)············································ 44 [4] PIO Circuit ············································································································· 45

2.2 Pulse Train Control Mode ···························································································51

2.2.1 Wiring Diagram (Connection of devices)····························································· 51

2.2.2 I/O Signals in Pulse Train Control Mode······························································ 52

2.2.3 Circuit Diagram ····································································································53

[1] Power Supply Connector (for power supply and emergency stop) ······················· 53 [2] Motor • Encoder Circuit·························································································· 54 [3] PIO Circuit ············································································································· 55 [4] Circuits for Pulse Train Control·············································································· 56

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2.3 Wiring Method············································································································· 57

2.3.1 Wiring Layout of Power Supply Connector·························································· 57

2.3.2 Connection to Actuator ························································································ 58

2.3.3 Connection of PIO ······························································································· 59

2.3.4 Connection of Pulse Train Signal·········································································60

2.3.5 SIO Connector Connection··················································································61

Chapter 3 Operation ······································································································· 63

3.1 Basic Operation ·········································································································· 63

3.1.1 Basic Operation Methods ···················································································· 63

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

3.2 Operation in Positioner Mode······················································································· 66 [1] PIO Pattern Selection and Main Functions ···························································66 [2] Overview of major Functions·················································································67 [3] Operation modes of rotary actuator in multiple rotation mode and

command limitations······························································································ 67

3.2.1 Set of Position Table (This section is not required in selection of pulse train control mode.)················ 68

3.2.2 Control of Input Signal ························································································· 73

3.2.3 Operation Ready and Auxiliary Signals = Common to Patterns 0 to 5················ 73

[1] Emergency stop status (EMGS)············································································73 [2] Operation Mode (RMOD, RMDS)·········································································· 74 [3] Servo ON (SON, SV, PEND) ················································································· 75 [4] Home Return (HOME, HEND, PEND, MOVE)······················································ 76 [5] Zone Signal and Position Zone Signal (ZONE1, ZONE2, PZONE)······················ 80 [6] Alarm, Alarm Reset (*ALM, RES)·········································································· 82 [7] Binary Output of Alarm Data Output (*ALM, PM1 to 8) ········································· 83 [8] Brake release (BKRL)···························································································· 85

3.2.4 Operation with the Position No. Input = Operations of PIO Patterns 0 to 3 ········ 86

[1] Positioning [Basic]

(PC1 to PC**, CSTR, PM1 to PM**, PEND, MOVE, LOAD, TRQS) ····················· 86 [2] Speed change during the movement····································································· 91 [3] Pitch Feeding (relative movement = incremental feed)·········································92 [4] Pressing operation································································································· 94 [5] Tension Operation ································································································· 99 [6] Multi-step pressing ······························································································101 [7] Teaching by PIO (MODE, MODES, PWRT, WEND, JISL, JOG+, JOG-) ············ 102 [8] Pause and Operation Interruption (*STP, RES, PEND, MOVE)·························· 104

3.2.5 Direct Position Specification (Solenoid Valve Mode 1) = Operation of PIO Pattern 4··················· 106

[1] Positioning [Basic] (ST1 to ST6, PE1 to PE6, PEND)········································· 106 [2] Pitch Feeding (relative movement = incremental feed)·······································108 [3] Pressing operation······························································································· 110 [4] Tension Operation ······························································································· 114 [5] Multi-step pressing ······························································································ 116 [6] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND)······················ 117

3.2.6 Direct Position Specificatio

n (Solenoid Valve Mode 2) =

Operation of PIO Pattern 5··················· 119

[1] Home return (ST0, HEND) ·················································································· 119 [2] Features of LS signals (LS0 to 2)········································································123 [3] Positioning [Basic] (ST0 to ST2, LS0 to LS2)······················································124 [4] Speed change during the movement··································································· 126 [5] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND)······················ 128

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3.3 Pulse Train Control Mode (for Pulse Train Type)······················································ 129

3.3.1 I/O Signal Controls····························································································· 130

3.3.2 Operation Ready and Auxiliary Signals ····························································· 130

[1] System Ready (PWR) ·························································································130 [2] Emergency stop status (*EMGS)········································································· 130 [3] Operation Mode (RMOD, RMDS)········································································131 [4] Compulsory Stop (CSTP) ···················································································· 132 [5] Servo ON (SON, SV)···························································································132 [6] Home Return (HOME, HEND)············································································· 133 [7] Zone (ZONE1, ZONE2)·······················································································137 [8] Alarm, Alarm Reset (*ALM, RES)········································································ 138 [9] Binary Output of Alarm Data Output (*ALM, ALM1 to 8) ····································· 138 [10] Brake Forcible Release (BKRL) ·········································································· 139

3.3.3 Pulse Train Input Operation··············································································· 140

[1] Command Pulse Input (PP•/PP, NP•/NP)····························································140 [2] Position complete (INP)······················································································· 141 [3] Torque Limit Select (TL, TLR)··············································································142 [4] Deviation Counter Clear (DCLR)·········································································142

3.3.4 Settings of Basic Parameters Required for Operation ······································ 143

[1] Electrical Gear Setting························································································· 143 [2] Format Settings of Command Pulse Train ··························································145

3.3.5 Parameter Settings Required for Advanced Operations ···································146

[1] Position command primary filter time constant····················································146 [2] Torque Limit ·········································································································146 [3] Clearing deviation during servo OFF or alarm stop ············································ 146 [4] Error monitor during torque limiting····································································· 147 [5] Deviation Counter Clear Input ·············································································147 [6] Torque limit command input·················································································147 [7] Pulse count direction ··························································································· 147 [8] Compulsory Stop Input ························································································147

Chapter 4 Field Network ······························································································· 149

Chapter 5 Power-saving Function (Automatic Servo-off and Full Servo Functions)····· 151

Chapter 6 Absolute Reset and Absolute Battery ··························································155

6.1 Absolute Reset·········································································································· 155

6.2 Absolute Battery········································································································ 159

6.2.1 Absolute encoder backup specifications ··························································· 159

6.2.2 Absolute Battery Charge···················································································· 159

6.2.3 Absolute Battery Voltage Drop Detection ·························································· 160

6.2.4 Replacement of absolute battery······································································· 161

Chapter 7 I/O Parameter ······························································································163

7.1 I/O Parameter List·····································································································164

7.2 Detail Explanation of Parameters ·············································································168

7.3 Servo Adjustment······································································································ 194

Chapter 8 Troubleshooting ··························································································· 197

8.1 Action to Be Taken upon Occurrence of Problem·····················································197

8.2 Fault Diagnosis ········································································································· 198

8.2.1 Impossible operation of controller······································································198

8.2.2 Positioning and speed of poor precision (incorrect operation) ·························· 202

8.2.3 Generation of noise and/or vibration ································································· 204

8.2.4 Impossible Communication ··············································································· 205

8.3 Alarm Level ···············································································································206

8.4 Alarm List ·················································································································· 207

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Chapter 9 Appendix ······································································································ 217

9.1 Way to Set Multiple Controllers with 1 Teaching Tool ··············································· 217

9.1.1 Connecting Example·························································································· 217

9.1.2 Detailed Connection Diagram of Communication Lines···································· 218

9.1.3 Axis No. Setting ································································································· 218

9.1.4 Handling of e-CON connector (how to connect)················································ 219

9.1.5 SIO Converter····································································································220

9.1.6 Communications Cable······················································································ 222

9.1.7 External Dimension···························································································· 222

9.2 Conformity to Safety Category··················································································223 [1] System Configuration ··························································································223 [2] Wiring and setting of safety circuit······································································· 224 [3] Examples of safety circuits··················································································226 [4] TP adapter and accessories················································································232

9.3 When Connecting Power Supply with + Grounding··················································234

9.4 Example of Basic Positioning Sequence (PIO pattern 0 to 3) ·································· 235

9.4.1 I/O Assignment ··································································································235

9.4.2 Ladder Sequence ······························································································ 236 [1] Servo ON (Emergency Stop) Circuit···································································· 236 [2] Operation and Stop Circuit ·················································································· 236 [3] Pause Circuit ·······································································································237 [4] Reset Circuit ········································································································ 238 [5] Home Return Circuit····························································································239 [6] Decode Circuit of Positioning Complete Position No. ·········································240 [7] Actuator Start Circuit····························································································240 [8] Position 1 Operation Circuit················································································· 241 [9] Position 2 Operation Circuit················································································· 242 [10] Position 3 Operation Circuit················································································· 243 [11] Commanded Position No. Output Ready Circuit·················································244 [12] Commanded Position No. Output Circuit ···························································· 245 [13] Start Signal Output Circuit··················································································· 245 [14] Other Display Circuits (Zone 1, Position Zone, and Manual Mode) ···················· 246

9.5 List of Specifications of Connectable Actuators ························································247

Chapter 10 Warranty ···································································································· 283

10.1 Warranty Period ·········································································································283

10.2 Scope of the Warranty································································································283

10.3 Honoring the Warranty ·······························································································283

10.4 Limited Liability··········································································································· 283

10.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications································································································· 284

10.6 Other Items Excluded from Warranty·········································································284

Change History ············································································································· 285

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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.

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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

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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).

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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.

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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.

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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.

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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

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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.

This controller processes 7 types of control logics (including 6 types of PIO patterns and pulse train control) to meet various ways of usage, and changes the role of each PIO signal following the selected control logic.

1) In PIO specification, there are 6 types of PIO patterns available to choose from.

2) For Pulse Train specification, not only the pulse train control mode, but also 6 types of PIO patterns are available.

The setup can be performed by using the operation mode change switch or parameter No.25 “PIO pattern selection” on the front panel. [Refer to Chapter 3 Operation and Chapter 7 I/O Parameter.] The PIO pattern is set to “0” (Standard Type) when the unit is delivered. Set the operation pattern setting to the logic that suits to your use after the power is turned on.

5. Clock Setting in Calendar Function

There may be a case that “Error Code 069 Real Time Clock Vibration Stop Detect” is issued at the first time to turn the power on after the product is delivered. In the case this happens, set the current time with a teaching tool. If the battery is fully charged, the clock data is retained for approximately 10 days after the power is turned off. Even though the time setting is conducted before the product is shipped out, the battery is not fully charged. Therefore, there may be a case that the clock data is lost even with fewer days than described above passed since the product is shipped out.

6. In pulse train control mode, actuator operation is unavailable through serial communication.

In the pulse train control mode, the actuator operation is unavailable through serial communication. However, it is possible to monitor the current status.

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.

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7. Attempt not to exceed the actuator specifications in the pulse train control mode.

In the pulse train control, the acceleration/deceleration speed is also controlled by the change of the command pulse frequency from the host controller. Do not have an operation exceeding the maximum acceleration/deceleration rate of the actuator. The use of the actuator with excessive acceleration/deceleration rate may cause a malfunction.

8. Actuator would not operate without servo-on and pause signals.

(1) Servo ON Signal (SON)

Servo ON signal (SON) is selectable from “Enable” or “Disable” by using a parameter. It is settable by parameter No.21 “selection of servo-on signal disable”. [Refer to Chapter 7 I/O Parameter.] If it is set to “Enable”, the actuator would not operate unless turning this signal on. If parameter No.21 is set to “1”, SON requirement is disabled. If it is set to “Disable”, the servo becomes on and the actuator operation becomes enabled as soon as the power supply to the controller is turned on and the emergency stop signal is cancelled. This parameter is set to “0” (Enable) at delivery. Have the setting that suits the desired control logic.



(2) Pause Signal (*STP)

The input signal of the pause signal (*STP) is always on considering the safety. Therefore, in general, the actuator would not operate if this signal is not on. It is available to make this signal to “Disable”, if this signal is undesirable. It is settable by parameter No.15 “Pause input disable”. [Refer to Chapter 7 I/O Parameter.] If parameter No.15 is set to “1” (Disable), the actuator can operate even if this signal is not on. This parameter is set to “0” (Enable) at delivery.

9. Note that there are some frictions and/or torsions in through-hole of rotary actuator when it is used.

When using rotary actuator with a through hole in the center of the revolution and using the hole to put cables through, have a treatment to prevent wear from rubbing or wire break due to the cables getting twisted. Take particular note on actuators of 360-degree specification because they can be rotated infinitely in a single direction.

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10. Limitations on operation of rotary actuator in index mode

Rotary actuators of 360-degree 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 I/O Parameter.] The following limitations are applied to the index mode:

1) Index Mode cannot be selected in Pulse Train Control Mode.

2) In the JOG or Inching Operation using a teaching tool such as PC software or using PIO

signal, the range of 1 time of command is 360q at maximum for JOG while 1q at maximum for Inching.

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 0q. Failure

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

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



11. Transference of PIO Signal between Controllers

Please note the following when conducting transference of PIO signal between controllers. To certainly transfer the signal between controllers with different scan time, it is necessary to have longer scan time than the one longer than the other controller. To ensure to end the process safely, it is recommended to have the timer setting more than twice as long as the longer scan time at least.

䎃

Ɣ Operation Image

䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃

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.

This controller

(scan time 1msec)

PLC

(e.g. scan time is 20msec)

Output Process

Input Process

As shown in the diagram, the input and output timings of two devices that have different scan time do not match, of course, when transferring a signal. There is no guarantee that PLC would read the signal as soon as this controller signal turns on. In such a case, make the setting to read the signal after a certain time that is longer than the longer scan time to ensure the reading process to succeed on the PLC side. It is the same in the case this controller side reads the signal. In such a case, it is recommended to ensure 2 to 4 times of the scan time for the timer setting margin. It is risky to have the setting below the scan time since the timer is also processed in the scan process. In the diagram, 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 output status for that while.

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12. 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

PCON-CA comply with the following international standards: Refer to Overseas Standard Compliance Manual(ME0287) for more detailed information.

RoHS Directive CE Marking UL

{

To be scheduled To be scheduled

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Name for Each Parts and Their Functions

CA Type

CFA Type

14) Fan Unit Desorption Lever

1) Absolute Battery Connector

(For Simple Absolute Type)

2) Absolute Battery (For Simple Absolute Type)

3) Absolute Battery Status Indicator LED (For Simple Absolute Type)

5) Controller Status Indicator LED

7) Axis Number Setting Switch

8) Operation Mode Setting Switch

9) SIO Connector

10) Motor • Encoder Connector

11) Brake Release Switch

12) Power Supply Connector

4) PIO Connector /Field Network Connector

6) LED for Power/Alarm Monitoring

1) Absolute Battery Connector (Not to be used)

13) Fan Unit

3) Absolute Battery Status Indicator LED (Not to be used)

5) Controller Status Indicator LED

7) Axis Number Setting Switch

8) Operation Mode Setting Switch

9) SIO Connector

10) Motor • Encoder Connector

11) Brake Release Switch

12) Power Supply Connector

4) PIO Connector /Field Network Connector

6) LED for Power/Alarm Monitoring

2) Absolute Battery (Unavailable)

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1) Absolute Battery Connector [Refer to Chapter 6] It is the connector to plug in the enclosed battery if applicable for Simple Absolute Type (option).

2) Absolute Battery [Refer to Chapter 6] It is enclosed if applicable for Simple Absolute Type (option). It is used to retain the encoder information. Use unit by affixing it on the side of PCON body with fabric hook-and-loop fastener or store it Absolute Battery Unit (option).

3) Absolute Battery Status Indicator LED [Refer to Chapter 6] It is equipped if applicable for Simple Absolute Type (option). It displays the status such as battery charge condition and error generation. { : Illuminating × : OFF

LED Operation status

RDY(GN)/

ALM(RD)

1 (GN/RD) 0 (GN/OR/RD) Description

× × × Control Power OFF

{ (GN) { (GN)

{

(Either color)

Absolute Reset Complete

{ (GN) { (RD)

{

(Either color)

Absolute Reset Incomplete

{ (RD) { (RD)

{

(Either color)

Error occurred.

{

(Either color)

{

(Either color)

{ (GN) Battery Fully Charged

{

(Either color){

(Either color)

{ (OR) Battery Charging Operation

{

(Either color){

(Either color)

{ (RD) Battery Disconnected

4) PIO Connector/Field Network Connector PIO Type is equipped with the input and output signal connectors for control and Fieldbus Network Type with connectors for each field network connection. [Refer to 2.1.2 PIO Pattern Selection and PIO Signal or 2.2.2 I/O Signals in Pulse Train Control Mode] [For the details of the field network, refer to Chapter 4 and the instruction manual for each field network.]

5) Controller Status Indicator LED Following show the controller operation status: { : Illuminating × : OFF ڏ : Flashing

LED Status of PIO Output Signal

SV (GN)

ALM (RD)

Operation status

SV Output

(Servo ON)

*ALM Output

(Note 1)

*EMGS

Output

(Note 1)

(Emergency

stop status)

Control Power OFF

× ×

Servo OFF

Alarm

(Operation Cancellation

Level or more)

OFF OFF OFF

Motor Driving Power

Supply OFF

{

In the Emergency Stop

OFF OFF ON

{

× Servo ON ON ON OFF

During Automatic

servo-off

(Note 2)

OFF ON OFF

{ (OR)

During initialization after

power is supplied

OFF OFF OFF

Note 1 *ALM output is an active low signal that is turned on when in normal condition and

turned off when an error is generated.

Note 2 Signal during automatic servo-off : [Refer to Chapter 5]

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PCON-CA/CFA

6) LED for Current/Alarm Monitoring In the ordinary use, it shows the command current percentage and shows the alarm code during an alarm being generated.

LED Operation Status

STS3 (GN)

STS2 (GN)

STS1 (GN)

STS0 (GN)

Status Display

x During servo-off: it displays the current command current ratio

(proportional to the rated current).

{ : Illuminating × : OFF

STATUS

3 2 1 0

Command Current Ratio

ALM8 ALM4 ALM2 ALM1 Simple alarm code

× × × × 0.00% to 6.24% × × ×

{

6.25% to 24.99%

× ×

{ {

25.00% to 49.99%

{ { {

50.00% to 74.99%

{ { { {

75.00% to 100.00% or more

x During alarm generation: it displays the simple alarm code.

[Refer to 3.2.3 [7] and 3.3.2 [9] Binary Output of Alarm Data Output]

7) Axis Number Setting Switch It is the switch to set the axis numbers when having an operation of multiple axes by the serial communication, or when having the gateway operation. Using the SIO converter allows multiple axes to be controlled on a teaching tool without connection/disconnection of the connection cable connector. The SIO converter can specify up to 16 axes with hexadecimal numbers 0 to F. The setting of the switch is read at power-on of the controller. Changing the setting after the power-on is invalid.

Caution : Note duplicate axis number setting, which causes a communication error

(alarm code 30C: no connection axis error) to occur and disables normal communication.

8) Operation Mode Setting Switch (MANU/AUTO) This switch is used for interlock so that a moving command from PIO (PLC) and a command from the teaching tool may not be issued at a time.

AUTO… Allows auto operation by PIO signals. The teaching tool can only operate the

monitor.

MANU…Allows the teaching tool to operate the controller.

9) SIO Connector (SIO) [Refer to 2.3.5 SIO Connector Connection.] The SIO connector is used to connect the controller with a teaching tool or a gateway unit through a proper communication cable.

10) Motor • Encoder Connector [Refer to 2.1.3 [2] and 2.2.3 [2] Motor • Encoder Circuit] It is the connector to connect the actuator motor and encoder cable.

Point the arrow at a desired number with a flat-head screwdriver

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11) Brake Release Switch (BK RLS/NOM) For the actuator equipped with a brake, the switch is used to release the brake forcibly. BK RLS ····· Brake forcible release NOM·········· Normal operation (brake is activated)

12) Power Supply Connector [Refer to 2.3.1 Wiring Layout of Power Supply Connector] It is the connector for the power supply (for controller control power, actuator driving and brake control power) and for the input of emergency status signal.

13) Fan Unit It is a forced cooling unit dedicated for PCON-CFA Type.

14) Fan Unit Desorption Lever When replacing the fan unit, pull the lever up and the fan unit can be taken out. After replacing with a new unit, push the lever down to affix the unit.

Warning : Always set the switch to “NOM” in normal operation.

(Make sure the opportunity to put the switch to RLS side is the minimum and is limited to when startup and adjustment. Make certain to set the switch to NOM side in normal use.) The brake would not work even with the servo OFF condition if the switch is on the RLS side. In the vertical oriented mount, the work may drop and cause an injury or the work to be damaged.

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Actuator Axes

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

(1) Rod Type

(2) Slider Type

(3) Table Type

(4) Arm Type

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.

(0)

(+)

(0)

(+)

(0)

(+)

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PCON-CA/CFA

(5) Gripper Type

(3-Finger Gripper)

Note Finger attachment is not included in the actuator package. Please prepare separately.

(6) Rotary Type

(300q Rotation Specification) (Multiple Rotation Specification)

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

㧜

330

㧙

㧗

Finger Attachment (Note)

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PCON-CA/CFA

Starting Procedures

1. Positioner Mode

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

ωYes

No ψ

ωYes

No ψ

Check Item

Is the Controller Status Display LED turned OFF?

Connect the teaching tool such as PC to confirm the content of alarm and have an appropriate treatment.

Servo ON

Turn the servo ON with the operation on the teaching tool such as PC.

Check Item

Is the Controller Status Display LED turned ON in green [SV]?

Safety Circuit Check

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

Check the emergency stop circuit.

Target Position Setting

Set the target position in “Position” Box in each position table. Perform a home-return operation first when Direct Teaching is to be performed. When moving the actuator manually, set the Brake Release Switch to “BK RLS” side for the brake equipped type. Put the switch back after the setting is complete.

No ψ

ωYes

Safety Speed Setting

Set the Parameter No.35 if necessary. The safet

y sp

eed is set to 100mm/s or less at the delivery.

Test Run Adjustment 1

Check the operation without mounting a work and set the safety speed invalid on the teaching tool such as PC, and then check the operation with a work mounted.

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.

Power Supply and Alarm Check

Connect a teaching tool such as PC, turn the operation mode setting switch to “MANU” side and turn the power ON for unit. Select [Teaching Mode 1 Safety Speed Activated / PIO Operation Invalid] in the teaching tool.

If an alarm is generated, connect the PC or teaching pendant and check the content of the alarm to have the right treatment.

ωYes

φYes

Test Run Adjustment 2

1) Set the operation mode setting switch to “AUTO”.

2) Output the operation command from PLC to the controller and check the system operation.

Check Item

Any vibration or abnormal noise?

No ψ

ωYes

Check of Packed Items

Are there all the delivered items?

 Caution To ensure safety, it is recommended

that safety speed be enabled during initial movements.

Installation and Wiring [Refer to Chapter 1, 2.1, 2.3]

Perform the installation of and wiring for the actuator and controller.

Caution Please perform this process with the actuator away from the mechanical end or interfering subjects as much as possible. Put the actuator away if it interferes with surroundings. It may generate an alarm if the actuator hit the mechanical end or interfering subjects 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.

Warning In the case the actuator is installed in vertical orientation and put the brake release switch to [BK RLS] side, be

careful not to drop it with self-weight and pinch your hand or damage the work.

PIO Pattern Settings

Set the used PIO pattern to Parameter No.25.

Point Check Item

• Is frame ground (FG) connected?

• Has the noise countermeasure been taken?

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2. Pulse Train Control Mode (for Pulse Train Type)

This product is capable for the positioning control using the pulse train of IAI actuators. It is necessary to have the positioning control function able to output the pulse train on the host controller (PLC). When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below. “PC” stated in this section means “PC software”.

Set the Electronic Gear [Refer to 3.3.4 [1]]

Set the electronic gear ratio based on the amount of actuator operation per pulse in Parameters No.65 and 66.

Check Item

Is the minimum unit of operation set to the value bigger than the minimum resolution of the encoder? Is the fraction of the electronic gear ratio reduced to its lowest terms?

φYes

Pulse Train Input Output Mode Setting [Refer to 3.3.4 [2]]

Set the command pulse train input status for the parameter No.63 and No.64. Put Operation Mode Setting Switch to “AUTO” side when the setting is complete.

Servo ON

Input servo ON signal from PLC.

Check Item

Is the Controller Status Display LED turned ON in green [SV]?

No ψ

Confirm the content of alarm on the teaching tool such as PC to have an appropriate treatment.

φYes

Safety Circuit Check

Check that the emergency stop circuit (or motor drive-power cutoff circuit) operates normally to turn OFF the servo.

No ψ

Check the emergency stop circuit.

ωYes

No ψ

ωYes

No ψ

Check Item

Is the Controller Status Display LED turned OFF?

Connect the teaching tool such as PC to confirm the content of alarm and have an appropriate treatment.

Test Run Adjustment 2 [Operation Mode AUTO]

Output the pulse train from PLC to the controller and check the system operation.

No ψ

Check the electronic gear ratio setting. Confirm the command pulse train input mode setting.

Confirm that there is no problem in the actuator installation, the actuator operation condition demands a voltage more than rated voltage, and appropriate pulse trains are input.

Power Supply and Alarm Check

ωYes

φYes

Check of Packed Items

Are there all the delivered items?

Installation and Wiring [Refer to Chapter 1, 2.2, 2.3]

Perform the installation of and wiring for the actuator and controller.

Point Check Item

• Is frame ground (FG) connected?

• Has the noise countermeasure been taken?

Test Run Adjustment 1 [Operation Mode MANU]

Check with a teaching tool such as the PC with no work being loaded, and check the operation range with JOG operation with the work being loaded.

Check if there is any problem in the way of actuator mount.

Check Item

Is there any risk of interfering with peripheral equipment?

Yes ψ

ωNo

Can the positioning operation be performed normally?

ωYes

Is it in condition without any vibration and abnormal noise?

Test Run Adjustment 3

Check the system operation conducted by PLC.

PIO Pattern Settings

Set the used PIO pattern to Parameter No.25.

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Chapter 1 Specifications Check

1.1 Product Check

1.1.1 Parts

This product is comprised of the following parts if it is of standard configuration. If you find any fault in the contained model or any 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

2 I/O Flat Cable CB-PAC-PIO*** 1

***shows the cable length (Example) *** : 020 2 [m]

3 Power Connector

FMC1.5/8-ST-3.5 (Supplier : Phoenix Contact)

Recommended cable size AWG16 to 20 (1.25 to 0.5mm

)

Absolute Battery (Option)

AB-7 or SEP-ABU* 1 For Simple Absolute Type

5 First Step Guide 1

Instruction Manual (CD/DVD)

7 Safety Guide 1

1.1.2 Teaching Tool

A teaching tool such as PC software is necessary when performing the setup for position setting, parameter setting, etc. that can only be done on the teaching tool. Please prepare either of the following teaching tools.

No. Part Name Model

PC Software (Includes RS232C Adapter  Peripheral Communication Cable)

RCM-101-MW

PC Software (Includes USB Adapter  USB Cable  Peripheral Communication Cable)

RCM-101-USB

3 Teaching Pendant (Touch Panel Teaching) CON-PTA

4 Teaching Pendant (Touch Panel Teaching with deadman switch) CON-PDA

Teaching Pendant (Touch Panel Teaching with deadman switch  TP Adapter (RCB-LB-TG))

CON-PGA

Chapter 1 Specications Check

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1.1.3 Instruction manuals related to this product, which are contained in the instruction manual (CD/DVD).

No. Name Manual No.

1 PCON-CA Controller Instruction Manual ME0289

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

ME0155

3 Touch Panel Teaching CON-PTA/PDA/PGA Instruction Manual ME0295

4 Instruction Manual for the serial communication [for Modbus] ME0162

5 CC-Link Instruction Manual ME0254

6 DeviceNet Instruction Manual ME0256

7 PROFIBUS-DP Instruction Manual ME0258

8 CompoNet Instruction Manual ME0220

9 MECHATROLINK Instruction Manual ME0221

10 EtherCAT Instruction Manual ME0273

11 EtherNet/IP Instruction Manual ME0278

1.1.4 How to read the model plate

1.1.5 How to read the model

P C O N - C A - 2 0 P I - N P - 2 - 0 - A B - D N– **

<Type>

CA : Standard Type CFA : High Thrust Actuator Connected Type

[Motor Type] 20P : 20Ƒ pulse motor 20SP : 20Ƒ pulse motor 28P : 28Ƒ pulse motor 28SP : 28Ƒ pulse motor 35P : 35Ƒ pulse motor 42P : 42Ƒ pulse motor 56P : 56Ƒ pulse motor 86P : 86Ƒ pulse motor [Encoder Type? I : Incremental

NP : NPN PIO Specification (Sync. Type) PLN : Pulse Train NPN Specification PN : PNP Specification (Source Type) PLP : Pulse Train PNP Specification CC : CC-Link Connection Type DV : DeviceNet Connection Type PR : PROFIBUS-DP Connection Type CN : CompoNet Connection Type ML : MECHATROLINK Connection Type EC : EtherCAT Connection Type EP : EtherNet/IP Connection Type

There is no identification in some cases

(Not Specified) : Screw Attachment Type DN : DIN Rail Mounting Type

AB : Simple Absolute Type (With the Absolute Battery) ABU : Simple Absolute Type

(With the Absolute Battery Unit

(SEP-ABU)) ABUN : Simple Absolute Type (With no Absolute Battery)

<Power-supply Voltage>

0 : 24V DC

0 : Equipped with no cable 2 : 2m (Standard) 3 : 3m 5 : 5m

Model

Serial numbe

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1.2 List of Basic Specifications

Description

Item

PCON-CA PCON-CFA Number of controlled axes 1-axis Power-supply Voltage

24V DC r10% 20P,28P,28SP MAX. 1.0A 35P,42P,56P MAX. 2.2A

RCP2 RCP3

Motor Type

60P,86P Rated 4.2A / MAX. 6A

High-thrust function

is disabled

MAX. 2.2A

Load current (including control side current consumption)

(Note 1)

RCP4 Motor

Type

42P,56P

High-thrust function

is enabled

Rated 3.5A / MAX. 4.2A

Power Supply for Electromagnetic Brake (for actuator equipped with brake)

24V DC r10% 0.15A (MAX.)

RCP2, RCP3 5W 26.4W Heat Generation RCP4 8W

Rush Current

(Note 2)

8.3A 10A

Transient Power Cutoff Durability

MAX.500Ps

Motor Control System Weak field-magnet vector control Corresponding Encoder Incremental encoder Resolution 800pulse/rev Actuator Cable Length MAX. 20m Serial Communication Interface

(SIO Port)

RS485 : 1 channel (based on Modbus Protocol RTU/ASCII)

Speed : 9.6 to 230.4Kbps

Control available with serial communication in the modes other than the pulse train

PIO Type

Signal I/O dedicated for 24V DC (selected from NPN/PNP)  Input 16 points max., output 16

points max.

Cable length MAX. 10m

External Interface

Field Network Type DeviceNet, CC-Link, PROFIBUS, CompoNet, MECHATROLINK, EtherCAT, EtherNet/IP Data Setting and Input PC Software, Touch Panel Teaching, Teaching Pendant Data Retention Memory Saves position data and parameters to non-volatile memory

(There is no limitation in number of writing.) Operation Mode Positioner Mode/Pulse Train Control Mode (selected by parameter setting) Number of Positions in Positioner Mode Standard 64 points, MAX. 512 points

(Note) Number of positions differs depending on the selection in PIO pattern.

Differential System (Line Driver System) : MAX. 200kpps Cable length MAX. 10m Input Pulse

Open Collector System : Not applicable.

* If the host applies the open collector output, prepare AK-04 (option) separately to convert

to the differential type.

Command Pulse Multiplying Factor (Electrical Gear : A/B)

1/50 < A/B < 50/1

Setting Range of A and B (set to parameter) : 1 to 4096

Pulse Train

Interface

Feedback Pulse Output None

LED Display (mounted on Front Panel)

SV (GN)/ALM (RD) : Servo ON/Alarm generated

STS0 to 3 : Status display

RDY (GN)/ALM (RD) : Absolute function in normal / absolute function error (for the simple

absolute type)

1, 0 (GN) (RD) : Absolute function status display (for the simple absolute type) Electromagnetic Brake Compulsory Release

Switch (mounted on Front Panel)

Switching NOM (standard)/BK RLS (compulsory release)

Insulation Resistance

500V DC 10M: or more Protection Function against Electric Shock Class I basic insulation

Incremental Type Screw fixed type : 250g or less

DIN rail fixed type : 285g or less

Screw fixed type : 270g or less DIN rail fixed type : 305g or less

Weight

(Note 3)

Simple Absolute Type (including 190g for battery)

Screw fixed type : 450g or less

DIN rail fixed type : 485g or less Cooling Method Natural air-cooling Forced air-cooling

External dimensions

Screw fixed type : 35W×178.5H×69.1D

DIN rail fixed type : 35W×185H×77.6D

Screw fixed type : 35W×190H×69.1D DIN rail fixed type : 35W×196.3H×77.6D

Surrounding Air Temperature

0 to 40qC

Surrounding Humidity 85%RH or less (non-condensing) Surrounding Environment [Refer to Installation Environment] Surrounding Storage Temperature

-20 to 70qC (Excluding battery) Usage Altitude 1000m or lower above sea level Protection Class IP20

Environment

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

Note 1 Value increases in 0.3A for Field Network Type. Note 2 In-rush current will flow for approximately 1 to 5msec after the power is turned on (at 40 qC).

Note that the value of in-rush current differs depending on the impedance of the power supply line.

Note 3 Value increases in 30g for Field Network Type.

Chapter 1 Specications Check

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1.3 Appearance

1.3.1 CA Type ·········· For Incremental Screw-fixed Type

84.8

69.1

170.5

178.5

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PCON-CA/CFA

1.3.2 CA Type ·········· For Incremental DIN rail-fixed Type

178.5

185

(5)

93.3

77.6

8.5

104 from DIN rail center

35.4 (Width of 35mm DIN rail)

(for FG cable attachment)

Chapter 1 Specications Check

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1.3.3 CA Type ·········· For Simple Absolute Screw-fixed Type

84.8

69.1

(40.5)

(58)

170.5

178.5

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1.3.4 CA Type ·········· For Simple Absolute DIN rail-fixed Type

178.5

185

(5)

(58)

93.3

77.6

8.5

104 from DIN rail center

35.4 (Width of 35mm DIN rail)

(for FG cable attachment)

Chapter 1 Specications Check

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1.3.5 CFA Type ········ For Incremental Screw-fixed Type

84.8

69.1

190

170.5

(7)

(Note) When using the

attachment hole on the top of the controller, detach the fan unit temporarily.

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1.3.6 CFA Type ········ For Incremental DIN rail-fixed Type

(5)

190

(7)

93.3

77.6

8.5

104 from DIN rail center

35.4 (Width of 35mm DIN rail)

Chapter 1 Specications Check

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PCON-CA/CFA

1.3.7 Absolute Battery Unit (Option for Simple Absolute Type)

1) DIN Rail Mounting Type

100

(5)

110

35.4

(Width of 35mm

DIN rail)

72.2

66.2

50 from DIN

rail center

2) Screw Mounting Type

122

130

73.5

66.2

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1.4 I/O Specifications

1.4.1 PIO Input and Output Interface

Input Section Output Section

Input Voltage

24V DC r10%

Load Voltage 24V DC

Input Current 5mA 1circuit

Peak Load

Electric Current

50mA 1circuit

Specification

ON/OFF

Voltage

ON Voltage MIN. 18V DC OFF Voltage MAX. 6V DC

Leakage

Current

MAX. 2mA/1point

NPN

680

5.6K

P24

External Power Supply 24V DC

Input Terminal

Internal

Power

Source

PCON

P24

Load

External Power Supply 24V DC

Output Terminal

Internal

Power

Source

PCON

PNP

680

5.6K

External Power Supply 24V DC

Input Terminal

Internal

Power

Source

PCON

P24

Load

External Power Supply 24V DC

Output Terminal

Internal

Power

Source

PCON

I/O Cable Refer to 2.1.3 [3] PIO Circuit

Insulated Insulation with Photocoupler

NPN Specification PNP Specification

Pin No.

Load

Chapter 1 Specications Check

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1.4.2 Pulse Train Input Output Interface

Line Driver Input

Specification

Sends input pulse from the host unit that is installed with a line driver 26C31 or equivalent

Host Unit

Positioning Unit

PCON

/PP

/NP

Pulse Train

Form

Including active high and active low

1.5 Options

1.5.1 Pulse converter : AK-04

The pulse converter converts command pulses in the open collector mode to those in the differential mode. Use this converter if the host controller sends output pulses in the open collector mode.

Item Specification

Input Power Supply

24V DC r10% (MAX. 50mA)

Input Pulse O/C (Collector current MAX. 12mA) Input Frequency 200kpps or less Output Pulse Differential output equivalent to 26C31 (MAX. 10mA) Mass 10g or less (excluding cable connector) Accessories 37104-3122-000FL (e-CON Connector) 2 Units

Cover Color : YW Applicable wire AWGNo.24 to 26 (Less than 0.14 to 0.3mm

finished O.D. I1.0 to 1.2mm)

  Caution

1) Use the pulse converter in the surrounding temperature range between 0qC and 40qC.

2) The temperature increase of about 30qC occurs during operation. Accordingly, neither install several pulse converters in close contact nor install them within a duct. Do not install the pulse converter near other heating devices.

3) If more than one pulse converter are installed, set a pulse converter apart from another by 10mm or more.

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1.6 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.

x Location where the surrounding air temperature exceeds the range of 0 to 40qC x Location where condensation occurs due to abrupt temperature changes x Location where relative humidity exceeds 85%RH x Location exposed to corrosive gases or combustible gases x Location exposed to significant amount of dust, salt or iron powder x Location subject to direct vibration or impact x Location exposed to direct sunlight x Location where the product may come in contact with water, oil or chemical droplets x Environment that blocks the air vent [Refer to 1.7 Noise Elimination and Mounting Method]

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

x Location subject to electrostatic noise x Location where high electrical or magnetic field is present x Location with the mains or power lines passing nearby

[2] Storage and Preservation Environment

x Storage and preservation 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

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1.7 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.

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

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

) or more.

Connect the ground line together to the main unit using the fixing screw.

Controller

Other

equipment

Controller

Other

equipment

Other

equipment

Surge absorber

Relay coil

+24V 0V

+ -

Connect the ground cable using the tapped hole for FG connection on the main unit.

M3 x 5 nickeled pan head machine screw (enclosure dedicated for DIN rail fixed type)

Screw fixed type

DIN rail fixed type

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PCON-CA/CFA

(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 surrounding temperature around the controller below 40qC. To fix the units in the control box, use the attachment holes on top and bottom of the unit for the screw fixed type, and use the DIN rails for the DIN rail fixed type.

MIN. 30mm

MIN. 100mm

MIN. 50mm

MIN. 100mm

Ensure enough space for wiring.

(5) Installation of CFA Type

For CFA (screw fixed type), detach the fan unit temporarily and use the attachment hole on the top.

Chapter 1 Specications Check

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Chapter 1 Specications Check

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PCON-CA/CFA

Chapter 2 Wiring

2.1 Positioner Mode (PIO Control)

2.1.1 Wiring Diagram (Connection of devices)

Caution : Make sure to turn the power to the controller OFF when inserting or removing the

connector that connects the PC software or teaching pendant to the controller. (For touch panel teaching, insertion and removal of the active line is available.) Inserting or removing the connector while the power is turned ON causes a controller failure.

Teaching pendant Touch Panel Teaching (to be purchased separately)

PC Software (to be purchased separately)

ctuato

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

Power Source I/O Control (24V DC Please prepare separately)

Emergency Stop Circuit

Control/Driving Power Supply (24V DC Please prepare separately)

Chapter 2 Wiring

POWER CON

PCON-CA/CFA

2.1.2 PIO Pattern Selection and PIO Signal

(1) PIO Pattern (Control Pattern) Selection

The controller provides seven PIO patterns (control patterns). Set the most suitable PIO pattern with the actual use to Parameter No. 25 “PIO Pattern Select”. Refer to “3.2 Operation in Positioner Mode” for the details of PIO patterns.

Type

Value set in

parameter

No. 25

Mode Overview

PIO

Pattern 0

(at the

delivery)

Positioning Mode

(Standard Type)

x Number of positioning points : 64 points x Position command : binary code x Zone signal output

: 1 point

(Note2)

x Position zone signal output

: 1 point

(Note2)

PIO

Pattern 1

Teaching mode (Teaching type)

x Number of positioning points : 64 points x Position command : binary code x Position zone signal output

: 1 point

(Note2)

x Jog operation enabled by PIO signal x Writing current position data to position table

enabled by PIO signal

PIO

Pattern 2

256-point mode

(Number of

positioning points :

256-point type)

x Number of positioning points : 256 points x Position command : binary code x Position zone signal output

: 1 point

(Note2)

PIO

Pattern 3

512-point mode

(Number of

positioning points :

512-point type)

x Number of positioning points : 512 points x Position command : binary code x Zone signal output : None

PIO

Pattern 4

Solenoid Valve

Mode 1

(7-point type)

x Number of positioning points : 7 points x

Position command : Individual number signal ON

x Zone signal output*1 : 1 point

(Note2)

x Position zone signal output

: 1 point

(Note2)

PIO

Pattern 5

Solenoid Valve

Mode 2

(3-point type)

x Number of positioning points : 3 points x

Position command : Individual number signal ON

x Completion signal : Signal equivalent to LS

(limit switch) enabled

x Zone signal output

: 1 point

(Note2)

x Position zone signal output

: 1 point

(Note2)

PIO

Pattern 6

(Note 1)

Pulse Train Control

Mode

[Refer to 2.2]

x Differential pulse input (MAX. 200kpps) x Home return function x Zone signal output

: 2 point

x No feedback pulse output

*1 Zone signal output : Zone range is to be set to either Parameter No.1, 2 or No.23,

24 and it is always available after the home-return operation is complete.

*2 Position zone signal output:This feature is associated with the specified position number.

The zone range is set in the position table. The zone range is enabled only when the position is specified but disabled if another position is specified.

(Note 1) Pulse Train Control Mode is available only if the pulse train control type is indicated

(from PCON-CA-*-PLN and PLP) at the purchase.

(Note 2) Position Zone Signal can be switched over to Zone Signal with the setting of

Parameter No.149.

POWER CON

PCON-CA/CFA

(2) PIO Patterns and Signal Assignment

The signal assignment of I/O flat cable by the PIO pattern is as shown below. Follow the following table to connect the external equipment (such as PLC).

Parameter No.25 “PIO Pattern” Selection

0 1 2 3

Category

PIO Functions

Positioning mode Teaching mode 256-point mode 512-point mode

Number of positioning

points

64 points 64 points 256 points 512 points

Home return signal { { { {

Jog signal u { u u

Teaching signal

(Current position

writing)

u { u u

Input

Brake release { u { { Moving signal { { u u

Zone signal { ٌ

(Note 1)

Pin No.

Output

Position zone signal { { { u 1A 24V P24 2A 24V P24 3A – – 4A – – 5A IN0 PC1 PC1 PC1 PC1 6A IN1 PC2 PC2 PC2 PC2 7A IN2 PC4 PC4 PC4 PC4 8A IN3 PC8 PC8 PC8 PC8 9A IN4 PC16 PC16 PC16 PC16

10A IN5 PC32 PC32 PC32 PC32 11A IN6 – MODE PC64 PC64 12A IN7 – JISL PC128 P128 13A IN8 – JOG+ – PC256 14A IN9 BKRL JOG- BKRL BKRL 15A IN10 RMOD RMOD RMOD RMOD 16A IN11 HOME HOME HOME HOME 17A IN12 *STP *STP *STP *STP 18A IN13 CSTR CSTR/PWRT CSTR CSTR 19A IN14 RES RES RES RES 20A

Input

IN15 SON SON SON SON 1B OUT0 PM1(ALM1) PM1(ALM1) PM1(ALM1) PM1(ALM1) 2B OUT1 PM2(ALM2) PM2(ALM2) PM2(ALM2) PM2(ALM2) 3B OUT2 PM4(ALM4) PM4(ALM4) PM4(ALM4) PM4(ALM4) 4B OUT3 PM8(ALM8) PM8(ALM8) PM8(ALM8) PM8(ALM8) 5B OUT4 PM16 PM16 PM16 PM16 6B OUT5 PM32 PM32 PM32 PM32 7B OUT6 MOVE MOVE PM64 PM64 8B OUT7 ZONE1 MODES PM128 PM128 9B OUT8

(Note1)

PZONE/ZONE2 PZONE/ZONE1 PZONE/ZONE1 PM256 10B OUT9 RMDS RMDS RMDS RMDS 11B OUT10 HEND HEND HEND HEND 12B OUT11 PEND PEND/WEND PEND PEND 13B OUT12 SV SV SV SV 14B OUT13 *EMGS *EMGS *EMGS *EMGS 15B OUT14 *ALM *ALM *ALM *ALM

16B

Output

OUT15

LOAD/TRQS

*ALML

LOAD/TRQS

*ALML

LOAD/TRQS

*ALML 17B – – 18B – – 19B 0V N 20B 0V N

(Note) “*” in codes above shows the signal of the active low.

PM1 to PM8 indicate the alarm binary code output signal when an alarm is generated. [Refer to 3.2.3 [7] Binary Output of Alarm Data Output]

(Note 1) The mode can be switched over to PZONE with the setting of Parameter No.149 except for PIO Pattern 3.

(Reference) Signal of Active Low Signal with “*” expresses the signal of active low. A signal of active low is a signal that the input signal is processed when it is turned OFF, output signal is ordinarily (or just omit) on while the power is ON, and turns OFF when the signal is output.

Chapter 2 Wiring

POWER CON

PCON-CA/CFA

Parameter No.25 “PIO Pattern” Selection

4 5 6

Category

PIO Functions

Solenoid Valve

Mode 1

Solenoid Valve

Mode 2

Pulse Train Control

Mode

Number of positioning

points

7 points 3 points –

Home return signal { u {

Jog signal u u u

Teaching signal

(Current position

writing)

u u u

Input

Brake release { { { Moving signal u u u

Zone signal { { {

Pin No.

Output

Position zone signal { { u 1A 24V P24 2A 24V P24 3A – 㧖PP 4A

Pulse

input

– PP 5A IN0 ST0 ST0 SON 6A IN1 ST1 ST1(JOG+) RES 7A IN2 ST2 ST2

(Note 2)

HOME 8A IN3 ST3 – TL 9A IN4 ST4 – CSTP

10A IN5 ST5

–

DCLR

11A IN6 ST6

–

BKRL

12A IN7

–

RMOD

13A IN8

–

㧙

14A IN9 BKRL BKRL 㧙 15A IN10 RMOD RMOD 㧙 16A IN11 HOME

–

㧙

17A IN12 *STP

–

㧙

18A IN13

–

㧙

19A IN14 RES RES 㧙 20A

Input

IN15 SON SON 㧙

1B OUT0 PE0 LS0 PWR 2B OUT1 PE1 LS1(TRQS) SV

3B OUT2 PE2 LS2

(Note 2)

INP

4B OUT3 PE3

–

HEND

5B OUT4 PE4

–

TLR

6B OUT5 PE5

–

㧖ALM

7B OUT6 PE6

–

㧖EMGS

8B OUT7 ZONE1 ZONE1 RMDS 9B OUT8

(Note1)

PZONE/ZONE2 PZONE/ZONE2 ALM1 10B OUT9 RMDS RMDS ALM2 11B OUT10 HEND HEND ALM3 12B OUT11 PEND – ALM4 13B OUT12 SV SV 㧖ALML 14B OUT13 *EMGS *EMGS 㧙 15B OUT14 *ALM *ALM ZONE1

16B

Output

OUT15

LOAD/TRQS

*ALML

*ALML ZONE2

17B – 㧖NP 18B

Pulse

input

– NP 19B 0V N 20B 0V N

(Note) Shown in ( ) after the signal names above tell the functions performed before the home-return operation. “*” in

codes above shows the signal of the active low. PM1 to PM8 indicate the alarm binary code output signal when an alarm is generated. [Refer to 3.2.3 [7] Binary Output of Alarm Data Output]

(Note1) The mode can be switched over to PZONE with the setting of Parameter No.149.

(Note2) It is invalid before home-return operation.



Refer to Section

2.2 for the details of Pulse Train Control Mode

POWER CON

PCON-CA/CFA

(3) List of PIO Signals

The table below lists the functions of PIO signals. Refer to the section shown in Relevant Sections for the details of the control of each signal.

Category

Signal

Abbreviation

Signal Name Function Description

Relevant Sections

CSTR

PTP strobe (Start signal)

The actuator will start to move to the position set by the command position number.

3.2.4

PC1 to PC256

Command position number

Input (in binary) a number of the position that is desired to move. 3.2.4

BKRL Brake forcible release The brake will forcibly be released. 3.2.3

RMOD

Operation mode changeover

The operating mode is selectable when the MODE switch of the controller is set to AUTO. (The setting is AUTO when signal is OFF, and MANU when ON.)

3.2.3

*STP Pause

When this signal turns OFF while the actuator is moving, the actuator will decelerate to stop. The remaining movement is in a hold while the actuator is stopped and will resume when the signal turns back ON.

3.2.4

3.2.5

3.2.6

RES Reset

An alarm will be reset when this signal is turned ON. Also, when it is turned ON in the pause mode (*STP is turned OFF), the remaining movement amount can be cancelled.

3.2.3

3.2.4

3.2.5

3.2.6

SON Servo ON

The servo remains ON while this signal is ON, or OFF while this signal is OFF.

3.2.4

HOME Home return

The controller will perform home return operation when this signal is turned ON.

3.2.3

MODE Teaching mode

The operating mode will change to the teaching mode when this signal is turned ON. The mode will not be switched over unless CSTR, JOG+ and JOG- are all OFF and the actuator operation is stopped.

3.2.4

JISL Jog/inching selector

Jog Operation can be performed with JOG+ and JOG- while this signal is OFF. Inching Operation is performed with JOG+ and JOG- when it is ON.

3.2.4

JOG +

JOG -

Jog

Jog Operation is performed to positive direction by detecting ON edge of JOG+ signal and to negative direction by JOG- signal while JISL signal is OFF. The actuator will decelerate and stop if OFF edge is detected while in each Operation. Inching Operation is performed while JISL signal is ON.

3.2.4

PWRT Current Position Write

When the write position is specified in the teaching mode and this signal has remained ON for 26msec or longer, the controller will write the current position in the specified position field.

3.2.4

Input

ST0 to ST6 Start Signal

The actuator moves to the commanded position with this signal ON during the solenoid valve mode.

3.2.5

3.2.6



Signal with “*” expresses the signal of active low. In the controller, the process is held when the input signal is turned OFF.

Chapter 2 Wiring

POWER CON

PCON-CA/CFA

Category

Signal

Abbreviation

Signal Name Function Description

Relevant

Sections

PEND/INP Position complete

Turns ON in the positioning band range after actuator operation. The INP signal will turn OFF if the position deviation exceeds the in-position range. PEND and INP can be switched over by the parameter.

3.2.3

3.2.4

3.2.5

PM1 to PM256

Completion Position No.

The position No. reached after the positioning completion, is output (binary output).

3.2.3

3.2.4

HEND Home return completion

This signal will turn ON when home return has been completed. It will be kept ON unless the home position is lost.

3.2.3

3.2.6

ZONE1 ZONE2

Zone

Turns ON if the current actuator position is within the range set to the parameter.

3.2.3

PZONE Position zone

This signal will turn ON when the current actuator position enters the range specified the position data after position movement. Even though it can be used together with ZONE1, PZONE will become only available for operation by the set position number.

3.2.3

RMDS

Operation Mode Status Output

Outputs the operation mode status. It turns on when the controller is on Manual Mode.

3.2.3

*ALM Alarm

Turns ON when the controller is in normal condition, and turns OFF when an alarm is generated.

3.2.3

ALM1 to

ALM8

Alarm Code

The detail of the alarm is output with binary code when an alarm more than the operation cancel level is issued.

3.2.3

MOVE Moving

Turns ON during the actuator is moving (including home-return operation and pressing operation).

3.2.3

3.2.4

SV Servo ON This signal will remain ON while the servo is ON. 3.2.3

*EMGS Emergency Stop Output

This signal remains ON while the controller is under the emergency stop reset condition and turns OFF when the emergency stop condition is enabled. (Regardless of alarms.)

3.2.3

MODES Teaching Mode Output

This signal will turn ON while the teaching mode is enabled by the input of the mode signal and will turn OFF when the mode changes to the normal mode.

3.2.4

WEND Writing Complete

It is OFF during the teaching mode and turns ON when the writing by PWRT Signal is complete. It turns OFF when PWRT Signal turns OFF.

3.2.4

PE0 to PE6

Current Position Number

In the solenoid valve mode, this signal will turn ON when the actuator completes moving to the target position.

3.2.5

LS0 to LS2 Limit Switch Output

Turns ON when the current actuator position is within the range of positioning band (r) of the target position. It is output even before the movement command and the servo is OFF if the home-return operation is completed.

3.2.6

*ALML Light Error Output

Outputs when a message level alarm is generated. (It is necessary to set parameter)

8.4

LOAD

(Note 1)

Load output judgment signal

Output is made when the current exceeded the value set in “Threshold” for certain time

(Note)

within the range of “Zone+” and “Zone-“ in the position data during the pressing operation. Note It is to be utilized to judge if the press-fitting set in

Parameter No.50 has executed in the normally condition.

3.2.4

3.2.5

Output

TRQS

(Note 1)

Torque level output

Turns ON when the motor current has exceeded the value set in “Threshold” in the position data in such cases as the slider (or rod) hitting an obstacle while in pressing operation, and turns OFF when current goes below the value.

3.2.4

3.2.5

Signal with “*” expresses the signal of active low. It is ON when the power is applied to the controller, and turns OFF when the signal is output. (Note 1) It is the signal dedicated for High-Thrust Actuator (CFA type). Use this as a reference output for other actuators.

POWER CON

PCON-CA/CFA

2.1.3 Circuit Diagram

Sample circuit diagrams are shown below.

[1] Power Supply Connector (for power supply and emergency stop)

24V 0V

Emergency Stop Reset Switch

Emergency Stop Switch

CR1

CR1 CR2

MPI

MPO

24V

EMG-

BKLS

MPI

MPO

24V

EMG-

BKLS

CR1

(Note 3)

CR1

(Note 4)

Brake forced release switch

Power Supply Connector

PCON-CA

Emergency-stop Switch on the Teaching Pendant

Control power supply

SIO Connector

(Note 1)

Power Supply Connector

PCON-CA

SIO Connector

(Note 1)

Motor power supply

CR2

(Note 2)

CR2

(Note 2)

Emergency Stop Control Circuit

Brake Release Power Supply

(Note) When connecting actuator equipped with brake

supply 24V power to forcibly release the brake.

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

controller.

Note 2 : When the motor driving source is cut off externally for a compliance with the safety

category, connect a contact such as a contactor to the wires between MPI and MPO. [Refer to Chapter 9 Appendix]

Note 3 : The rating for the emergency stop signal (EMG-) to turn ON/OFF at contact CR1 is 24V DC

and 10mA or less. Note 4 : For CR1, select the one with coil current 0.1A or less. Note 5 : When rebooting after shutting down, leave for 1sec or more.

Caution : 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).

Chapter 2 Wiring

POWER CON

PCON-CA/CFA

[2] Motor • Encoder Circuit



1) Connection to RCP2 (High Thrust) Series

2) Connection to RCP3 and RCP4 Series

Note 1 Applicable Connection Cable Model Codes ƑƑƑ : Cable Length Example) 030 3m

Model Name Cable Reference RCP2 CB-PSEP-MPAƑƑƑ Robot cable from 0.5 to 20m RCP3 CB-APSEP-MPAƑƑƑ Robot cable from 0.5 to 20m RCP3 CB-APSEP-MPAƑƑƑ-LC Standard cable from 0.5 to 20m RCP4 CB-CA-MPAƑƑƑ-RB Robot cable from 0.5 to 20m RCP4 CB-CA-MPAƑƑƑ Standard cable from 0.5 to 20m High Thrust CB-CFA-MPAƑƑƑ Standard cable for CFA Type from 0.5 to 20m High Thrust CB-CFA-MPAƑƑƑ-RB Robot cable for CFA Type from 0.5 to 20m

[3] Absolute Circuit (For Simplified Absolute Type Only)

Connect to the absolute battery unit or absolute battery.

PCON-CA

Motor/ Encoder Connector

Connection Cable

(Note1)

Connection Cable

(Note1)

PCON-CA

Motor/ Encoder Connector

PCON-CA

Absolute

Battery

Connector

Absolute Battery (AB-7)

Absolute Battery Unit (SEP-ABU)

CB-APSEP

-AB005

POWER CON

PCON-CA/CFA

[4] PIO Circuit



1) PIO Pattern 0 ············· Positioning Mode (Standard Type)

“*” in codes above shows the signal of the active low. Processing occurs when an

input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.

Ɣ Use the attached cable for the I/O connection.

Model : CB-PAC-PIOƑƑƑ (ƑƑƑ indicates the cable length L. Example. 020 2m)

0V(NPN Type)

24V DC Supply

BR- 1

P24

PM1

BR- 3

0V Supply

24V DC(NPN Type)

24V DC(PNP Type)

RD- 1

P24

PM2

RD- 3

0V(PNP Type)

Command Position No.1

OR- 1

PC1

PM4

OR- 3

Completed Position No.1

Command Position No.2

YW- 1

PC2

PM8

YW- 3

Completed Position No.2

Command Position No.4

GN- 1

PC4

PM16

GN- 3

Completed Position No.4

Command Position No.8

BL- 1

PC8

PM32

BL- 3

Completed Position No.8

Command Position No.16

PL- 1

PC16

MOVE

PL- 3

Completed Position No.16

Command Position No.32

GY- 1

PC32

ZONE1

GY- 3

Completed Position No.32

Brake Control Release

WT- 1

BKRL

WT- 3

Moving

Operation Mode Changeover

BK- 1

10A

RMOD

RMDS

10B

BK- 3

Zone

Home Return

BR- 2

11A

HOME

HEND

11B

BR- 4

Position Zone/Zone 2

Pause

RD- 2

12A

*STP

PEND

12B

RD- 4

Operating Mode Status (Manual Mode)

Start

OR- 2

13A

CSTR

13B

OR- 4

Home Return Completion

Reset

YW- 2

14A

RES

*EMGS

14B

YW- 4

Position Completion

Servo ON

GN- 2

15A

SON

*ALM

15B

GN- 4

Servo ON Status

BL- 2

16A

16B

BL- 4

Emergency Stop Status

PL- 2

17A

17B

PL- 4

Alarm

GY- 2

18A

18B

GY- 4

WT- 2

19A

19B

WT- 4

BK- 2

20A

20B

BK- 4

PCON

PIO

Connector

PZONE /ZONE2

LOAD /TRQS /*ALML

Load Output Level Status /Torque Level Status /Light Error Alarm

Chapter 2 Wiring

POWER CON

PCON-CA/CFA

2) PIO Pattern 1 ··············· Teaching mode (Teaching type)



“*” in codes above shows the signal of the active low. Processing occurs when an

input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.

Ɣ Use the attached cable for the I/O connection.

Model : CB-PAC-PIOƑƑƑ (ƑƑƑ indicates the cable length L. Example. 020 2m)

0V(NPN Type)

24V DC Supply

P24

PM1

0V Supply

24V DC(NPN Type)

24V DC(PNP Type)

P24

PM2

0V(PNP Type)

Command Position No.1

PC1

PM4

Completed Position No.1

Command Position No.2

PC2

PM8

Completed Position No.2

Command Position No.4

PC4

PM16

Completed Position No.4

Command Position No.8

PC8

PM32

Completed Position No.8

Command Position No.16

PC16

MOVE

Completed Position No.16

Command Position No.32

PC32 MODE

Completed Position No.32

Jog Move -

JOG-

JOG+

JISL

PZONE

Moving

Operation Mode Changeover

10A

RMOD

RMDS

10B

Teaching Mode Status

Home Return

Teaching Mode

Jog/inching Changeover

Jog Move +

11A

HOME

HEND

11B

Position Zone/Zone 1

Pause

12A

*STP

PEND/WEND

12B

Operating Mode Status (Manual Mode)

13A

CSTR/PWRT

13B

Home Return Completion

Reset

14A

RES

*EMGS

14B

Position Writing Completion

Servo ON

15A

SON

*ALM

*ALML

15B

Servo ON Status

16A

16B

Emergency Stop Status

17A

17B

Alarm

18A

18B

Light Error Alarm

19A

19B

20A

20B

PCON

PIO

Connector

BR- 1 RD- 1 OR- 1

YW- 1

GN- 1

BL- 1

PL- 1 GY- 1 WT- 1

BK- 1

BR- 2 RD- 2 OR- 2

YW- 2

GN- 2

BL- 2

PL- 2 GY- 2 WT- 2

BK- 2

BR- 3 RD- 3 OR- 3 YW- 3 GN- 3 BL- 3 PL- 3 GY- 3 WT- 3 BK- 3 BR- 4 RD- 4 OR- 4 YW- 4 GN- 4 BL- 4 PL- 4 GY- 4 WT- 4 BK- 4

PZONE /ZONE1

POWER CON

PCON-CA/CFA

3) PIO Pattern 2 ··············· 256-point mode (Number of positioning points : 256-point type)

“*” in codes above shows the signal of the active low. Processing occurs when an

input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.

Ɣ Use the attached cable for the I/O connection.

Model : CB-PAC-PIOƑƑƑ (ƑƑƑ indicates the cable length L. Example. 020 2m)

0V(NPN Type)

24V DC Supply

P24

PM1

0V Supply

24V DC(NPN Type)

24V DC(PNP Type)

P24

PM2

0V(PNP Type)

Command Position No.1

PC1

PM4

Completed Position No.1

Command Position No.2

PC2

PM8

Completed Position No.2

Command Position No.4

PC4

PM16

Completed Position No.4

Command Position No.8

PC8

PM32 PM64

PM128

Completed Position No.8

Command Position No.16

PC16

Completed Position No.16

Command Position No.32 Command Position No.64

Command Position No.128

PC32

PC64 PC128

Completed Position No.32 Completed Position No.64

Completed Position No.128

Brake Control Release

BKRL

Operation Mode Changeover

10A

RMOD

RMDS

10B

Home Return

11A

HOME

HEND

11B

Pause

12A

*STP

PEND

12B

Start

13A

CSTR

13B

Reset

14A

RES

*EMGS

14B

Servo ON

15A

SON

*ALM

15B

16A

16B

17A

17B

18A

18B

19A

19B

20A

20B

PCON

PIO

Connector

Position Zone/Zone 1 Operating Mode Status (Manual Mode)

Home Return Completion Position Completion Servo ON Status Emergency Stop Status

Alarm

BR- 1 RD- 1 OR- 1

YW- 1

GN- 1

BL- 1 PL- 1

GY- 1

WT- 1

BK- 1

BR- 2 RD- 2 OR- 2

YW- 2

GN- 2

BL- 2 PL- 2

GY- 2

WT- 2

BK- 2

BR- 3 RD- 3 OR- 3 YW- 3 GN- 3 BL- 3 PL- 3 GY- 3 WT- 3 BK- 3 BR- 4 RD- 4 OR- 4 YW- 4 GN- 4 BL- 4 PL- 4 GY- 4 WT- 4 BK- 4

PZONE /ZONE1

LOAD /TRQS /*ALML

Load Output Level Status /Torque Level Status /Light Error Alarm

Chapter 2 Wiring

POWER CON

PCON-CA/CFA

4) PIO Pattern 3 ··············· 512-point mode (Number of positioning points : 512-point type)

“*” in codes above shows the signal of the active low. Processing occurs when an

input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.

Ɣ Use the attached cable for the I/O connection.

Model : CB-PAC-PIOƑƑƑ (ƑƑƑ indicates the cable length L. Example. 020 2m)

0V(NPN Type)

24V DC Supply

P24

PM1

0V Supply

24V DC(NPN Type)

24V DC(PNP Type)

P24

PM2

0V(PNP Type)

Command Position No.1

PC1

PM4

Completed Position No.1

Command Position No.2

PC2

PM8

Completed Position No.2

Command Position No.4

PC4

PM16

Completed Position No.4

Command Position No.8

PC8

PM32

PM64 PM128

PM256

Completed Position No.8

Command Position No.16

PC16

Completed Position No.16

Command Position No.32

Command Position No.64 Command Position No.128 Command Position No.256

PC32

PC64 PC128 PC256

Completed Position No.32 Completed Position No.64

Completed Position No.128 Completed Position No.256

BKRL

10A

RMOD

RMDS

10B

11A

HOME

HEND

11B

12A

*STP

PEND

12B

13A

CSTR

13B

14A

RES

*EMGS

14B

15A

SON

*ALM

15B

16A

16B

17A

17B

18A

18B

19A

19B

20A

20B

PCON

PIO

Connector

Brake Control Release

Operation Mode Changeover

Home Return

Pause

Start

Reset

Servo ON

Operating Mode Status (Manual Mode)

Home Return Completion Position Completion Servo ON Status Emergency Stop Status

Alarm

BR- 1 RD- 1 OR- 1

YW- 1

GN- 1

BL- 1 PL- 1

GY- 1

WT- 1

BK- 1

BR- 2 RD- 2 OR- 2

YW- 2

GN- 2

BL- 2 PL- 2

GY- 2

WT- 2

BK- 2

BR- 3 RD- 3 OR- 3 YW- 3 GN- 3 BL- 3 PL- 3 GY- 3 WT- 3 BK- 3 BR- 4 RD- 4 OR- 4 YW- 4 GN- 4 BL- 4 PL- 4 GY- 4 WT- 4 BK- 4

LOAD /TRQS /*ALML

Load Output Level Status /Torque Level Status /Light Error Alarm

POWER CON

PCON-CA/CFA

5) PIO Pattern 4 ·················Solenoid Valve Mode 1 (7-point type)

“*” in codes above shows the signal of the active low. Processing occurs when an

input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.

Ɣ Use the attached cable for the I/O connection.

Model : CB-PAC-PIOƑƑƑ (ƑƑƑ indicates the cable length L. Example. 020 2m)

0V(NPN Type)

24V DC Supply

P24

PE0

0V Supply

24V DC(NPN Type)

24V DC(PNP Type)

P24

PE1

0V(PNP Type)

Start Signal 0

Start Signal 5 Start Signal 6

Start Signal 4

Start Signal 3

Start Signal 2

Start Signal 1

ST0

PE2

Current Position No.0

Current Position No.2

Current Position No.1

Current Position No.3

Current Position No.4

Current Position No.5

Current Position No.6

ST2

ST1

PE3

ST3

PE4

ST4

PE5

ST5

PE6

ST6

ZONE1

BKRL

10A

RMOD

RMDS

10B

11A

HOME

HEND

11B

12A

*STP

PEND

12B

13A

13B

14A

RES

*EMGS

14B

15A

SON

*ALM

15B

16A

16B

17A

17B

18A

18B

19A

19B

20A

20B

PCON

PIO

Connector

BR- 1 RD- 1

OR- 1

YW- 1

GN- 1

BL- 1 PL- 1

GY- 1

WT- 1

BK- 1 BR- 2 RD- 2

OR- 2

YW- 2

GN- 2

BL- 2 PL- 2

GY- 2

WT- 2

BK- 2

BR- 3 RD- 3 OR- 3 YW- 3 GN- 3 BL- 3 PL- 3 GY- 3 WT- 3 BK- 3 BR- 4 RD- 4 OR- 4 YW- 4 GN- 4 BL- 4 PL- 4 GY- 4 WT- 4 BK- 4

Brake Control Release

Operation Mode Changeover

Home Return

Pause

Reset

Servo ON

Zone Position Zone/Zone 2 Operating Mode Status (Manual Mode)

Home Return Completion Position Completion Servo ON Status Emergency Stop Status

Alarm

LOAD /TRQS /*ALML

PZONE /ZONE2

Load Output Level Status /Torque Level Status /Light Error Alarm

Chapter 2 Wiring

POWER CON

PCON-CA/CFA

6) PIO Pattern 5 ·················Solenoid Valve Mode 2 (3-point type)

“*” in codes above shows the signal of the active low. Processing occurs when an

input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.

Ɣ Use the attached cable for the I/O connection.

Model : CB-PAC-PIOƑƑƑ (ƑƑƑ indicates the cable length L. Example. 020 2m)

0V(NPN Type)

24V DC Supply

P24

0V Supply

24V DC(NPN Type)

24V DC(PNP Type)

P24

0V(PNP Type)

Start Signal 0

Start Signal 2

Start Signal 1

ST0

LS0

LS1

LS2

ST1

ST2

ZONE1

BKRL

10A

RMOD

RMDS

10B

Backward End Detection Forward End Detection

Intermediate Position Detection

11A

HEND

11B

12A

12B

13A

13B

Reset

14A

RES

*EMGS

14B

Servo ON

15A

SON

*ALM

*ALML

15B

16A

16B

17A

17B

18A

18B

19A

19B

20A

20B

PCON

PIO

Connector

Alarm

Servo ON Status Emergency Stop Status

Light Error Alarm

Zone Position Zone/Zone 1 Operating Mode Status (Manual Mode)

Home Return Completion

Brake Control Release

Operation Mode Changeover

BR- 1 RD- 1 OR- 1

YW- 1

GN- 1

BL- 1 PL- 1

GY- 1

WT- 1

BK- 1

BR- 2 RD- 2 OR- 2

YW- 2

GN- 2

BL- 2 PL- 2

GY- 2

WT- 2

BK- 2

BR- 3 RD- 3 OR- 3

GN- 3 BL- 3 PL- 3 GY- 3 WT- 3 BK- 3 BR- 4 RD- 4 OR- 4 YW- 4 GN- 4 BL- 4 PL- 4 GY- 4 WT- 4 BK- 4

PZONE /ZONE2

YW- 3

POWER CON

PCON-CA/CFA

2.2 Pulse Train Control Mode

2.2.1 Wiring Diagram (Connection of devices)

Caution : Make sure to turn the power to the controller OFF when inserting or removing the

Teaching pendant Touch Panel Teaching (to be purchased separately)

PC Software (to be purchased separately)

ctuato

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

Power Source I/O Control (24V DC …Please prepare separately)

Emergency Stop Circuit

Control/Driving Power Supply (24V DC …Please prepare separately)

K-04

K-04 (to be purchased separately) Necessary when host positioning unit is open collector output.

Chapter 2 Wiring

POWER CON

PCON-CA/CFA

2.2.2 I/O Signals in Pulse Train Control Mode

The table below shows the signal assignment of the flat cable in the pulse train control mode. Follow the following table to connect the external equipment (such as PLC).

No.

Category I/O No.

Signal

Abbreviation

Signal Name Function Description

Relevant

Sections 1A 24V P24 Power Supply Power Supply for I/O +24V 2A 24V P24 Power Supply Power Supply for I/O +24V

3A PP

Differential Pulse Train Input (+)

Pulse

input

/PP

Differential Pulse Train Input (-)

Input the differential pulse from the host. Input is available up to 200kpps at maximum.

2.2.3 [4]

3.3.3 [1]

5A IN0 SON Servo ON

The servo remains ON while this signal is ON, or OFF while this signal is OFF.

3.3.2 [5]

6A IN1 RES Reset Turn the signal ON to reset the alarm. 3.3.2 [8]

7A IN2 HOME Home Return

The controller will perform home return operation when this signal is turned ON.

3.3.2 [6]

8A IN3 TL Torque Limit Select

Applies torque limit to the motor with the signal ON and the value set to the parameter.

3.3.3 [3]

9A IN4 CSTP Compulsory Stop

Turning it ON continuously for more than 16ms forcibly stops the actuator. The actuator decelerates then stops with the torque set in the controller and then turns the servo OFF.

3.3.2 [4]

10A IN5 DCLR Deviation Counter Clear Clears the deviation counter. 3.3.3 [4] 11A IN6 BKRL Brake Release The brake will forcibly be released. 3.3.2 [10]

12A IN7 RMOD

Operation Mode Changeover

The operating mode is selectable when the MODE switch of the controller is set to AUTO. (The setting is AUTO when signal is OFF, and MANU when ON.)

3.3.2 [3]

13A IN8 NC – Not used 14A IN9 NC – Not used 15A IN10 NC – Not used 16A IN11 NC – Not used 17A IN12 NC – Not used 18A IN13 NC – Not used 19A IN14 NC – Not used 20A

Input

IN15 NC – Not used

1B OUT0 PWR System Ready

It turns ON when the control becomes available after the main power is supplied.

3.3.2 [1]

2B OUT1 SV Servo ON Status This signal will remain ON while the servo is ON. 3.3.2 [5]

3B OUT2 INP Position Complete

Turned ON when the remaining moving pulses in the deviation counter enters within the positioning band.

3.3.3 [2]

4B OUT3 HEND Home return completion

This signal will turn ON when home return has been completed.

3.3.2 [6]

5B OUT4 TLR Torque Under Control

Turns ON if the torque reaches the limit value during torque limit.

3.3.3 [3]

6B OUT5 *ALM Controller Alarm Status

Turns ON when controller in normal condition, and OFF when alarm is generated.

3.3.2 [8]

7B OUT6 *EMGS Emergency Stop Status

Turns ON when the controller emergency stop is cancelled, and OFF during the emergency stop.

3.3.2 [2]

8B OUT7 RMDS Operation Mode Status

The operating mode status will be output. It turns ON when the controller is on Manual Mode.

3.3.2 [3]

9B OUT8 ALM1

10B OUT9 ALM2 11B OUT10 ALM4 12B OUT11 ALM8

Alarm Code Output Signal

The alarm code is output together with the alarm signal output. Refer to Alarm List for details.

3.3.2 [9]

13B OUT12 *ALML /Light Error Alarm Outputs when a message level alarm is generated. 8.4 14B OUT13 NC – Not used 15B OUT14 ZONE1 Zone Signal 1 16B

Output

OUT15 ZONE2 Zone Signal 2

This signal will turn ON when the current actuator position enters the range set by the parameters.

3.3.2 [7]

17B NP

Differential Pulse Train Input (+)

18B

Pulse

input

/NP

Differential Pulse Train Input (-)

Input the differential pulse from the host. Input is available up to 200kpps at maximum. 2.2.3 [4]

3.3.3 [1]

19B 0V N Power Supply Power Supply for I/O 0V 20B 0V N Power Supply Power Supply for I/O 0V

Signal with “*” expresses the signal of active low. It is ON when the power is applied to the controller, and turns OFF when the signal is output.

POWER CON

PCON-CA/CFA

2.2.3 Circuit Diagram

Sample circuit diagrams are shown below.

[1] Power Supply Connector (for power supply and emergency stop)

24V 0V

Emergency Stop Reset Switch

Emergency Stop Switch

CR1

CR1 CR2

MPI

MPO

24V

EMG-

BKLS

MPI

MPO

24V

EMG-

BKLS

CR1

(Note 3)

CR1

(Note 4)

Brake forced release switch

Power Supply Connector

PCON-CA

Emergency-stop Switch on the Teaching Pendant

Control power supply

SIO Connector

(Note 1)

Power Supply Connector

PCON-CA

SIO Connector

(Note 1)

Motor power supply

CR2

(Note 2)

CR2

(Note 2)

Emergency Stop Control Circuit

Brake Release Power Supply

(Note) When connecting actuator equipped with brake

supply 24V power to forcibly release the brake.

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

controller.

Note 2 : When the motor driving source is cut off externally for a compliance with the safety

category, connect a contact such as a contactor to the wires between MPI and MPO. [Refer to Chapter 9 Appendix]

Note 3 : The rating for the emergency stop signal (EMG-) to turn ON/OFF at contact CR1 is 24V DC

and 10mA or less. Note 4 : For CR1, select the one with coil current 0.1A or less. Note 5 : When rebooting after shutting down, leave for 1sec or more.

Caution : 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).

Chapter 2 Wiring

POWER CON

PCON-CA/CFA

[2] Motor • Encoder Circuit



1) Connection to RCP2 Series

2) Connection to RCP3 and RCP4 Series

Note 1 Applicable Connection Cable Model Codes ƑƑƑ : Cable Length Example) 030 3m

PCON-CA

Motor/ Encoder Connector

Connection Cable

(Note1)

Connection Cable

(Note1)

PCON-CA

Motor/ Encoder Connector

POWER CON

PCON-CA/CFA

[3] PIO Circuit

“*” in codes above shows the signal of the active low. Processing occurs when

an input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.

Ɣ Use the attached cable for the I/O connection.

Model : CB-PAC-PIOƑƑƑ (ƑƑƑ indicates the cable length L. Example. 020 2m)

PCON

0V(NPN Type)

24V DC

BR- 1

P24

PWR

BR- 3

24V DC(NPN Type)

24V DC(PNP Type)

RD- 1

P24

RD- 3

0V(PNP Type)

OR- 1

SON

INP

OR- 3

System Ready

YW- 1

RES

HEND

YW- 3

Servo ON Status

GN- 1

HOME

TLR

GN- 3

BL- 1

BL- 3

PL- 1

CSTP

PL- 3

Deviation Counter Clear

GY- 1

DCLR

GY- 3

Brake Control Release

Compulsory Stop

Torque Limit Select

WT- 1

BKRL

ZONE1

ZONE2

WT- 3

Operation Mode

BK- 1

10A

RMOD

RMDS

10B

BK- 3

Zone 2

Zone 1

Home Return

BR- 2

11A

ALM1 ALM2 ALM4 ALM8

11B

BR- 4

RD- 2

12A

12B

RD- 4

Operating Mode Status

Emergency Stop Status

OR- 2

13A

13B

OR- 4

Home Return Completion Torque Under Control

Reset

YW- 2

14A

*EMGS

14B

YW- 4

Position Completion

Servo ON

GN- 2

15A

*ALM

15B

GN- 4

BL- 2

16A

16B

BL- 4

PL- 2

17A

17B

PL- 4

Alarm Code Output 1

Alarm

Alarm Code Output 2 Alarm Code Output 4 Alarm Code Output 8

GY- 2

18A

18B

GY- 4

WT- 2

19A

19B

WT- 4

BK- 2

20A

20B

BK- 4

PCON

PIO Connector

NC/*ALML

None/Light Error Alarm Output

PP /PP

/NP

Differential Pulse Supply [Refer to the next page for the details of wiring.]

Chapter 2 Wiring

POWER CON

PCON-CA/CFA

[4] Circuits for Pulse Train Control

Ɣ When Host Unit is Differential System

Caution : Make short-circuit between the host (positioning unit) and the 0V on PIO

connector.

Ɣ When Host Unit is Open Collector System

AK-04 (to be purchased separately) is required for pulse train input.

Caution : 1) Use the same power source for the host open collector input and output,

AK-04.

2) Have the cables as short as possible between the host unit and AK-04.

24V DC

PCON

PIO Connector

17B

18B

19B

20B

Host Unit

Positioning Unit

Pulse Command

/PP

/NP

/PP

/NP

24V

Pulse Converter AK-04 (to be purchased separately)

PCON

PIO Connector

17B

18B

Host Unit

Positioning Unit

Pulse Command (Line Driver: 26C31 or equiv.)

/PP

/NP

It is recommended that PP and /PP and also NP and /NP are twisted with each other so the system can be run safely.

POWER CON

PCON-CA/CFA

2.3 Wiring Method

2.3.1 Wiring Layout of Power Supply Connector

The wires of the power supply and the emergency stop circuit are to be connected to the enclosed connector (plug). 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. After inserting a cable, remove the screwdriver from the protrusion to fix the cable.

Power Supply Connector Model Remarks Cable Side FMC1.5/8-ST-3.5 Enclosed in standard package Controller Side MC1.5/8-G3.5

Pin No.

Signal Name

Contents Applicable cable diameter

1 EMG- Input of emergency stop status signal

KIV0.5mm

(AWG20) 2 0V

3 24V

Power supply input (24V DC r10%)

(Note1)

KIV1.25mm

(AWG16)

4 MPO

5 MPI

Motor drive power line

KIV1.25mm

(AWG16)

6 S2

7 S1

Teaching pendant Signal of emergency stop push button

KIV0.5mm

(AWG20)

8 BKRLS

Brake release power supply input

(Note2)

(24V DC r10% 150mA)

KIV0.5mm

(AWG20)

(Note1) 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).

(Note2) The brake is forcibly released when +24V is supplied. Make the 0V in common with

the 0V of the power input.

BKRLS S1 S2 MPI MPO 24V 0V EMG-

Accessory Connector (Plug)

When inserting wires

Chapter 2 Wiring

POWER CON

PCON-CA/CFA

2.3.2 Connection to Actuator

Connect the cables to the motor • encoder connectors.

㩷

Motor • Encoder Connector Model Remarks Cable Side PADP-24V-1-S Controller Side S24B-PADSS-1

Pin No. Signal Name Contents

Applicable cable

diameter

Motor drive phase A

2 VMM Motor power supply

Motor drive phase B

4 VMM Motor power supply

I/A

Motor drive / Phase A

I/B

Motor drive / Phase B

7 LS+ Positive side of the limit switch

8 LS- Negative side of the limit switch

9 BK+ Positive side of the brake release

10 BK- Negative side of the brake release

11 NC Not used

12 NC Not used

13 A+

Encoder A-phase differential  input

14 A-

Encoder A-phase differential  input

15 B+

Encoder B-phase differential  input

16 B-

Encoder B-phase differential  input

17 CA5V Encoder power

18 /PS Encoder line driver enable output

19 GND Ground

20 LSGND Ground for limit switch

21 CFA5V Encoder power output for CFA

22 NC Unconnected

23 NC Unconnected

24 FG Grounding

Cable dedicated for IAI products

POWER CON

PCON-CA/CFA

2.3.3 Connection of PIO

Conduct the connection of I/O to the controller is to be carried out using the dedicated I/O cable. The cable length is shown in the model code of the controller. Please check the controller model code. There are 2m for standard, 3m and 5m as an option. Up to 10m I/O cables are sold separately. [Refer to 1.1.5 How to read the model] Also, the end of the cable harness to be connected to the host controller (PLC, etc.) is just cut and no treatment is conducted so the wiring layout can be performed freely.

Model : CB-PAC-PIOƑƑƑ

(ƑƑƑ indicates the cable length L. Example. 020 = 2m)

No.

Cable

Color

Wiring No.

Cable Color

Wiring

1A BR-1 1B BR-3 2A RD-1 2B RD-3 3A OR-1 3B OR-3 4A YW-1 4B YW-3 5A GN-1 5B GN-3 6A BL-1 6B BL-3 7A PL-1 7B PL-3 8A GY-1 8B GY-3

9A WT-1 9B WT-3 10A BK-1 10B BK-3 11A BR-2 11B BR-4 12A RD-2 12B RD-4 13A OR-2 13B OR-4 14A YW-2 14B YW-4 15A GN-2 15B GN-4 16A BL-2 16B BL-4 17A PL-2 17B PL-4 18A GY-2 18B GY-4 19A WT-2 19B WT-4 20A BK-2

Flat Cable

(Press Welding)

AWG28

20B BK-4

Flat Cable ٤B

(Press Welding)

AWG28

For the signal assignment of each wire, refer to the following considering the operation mode.

1) Positioner Mode······························2.1.3 [4] PIO Circuit

2) Pulse Train Control Mode··············· 2.2.3 [3] PIO Circuit

Chapter 2 Wiring

POWER CON

PCON-CA/CFA

2.3.4 Connection of Pulse Train Signal

Pulse train is input to PIO connector. Insert the wires to the indicated pin numbers. [Refer to 2.2.3 [4] Circuits for Pulse Train Control] If the output pulse of the host controller is open collector type, use the following pulse converter.

Ɣ Pulse converter : AK-04

(to be purchased separately)

It converts the command pulse of the open collector type to the differential type.

  Caution

1) Pay attention not to insert wrongly because it is the same e-CON connector as input and output. Putting the power on with the insertion being wrong will burn AK-04.

2) Use the pulse converter in the ambient temperature range between 0qC and 40qC.

3) The temperature increase of about 30qC occurs during operation. Accordingly, neither install several pulse converters in close contact nor install them within a duct. Do not install the pulse converter near other heating devices.

4) If more than one pulse converters are installed, set a pulse converter apart from another by 10mm or more.

5) Make the wiring between the host controller (PLC, etc.) and AK-04 as short as possible. Long wires make it easy to pick up noise. Also make the wiring between AK-04 to PCON-CA/CFA as short as possible. Place AK-04 close to the host controller.

A recommended installation sample is shown in the figure below.

• Make the cable length between the host controller and pulse converter as short as possible.

Wiring length : 50mm or shorter recommended

Host Controller

• Keep pulse converters separated for 10mm or more from each other.

10mm or more

If this installation cannot be avoided, shorten the length of the wiring with the host controller as much as possible.

Host Controller (PLC etc.)

IAI controller

e-CON Connector 37104-3122-000FL (3M or equivalent)

POWER CON

PCON-CA/CFA

2.3.5 SIO Connector Connection

SIO connectors can be used not only for the connection of teaching tool, but also for the connection of the host controller (PLC, touch panel and PC). For the operation, refer to the instruction manual of each module. [Refer to 1.1.3 Instruction manuals related to this product, which are contained in the instruction manual (CD/DVD).]

  Caution: If the controller is connected with a teaching tool, set the operation mode

setting switch to MANU. If the teaching pendant is removed with the power supply being on, the condition will become the transient emergency stop and the operated actuator will stop. Do not disconnect the teaching pendant during the operation.

Teaching Pendant

Chapter 2 Wiring

POWER CON

PCON-CA/CFA

Chapter 2 Wiring

POWER CON

PCON-CA/CFA

Chapter 3 Operation

3.1 Basic Operation

3.1.1 Basic Operation Methods

There are two types, Positioner Mode and Pulse Train Control Mode, for the operation. Select the suitable one considering the system function. There are various types of actuators including slider, rod, rotary and gripper types. The same operation control method is applicable unless particular descriptions are contained in this manual.

(1) Positioner Mode

1) Set target positions (coordinate values), velocities, accelerations, and decelerations by the required number of positioning points in the position table by using a teaching tool such as PC software.

2) Enter the binary data of position numbers subject to positioning on the PLC and turn ON the start signal.

3) The actuator is placed at the proper coordinate value according to the positioning information in the specified position number.

4) If the positioning is completed, the binary data of the position number is output. The completion signal is also output.

The above procedure describes the basic operation method in the positioner mode.

Completion

Signal

SignalSignal

Edit Position Table of controller

Actuator

Position Number

Start Signal

PLC

Enter a data including position, velocity, acceleration or deceleration, etc.

No.

[G]

1 100.00 0.30 0.30 2 200.00 0.30 0.30

100.00

200.00

Acceleration DecelerationVelocity

[mm] [mm/s] [G]

Position

Teaching ToolController

Chapter 3 Operation

POWER CON

PCON-CA/CFA

(2) Pulse Train Control Mode

1) Set the pulse train format and the electric gear ratio (the distance of actuator movement in mm against 1 pulse) to the parameters in the controller with using a teaching tool such as PC software.

2) Send pulses based on the moving distance of the actuator to the controller from the PLC (positioning unit).

3) The controller multiplies the entered number of pulses by the electrical gear ratio to get the moving distance. The actuator is moved by the moving distance from the current position. The velocity varies depending on the entered pulse rate (frequency).

4) After the positioning is completed, the completion signal is output.

The above procedure describes the basic operation method in the pulse train control mode.

Complete

Signal

Edit

Parameters of

controller

Actuator

Controller

Command

Pulse

PLC

Enter an electronic gear ratio.

Teaching Tool

POWER CON

PCON-CA/CFA

3.1.2 Parameter Settings

Parameter data should be set to be suited to the system or application. 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)

Soft 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.

Chapter 3 Operation

POWER CON

PCON-CA/CFA

3.2 Operation in Positioner Mode

This controller can switch over the mode between positioner mode and pulse train control mode with the parameters. In the positioner mode, the following 6 types of PIO pattern can be selected with a proper parameter. This Operational PIO Pattern cannot be switched over after the system is finished to be established or during the actuator operation. Choose the optimum pattern beforehand considering the system operation specifications and prepare the cables and sequence design.

[1] PIO Pattern Selection and Main Functions { : Valid function

PIO Pattern

(Parameter No.25)

0 1 2 3 4 5 6

Mode

Positioning

mode

Teaching

mode

256-point

mode

512-point

mode

Solenoid

valve

mode 1

Solenoid

valve

mode 2

Pulse train

control

mode Number of positioning points

64 64 256 512 7 3

Operation with the Position No. Input

{ { { { u u

Position No. direct command operation

u u u u { {

Positioning { { { { { { Velocity change during the movement

{ { { { u u

Pressing (tension) { { { { { u Pitch Feeding (relative moving feed)

{ { { { { u

Home return signal input { { { { { u Pause { { { { { ٌ

Jog moving signal u { u u u u Teaching signal input (Current Position Writing)

u { u u u u

Brake release signal input

{ u { { { {

Moving Signal Output { { u u u u Zone signal output { u u u { {

Major functions

Position zone signal output

{ { { u { {

Refer to

3.3

*1 The pause signal is not provided. [Refer to 3.2.6 [5].]



(Reference) Zone signal output signal 㧦 The zone range is set to the Parameters No.1 and 2 and No.23 and 24,

and becomes always effective after the home return is complete.

Position zone signal 㧦 This feature is associated with the specified position number. The zone

range is set in the position table. The zone range is enabled only when the position is specified but disabled if another position is specified.

POWER CON

PCON-CA/CFA

[2] Overview of major Functions

Major functions Description Number of positioning points

Number of positioning points which can be set in the

position table. Operation with the Position No. Input

Normal operation started by turning the start signal ON after

position No. is entered with binary data. Position No. direct command operation

Operation enabled by turning the signal directly

corresponding to a position No. ON Positioning Positioning enabled at an arbitrary position by the data set

in the position table Velocity change during the movement

Velocity change enabled by activating another position No.

during movement Pressing (tension) Operation by an arbitrary pressing (tensile) force set in the

position table enabled Pitch Feeding (relative moving feed)

Pitch feed by an arbitrary moving distance set in the

position table enabled Home return signal input

Input signal exclusively used for home return. Set to ON to

start home return Pause The operation can be interrupted or continued by setting

this signal to ON or OFF, respectively. Jog moving signal The actuator can only be moved while the input is set to

ON. Teaching signal input (Current Position Writing)

Setting the input signal to ON allows the coordinate value in

the stop state to be written to the position table.

Brake release signal input

The brake (option) can only be released while the input is

set to ON. Moving signal output The output signal is set to ON while the actuator is moved. Zone signal output The output signal is set to ON while the actuator is entered

within the zone defined by the coordinate values set as

parameters. Position zone signal output

The output signal is set to ON while the actuator is entered

within the zone defined by the coordinate values set in the

position table.

[3] Operation modes of rotary actuator in multiple rotation mode and command limitations

An actuator of multi-rotation specification includes two operation modes, the normal mode enabling only a limited number of rotations and the index mode enabling a number of rotations. A specific operation mode can be selected by parameter No.79 “Rotational axis mode selection”. Parameter No.80 “Rotational axis shortcut selection” allows the shortcut to be made valid or invalid. The table below lists the settings of parameters and the operation specification in each mode.

Rotary axis mode Parameter No.79

Rotational axis

shortcut

selection

Parameter No.80

Current position

indication

Absolute

position

command zone

Relative

position

command zone

Soft Limit Enabling/ Disabling

0 (Normal Mode) 0 (Disabled)

-9999.99 to 9999.99

Note 1

-0.15 to 9999.15

Note 1

-9999.30 to 9999.30

Note 1

Enabled

0 (Disabled)

1 (Index Mode)

1 (Enabled)

0 to 359.99 0 to 359.99

-360.00 to 360.00

Disabled

Note 1 : It is limited within the range of the software limit.

Chapter 3 Operation

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3.2.1 Set of Position Table (This section is not required in selection of pulse train control mode.)

The values in the position table can be set as shown below. For only positioning, only the position data may be written if specifying the speed, acceleration, and deceleration is not required. The speed, acceleration, and deceleration are automatically set to the data defined by the relevant parameters. Therefore, setting the speed, acceleration, and deceleration data often used to the relevant parameters makes input easy.

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

Transported

load

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 and

lever type gripper. Therefore;

[mm] ψ [deg]·················· 1.2=1.2deg

[mm/s] ψ [deg/s] ············ 100=100deg/s

Note that the notation is [mm] on the screen of the teaching tool such as PC software.

1) Position No.·············· The number is specified by PLC at start.

  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 moving distance of a single finger from the home. In the specification, the stroke indicates the total moving distance of both fingers. Thus the actual stroke is a half of the value in the specification.

(2) In the case of a Rotary Type

Set the coordinate value by an angle from the home.

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

(Note 1)

(Note) The minimum velocity differs depending on the type of the

actuator. Refer to the values stated in the appendix in Chapter 9 or the following for the calculation.

Min. Speed [mm//s^2] = Lead Length [mm] / No. of Encoder Pluses / 0.001[s]

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

: Accelerated to 9800mm/s per second

0.3G: Accelerated 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 instruction manual of the actuator. Failure to follow this may cause the life of the actuator to be shortened extremely.

(2) If shocks and/or vibrations appear on the actuator and/or the work,

lower the acceleration and/or the deceleration. 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

accel..., acceleration/deceleration to larger than their rated values to shorten the tact time. Please contact IAI for the settings in such situation. Inform us of the weight, shape and mounting method of the work and the installation conditions of the actuator.

(4) For the actuator of gripper type, set the velocity, acceleration and

deceleration on the single finger basis. Note that the relative velocity, acceleration and deceleration between both the fingers are as twice as the setting values.

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 of 3) is lower than the pressing velocity, the pressing process will be conducted with the velocity of 3).

Caution: If the pressing velocity is changed, the pressing force may differ from

that specified in 9.5 List of Specifications of Connectable Actuators. When the pressing velocity is changed, make sure to measure the actual pressing force before start using.

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

Chapter 3 Operation

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8) Positioning width [mm] ······For positioning in PIO patterns*1 0 to 4, the positioning

complete signal is output if the remaining moving distance is entered within the zone set here. 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 the positioning band, make its width at least 4 times larger than the minimum unit of the movement (movement amount of 1 pulse of the encoder) of the used actuator. 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. *1 PIO pattern : This is the operation pattern of Positioner

mode. [Refer to 3.2 Operation in Positioner Mode]

[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

Transported

load

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

9) Zone + [mm] ·············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.

10) Zone - [mm]··············Set the coordinate value on the negative side at which position zone

output signal PZONE is turned ON.

70mm

Home=0mm

LS2 is ON 150±5mm

LS1 is ON 70±10mm

LS0 is ON 0±5mm

150mm

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11) Acceleration / deceleration mode········Select a proper acceleration/deceleration pattern

depending on the load.

Set

Value

Acceleration/

Deceleration Pattern

Operation

0 Trapezoid

1 S-motion

(Refer to Caution at

S-shaped Motion)

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

2 First-Order

Lag Filter

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 not provide the right operation.

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

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.

Time

Velocity

Time

Velocity

Time

Velocity

Chapter 3 Operation

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13) Transported load ······Register 4 types of load weights with using the teaching tool, and choose the number from the registered numbers (0 to 3) that is to be used. From the numbers (load weights) registered in this section, the shortest tact time function calculates the optimum speed and acceleration/deceleration.

[Refer to the instruction manual of smart teaching tool for how to register the load weights and shortest tact time.]

Setting Name

0 Transported Load No.0 1 Transported Load No.1 2 Transported Load No.2 3 Transported Load No.3

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 completion of operation parameter No.

0 Servo ON not changed – 1 Automatic servo OFF after certain period 36 2 Automatic servo OFF after certain period 37 3 Automatic servo OFF after certain period 38 4 Full servo control –

Full-servo control for a certain time and then automatically turning servo OFF

  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.····· Do not set up.

 

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3.2.2 Control of Input Signal

The input signal of this controller has the input time constant of 6ms considering the prevention of wrong operation by chattering and noise. Therefore, input each input signal for 6ms or more

(Note)

continuously. The signal cannot be

identified if it is less than 6ms.

(Note) It is necessary to input 26ms or more for PWRT Signal of PIO Pattern 1.

[Refer to 3.2.4 Operation with the Position No. Input = Operations of PIO Patterns 0 to 3]

3.2.3 Operation Ready and Auxiliary Signals = Common to Patterns 0 to 5



[1] Emergency stop status (EMGS)

Output

PIO signal

*EMGS

Common to

Patterns 0 to 5

{

{ : Available, u: Unavailable

1) The emergency stop status EMGS is turned ON when in normal condition and turned OFF

when EMG terminal on “2.1.3 [1] Power Supply Connector” is 0V (emergency stop condition or disconnected).

2) It turns back ON once the emergency stop condition is released and EMG terminal goes up

to 24V DC. Have an appropriate safety treatment such as interlock with this signal for the host controller (PLC, etc.).

[Caution] EMGS is different from the emergency stop output caused by a controller alarm.

Input Signal

Identify

Not Identify

6ms

Chapter 3 Operation

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[2] Operation Mode (RMOD, RMDS)

Input Output

PIO signal

RMOD RMDS

Common to

Patterns 0 to 5

{ {

{ : Available, u: Unavailable

Two operation modes are provided so that the operation by PIO signals does not overlap with the operation by a teaching tool such as PC software through SIO (serial) communication. The mode change is normally done by the operation mode setting switch ON the front panel of the controller.

AUTO··········Operation by PIO signals is valid. MANU········· Operation through SIO (serial) communication is valid.

However, when having the controller in link connection

(Note 1)

and the teaching tool such as PC software being connected using SIO converter, there is a case the controller and the teaching tool are placed far from each other. In such a case, the controller can be entered into the MANU mode by setting PIO signal RMOD to ON. Because the RMDS signal is set to ON with the MANU mode selected by using the signal, make the operation sequence interlocked. The table below lists the switches ON the front panel, the modes selected by the RMOD signal and the corresponding output states of the RMDS signal.

(Note 1) For the details of the link connection, refer to “9.1 Way to Set Multiple Controllers with

1 Teaching Tool”.

{: Selected or set to ON

Condition Status

PIO Operation

Invalid

(Note 2)

{

{ { {

u u u u

Teaching tool such as

PC software

PIO Operation

Allowed

(Note 2)

u u u

{ { { {

AUTO

{

u u

{ {

u u

Switches ON

front panel

MANU

{ {

u u

{ {

PIO Input

RMOD

{

PIO Output

RMDS

{ { {

PIO valid: , PIO invalid:z



z z z    

(Note 2) “PIO Operation Allowed” or “PIO Operation Invalid” is the function to select a

restriction while the teaching tool such as PC software is connected.

  Caution: (1) Note that selecting “PIO Operation Allowed” by using the teaching tool

such as PC software makes all PIO signals valid to enable operation however the states of the switches and RMOD signal input may be. In this status, the actuator may be started depending on the signals from PLC.

(2) If the teaching tool such as PC software is disconnected from the

controller, “PIO Operation Allowed” or “PIO Operation Invalid” holds the state selected before. After teaching operation or debugging is terminated, select “PIO Operation Allowed” and disconnect the teaching tool such as PC software from the controller.

Operation by normal PIO

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[3] Servo ON (SON, SV, PEND)

Input Output

PIO signal

SON SV SON

Other than pattern 5

{ { {

Pattern 5

{ {

{ : Available, u: Unavailable

1) Servo ON signal SON is the input signal making the servo motor of the actuator operable.

2) If the servo-on is performed to enable operation, the SV output signal is turned ON. Concurrently positioning completion signal PEND is turned ON.

3) With the power being supplied, then controller cannot be operated while the SV signal remains OFF. If the SON signal is turned OFF under operation of the actuator, the actuator is decelerated and stopped with the maximam torque. After the stop, the servo OFF occurs to enter the motor into the free running state. The brake (option) is of release-in-excitation type. Therefore, making the excitation on will release the brake while making it off will lock the brake.

SON

26ms

Lock

Release

PEND

Brake Excitation

T (before detecting excitation)

(Note)

= SON signal identification (6ms) + Excitation detection time

(T1 + T2) × Number of retry (10 times Max.) + Servo ON delay time (T3)

T (after detecting excitation)

(Note)

= SON signal identification (6ms) + Servo ON delay time (T3)

T1 : Parameter No.30 It differs depending on the setting of excitation detection type. Set Value = 0 ĺ 160ms

Set Value = 1, 2 ĺ 220ms

T2 : Parameter No.29 Setting of excitation phase signal detection time

It is set to 10ms in the initial setting.

T3 : Fixed to 20ms

(Note 1) Excitation check operation is performed at the first servo-on process after the power is

turned ON, or when the home return is completed for the simple absolute type to identify the magnetic poles of the motor.

(Note 2) PEND would not turn ON in the pause condition.

Chapter 3 Operation

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[4] Home Return (HOME, HEND, PEND, MOVE)

Input Output

PIO signal

HOME HEND PEND MOVE

Patterns 0 and 1

{ { { {

Patterns 2 to 4

{ { {

Pattern 5

(Note1)

{

u u

{ : Available, u: Unavailable

Note 1: For pattern 5, the home return by the HOME signal is not allowed. Refer to 3.2.6 [1]

Home return (ST0, HEND) for how to perform a home-return operation.

The HOME signal is intended for automatic home return. The HOME signal is caught at the rising edge (ON edge) to start the home return. At completion of the home return, home return completion signal HEND is turned ON. The home-return complete signal HEND is kept on unless the memory of origin point is lost for a reason such as alarm. During the home return operation, positioning completion signal PEND and moving signal MOVE are set to OFF and ON, respectively.

Homing Completion Signal

HEND

(Controller→PLC)

Positioning Completion Signal

PEND

(Controller→PLC)

Moving Signal

MOVE

(Controller→PLC)

Home Return Signal

HOME

(PLC→Controller)

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[Operation of Slider Type/Rod Type Actuator]

1) With the HOME signal being ON, the actuator moves toward the mechanical end at the home return speed. The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators. Refer to the instruction manual of each actuator.

2) The actuator is turned at the mechanical end and stopped at the home position. The moving distance is the value set by Parameter No.22 “Home return offset level”.

  Caution: In the home reverse specification, the actuator moves in the reverse direction.

Make sure to refer to Section 7.2 [16] when a change to Parameter No.22 “Home return offset level” is required.

[Operation of Rotary Actuator]

(1) 330q Rotation Specification

1) With the HOME signal being ON, the actuator rotates at 20deg/s in the CCW (counterclockwise) direction when it is viewed from the load side.

2) It reverses at the mechanical stopper and stops at the home position. The movement amount in this process follows the setting in Parameter No. 22 “Home return offset level”.

Caution: Make sure to refer to Section 7.2 [16] when a change to Parameter No.22

“Home return offset level” is required.

Mechanical end

Home

Home = 0°

Mechanical stopper

Chapter 3 Operation

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(2) Multi-Rotation Specification

1) Once the home-return command is issued, the actuator rotates in CCW (counterclockwise) direction from the view point of the load side. The velocity is 20deg/s.

2) Home sensor turns ON.

3) Starts reversed rotation.

4) Goes back to a point exceeded the home sensor detection range, and confirms the home sensor is turned OFF.

5) Starts reversed rotation.

6) Confirms the home sensor gets turned ON again.

7) Goes to a point exceeded the home sensor detection range on the opposite side of the home position, and confirms the home sensor is turned OFF.

8) Starts reversed rotation.

9) Confirms the home sensor turns ON.

10) Goes to a point exceeded the home sensor detection range on the home position side, and confirms the home sensor is turned OFF.

11) Based on the result gained from 6), 7), 9) and 10), the center of the home sensor detection range is calculated.

12) Moves for the amount set in Parameter No.22 “Home return offset level” from the position of 11), and stops at the home position.

Caution: The operation of the reversed rotation type should be in the reversed way.

Make sure to refer to Section 7.2 [16] when a change to Parameter No.22 “Home return offset level” is required.

Rotary Axis

8)9)

10)

11)

12)

(Home Position Side)

(Opposite Side of Home Position)

Home (Forward Rotation End)

Offset Movement Amount

Datum Point for Offset (Center of 6), 7), 9) and 10))

Home Sensor Detection Range

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[Operation of Actuator of Gripper Type]

1) If the HOME signal is turned ON, the actuator moves toward the mechanical end (to end side) at the home return speed (20mm/s).

2) The actuator is turned at the mechanical end and stopped at the home position. The moving distance is the value set by Parameter No.22 “Home return offset level”.

Caution: Make sure to refer to Section 7.2 [16] when a change to Parameter No.22

“Home return offset level” is required.

Note Finger attachment is not included in the actuator package. Please prepare

separately.

2) 2)

Finger Attachment (Note)

Chapter 3 Operation

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[5] Zone Signal and Position Zone Signal (ZONE1,ZONE2, PZONE)

Output

PIO signal

ZONE1 ZONE2

(Note 2)

PZONE

(Note 2)

Pattern 0

{ { {

Pattern 1 {

(Note 2)

{

Pattern 2 {

(Note 2)

{

Pattern 3

(Note 1)

× × ×

Pattern 4

{ { {

Pattern 5

{ { {

{ : Available, u: Unavailable

Note 1 Pattern 3 does not have the zone signal output feature. Note 2 In Parameter No.149 Zone Output Switchover, ZONE can be selected instead of

PZONE.

The relevant signal can be turned ON while the actuator passes or stops in the zone range in either of the following 2 types:

1) Zone signal (ZONE1, ZONE2)·····The output signal is turned ON at the position set by the

proper parameter.

2) Position zone signal (PZONE)····· The output signal is turned ON at the position set in the

position table.

The feature can play a role as the sensor for judging whether the completion position is good or not at completion of pressing, setting the continuous operation zone in pitch feed or interlocking operations of other units in the setting zone.

(1) Zone signal (ZONE1, ZONE2)

Set the zone range to the relevant parameter.

1) Parameter No.1 : Zone boundary 1+

2) Parameter No.2 : Zone boundary 1-

3) Parameter No.23 : Zone boundary 2+

4) Parameter No.24 : Zone boundary 2-

The zone signal ZONE is kept effective also during the emergency stop unless the memory of the origin is lost due to alarm.

Time

Velocity

Zone output signal

1) 2) 3) 4) 5)

2) 3)

4) 5)

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(2) Position zone signal (PZONE)

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

Transported

load

Stop

mode

1 0.00 250.00 0.20 0.20 0 0 0.10 50.00 30.00 0 0 0 0 2 100.00 250.00 0.20 0.20 0 0 0.10 70.00 60.00 0 0 0 0 3 50.00 250.00 0.20 0.20 50 0 20.00 60.00 65.00 0 0 0 0

Zone ranges should be set in the position table. While the operation corresponding to a position number is executed, the zone range set for the position number is valid. It is kept effective also during the emergency stop unless the actuator is operated or the memory of the origin is lost due to alarm.

(3) Setting values and signal output range

The zone output range varies depending on the difference between the value set for the positive side of the zone and that for the negative side.

1) Value set for positive side > value set for negative side: The output signal is set to ON in the range and OFF out of the range.

2) Value set for positive side < value set for negative side: The output signal is set to OFF in the range and ON out of the range.

[Example of Line Axis]

[Example of rotary actuator of multi-rotation specification in index mode]

Caution: (1) Since this signal becomes effective after the coordinate system is

established after the home return is completed, it would not be output just with the power turned ON.

(2) The zone detection range would not turn ON unless the value exceeds

that of the minimum resolution (actuator lead length/800).

Setting of zone range

Current Position

Zone Signal Output

0mm

30mm

70mm

100mm

Set Value Zone setting + : 70mm Zone setting - : 30mm

Set Value Zone setting + : 30mm Zone setting - : 70mm

315q

70q

315q

70q

Set Value Zone setting + : 70q Zone setting - : 315q

Set Value Zone setting + : 315q Zone setting - : 70q

Chapter 3 Operation

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[6] Alarm, Alarm Reset (*ALM, RES)

Input Output

PIO signal

RES *ALM

Common to

Patterns 0 to 5

{ {

{ : Available, u: Unavailable

1) Alarm signal *ALM is set to ON in the normal status but turned OFF at the occurrence of an alarm at a level equal to or higher than the operation release level.

2) Turning reset signal RES ON under occurrence of an alarm at the operation release level allows the alarm

(Note 1)

to be released. The action is taken at the rising edge (ON edge).

3) The alarm reset should be done after the cause of the alarm is confirmed and removed. If alarm reset and restart are repeated many times without removal of the cause, a severe failure such as motor burnout may occur.

Note 1 Check the 8.4 Alarm List for details of alarms.

Caution: Reset signal RES has two features, or alarm reset under occurrence of an

alarm and operation interruption (cancellation of remaining moving distance) under temporary stop. For the operation interruption under temporary stop, refer to the description of the operation in each pattern.

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[7] Binary Output of Alarm Data Output (*ALM, PM1 to 8)

Output

PIO signal

*ALM PM1 to 8

Common to

Patterns 0 to 3

{ {

Pattern 4

(Note 1)

{

Pattern 5

(Note 1)

{

{ : Available, u: Unavailable

(Note 1) Patterns 4 and 5 do not have this function.

1) If an alarm at a level equal to or higher than the operation release level occurs, completed position number output signals PM1 to PM8 output the alarm information in the binary code format.

2) The PLC can read the binary code of alarm signal *ALM as the strobe signal to refer to alarm information.

{: ON z: OFF

*ALM

ALM8

(PM8)

ALM4 (PM4)

ALM2 (PM2)

ALM1 (PM1)

Binary Code

Description: Alarm code is shown in ( ).

{ z z z z

–

Normal

z z z { z

Software reset during servo ON (090) Position number error during teaching (091) PWRT signal detected during movement (092) PWRT signal detected before completion of home return (093)

z z z { {

Move command during servo OFF (080) Position Command in Incomplete Home Return (082) Absolute position move command when home return is not yet completed (083) Movement Command during Home Return Operation (084) Position No. error during movement (085) Move command while pulse train input is effective (086) Command deceleration error (0A7)

z z { z z

FAN error detection (0D6) Field bus module not detected (0F3) Mismatched PCB (0F4)

z z { z {

Field bus link error (0F1) Field bus module error (0F2)

z z { { z

Parameter data error (0A1) Position data error (0A2) Position command data error (0A3) Unsupported motor/encoder type (0A8)

z z { { {

Excitement detection error (0B8) Home sensor non-detection (0BA) Home return timeout (0BE)

(Note) *ALM Signal is an active low signal. It is ON when the power is applied to the controller, and

turns OFF when the signal is output.

Chapter 3 Operation

POWER CON

PCON-CA/CFA

{: ON z: OFF

*ALM

ALM8

(PM8)

ALM4 (PM4)

ALM2 (PM2)

ALM1 (PM1)

Binary Code

Description: Alarm code is shown in ( ).

z { z z z

8 Actual speed excessive (0C0)

z { z z {

Regenerative electric discharge circuit error (0C7) Overcurrent (0C8) Overvoltage (0C9) Overheat (0CA) Control power source voltage error (0CC) Drop in control supply voltage (0CE) Drive source error (0D4)

z { z { {

Command counter overflow (0A4) Command counter overflow in Incomplete home return (0D5) Deviation Overflow (0D8) Software stroke limit exceeded (0D9) Pressing motion range over error (0DC)

z { { z z

Servo error (0C1) Motor power source voltage excessive (0D2) Overload (0E0)

z { { z {

Encoder receipt error (0E5) A- and B-phase Wire Breaking (0E8) Absolute encoder error detection 1 (0ED) Absolute encoder error detection 2 (0EE) Absolute encoder error detection 3 (0EF)

z { { { z

CPU Error (0FA) Logic Error (0FC)

z { { { {

Nonvolatile memory write verify error (0F5) Nonvolatile memory write timeout (0F6) Nonvolatile memory data destroyed (0F8)

(Note) *ALM Signal is an active low signal. It is ON when the power is applied to the controller, and

turns OFF when the signal is output.

POWER CON

PCON-CA/CFA

[8] Brake release (BKRL)

Input

PIO signal

BKRL

Pattern 0

{

Pattern 1

(Note 1)

Pattern 2 to 5

{

{ : Available, u: Unavailable

(Note 1) Pattern 1 does not have this feature

The brake can be released while BKRL signal is set to ON. If a brake is installed in the actuator, the brake is automatically controlled by servo ON/OFF. Releasing the brake may be required to move the slider and/or the rod by hand in case of installation of the actuator in the machine or direct teach

. This operation can be done by break release signal BKRL as well as the brake release switch ON the front panel of the controller. *1 Direct teaching : This operation is intended to get coordinate values to the position by

moving the slider and/or the rod by hand.

  Warning: (1) Take sufficient care to release the brake. Inappropriate brake release

may cause people to be injured and/or the actuator, the work and/or the machine to be damaged.

(2) After the brake is released, always make the brake applied again. Any

operation with the brake remaining released is extremely dangerous. The slider or rod may drop to cause people to be injured and/or the actuator, the work and/or the machine to be damaged.

(3) Make certain that this signal is turned OFF (brake is activated) when the

power is supplied to the controller.

(4) It is prohibited to switch over between AUTO and MANU while this signal

is ON (brake is released).

Chapter 3 Operation

POWER CON

PCON-CA/CFA

3.2.4 Operation with the Position No. Input = Operations of PIO Patterns 0 to 3

This section describes the methods of operations of PIO patterns 0 to 3. These patterns provide normal controller operation methods in which the controller is operated by turning the start signal ON after a position No. is entered. The control methods of positioning, pitch feed, and pressing are the same as those described before.

[1] Positioning [Basic] (PC1 to PC**, CSTR, PM1 to PM**, PEND, MOVE, LOAD, TRQS)

Input Output

PIO signal

PC1 to PC** CSTR PM1 to PM** PEND MOVE LOAD TRQS

PIO pattern 0 PC1 to 32

{

PM1 to 32

{ {

u u

PIO pattern 1 PC1 to 32

{

PM1 to 32

{ {

u u

PIO pattern 2 PC1 to 128

{

PM1 to 128

{

u u u

PIO pattern 3 PC1 to 256

{

PM1 to 256

{

u u u

{ : Available, u: Unavailable

(Note) For incremental type, operation without home return leads the operation based on the

data of the specified position No. after automatic home return. If one or more problems are found, interlock by home return complete signal HEND is required. Operation to the specified position number would not take place under the condition that the home position data is lost in the simple absolute type, but only the home-return operation will be conducted.

POWER CON

PCON-CA/CFA

 Sample use

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

Transported

load

Stop

mode

1 70.00 100.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0 2 150.00 200.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0

 Control method

1) First enter command position No. PC1 to PC** with binary data. Next turn start signal

CSTR ON. Then the actuator starts acceleration depending on the data in the specified position table for positioning to the target position.

2) At operation start, positioning complete signal PEND is turned OFF. Always turn the CSTR

signal OFF. Without it, the completed position number is not output and the positioning complete signal is not turned ON at the completion of positioning.

3) When the positioning is completed, the positioning complete position numbers are output

from complete position No.PM1 to PM** with binary data and also positioning complete signal PEND is turned ON.

4) Moving signal MOVE is turned ON as soon as the operation is started and turned OFF at

the completion of positioning.

5) Positioning complete signal PEND is turned ON if the remaining moving distance enters

into the positioning width. PEND Signal will be kept ON once it is turned ON unless the start signal CSTR is turned back ON, servo is turned OFF

(Note)

or the actuator is out of the

positioning band width range

(Note)

(Note) It can be switched over with Parameter No.39.

Positioning Completion

Signal Output

Velocity

Positioning

Completion

Signal Output

1) 2) 3) 4)

5) 6) 7) 8)

1) 2) 5) 6) 3) 4) 7) 8)

Chapter 3 Operation

POWER CON

PCON-CA/CFA

(Note 1) The completion position No. output is set to 0 during movement of the actuator.

  Caution:

(1) Set the period taken from entering position No. to turning CSTR ON to 6ms or larger. In spite of

6ms timer process in the PLC, commands may be input to the controller concurrently to cause positioning to another position. Take the scanning time in the PLC into account to set a period as 2 to 4 times as the scanning time. Set the value similarly if the PLC reads the complete position.

(2) At the completion of positioning, positioning complete signal PEND is not turned ON if start

signal SCTR remains ON. If this occurs, turn CSTR OFF then PEND is turned ON immediately. Therefore, create the sequence program so that turning PEND ON makes CSTR turned OFF and the PLC waits for the state in which PEND is turned ON.

(3) At the positioning to the position same as that specified in the stop (complete) position number,

PEND is turned OFF once but moving signal MOVE is not turned ON. Therefore, use PEND to turn CSTR OFF.

(4) MOVE turns on at the same time as PEND turns OFF, and turns OFF when a movement

command is finished or PEND is turned ON. Therefore, when the positioning band setting is wide, the signal may turn OFF even in the actuator operation, and may turn off prior to PEND if the positioning band setting is narrow.

 Binary data { : ON z : OFF

Command position No.

PC256 PC128 PC64 PC32 PC16 PC8 PC4 PC2 PC1

Completed position No.

PM256 PM128

PM64 PM32 PM16 PM8 PM4 PM2 PM1

z z z z z z z z z

z z z z z z z z {

z z z z z z z { z

z z z z z z z { {

z z z z z z { z z

z z z z z z { z {

z z z z z z { { z

z z z z z z { { {

z z z z z { z z z

z z z z z { z z {

z z z z z { z { z

•••

509

{ { { { { { { z {

510

{ { { { { { { { z

511

{ { { { { { { { {

Command position No.

PC1 to PC**

(PLCĺController)

Completed position

PM1 to PM**

(ControllerĺPLC)

Start signal CSTR

(PLCĺController)

Positioning Completion Signal

PEND

(ControllerĺPLC)

Moving Signal MOVE

(ControllerĺPLC)

T1t6ms

PM1 to PM**㧩0

(Note 1)

PM1 to PM**㧩0

(Note 1)

Turned OFF by turning PEND OFF

Turned ON after entering into positioning width zone

Target Position

POWER CON

PCON-CA/CFA

[Shortcut control of rotary actuator of multi-rotation specification]

(1) Set of shortcut selection The shortcut selection can be made valid/invalid by Parameter No.80 “shortcut selection

during rotation”. If the shortcut selection is made valid, the actuator can be moved only in a single direction.

[Operation Examples]

Position No. Position

1 0 2 90 3 180 4 270

Enter position data assuming 1q = 1mm. (Example) 1.2 is assumed as 1.2q.

For operation in the order of positions 1o2o3o4, the actuator is moved differently whether the shortcut selection is valid or invalid.

y When shortcut selection is invalid:

y When shortcut selection is valid:

       

Position No.1

Position No.2

Position No.3

Position No.4

Chapter 3 Operation

POWER CON

PCON-CA/CFA

(2) Infinite Rotation Control Making the shortcut selection valid and moving the actuator in a specific direction

continuously allows the actuator to be rotated continuously as a motor. The continuous operation can be done as described below.

[Operation Examples]

This example rotates the actuator by 2 turns and finally stops it at position No.4.

Position No. Position

1 0 2 120 3 240 4 90

Enter position data assuming 1q = 1mm. (Example) 1.2 is assumed as 1.2q.

1) Widen the positioning widths of position No.1 to 3 so that they are located before the

position at which deceleration is started.

2) Positioning of position No.1 makes positioning complete signal PEND turned ON before

deceleration is started. If PEND is turned ON, positioning of position No.2 is executed. Similarly, positioning is repeated in the order of position No.3 o 1 o 2 o 3 o 4. Because the normal positioning always gives position data specified last the highest priority, the actuator can be rotated continuously.

3) If the speeds in position No.1 to 4 are set to be the same, the actuator can be rotated at the

same speed. Then the actuator is stopped at the positioning set in position No.4. The number of rotations is defined by the number of repeats of position No.1 to 3.

Position No.4

Position No.1

Position No.2

Position No.3

Position No.1

(Positioning width)

Position No.2

(Positioning width)

Position No.3

(Positioning width)

Position No.1

(Positioning width)

Position No.2

(Positioning width)

Position No.3

(Positioning width)

ctual operation

Position No.1

Positioning

Position No.2

Positioning

Position No.3

Positioning

Position No.1

Positioning

Position No.2

Positioning

Position No.3

Positioning

Position No.4

Positioning

POWER CON

PCON-CA/CFA

[2] Speed change during the movement

 Sample use

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

Transported

load

Stop

mode

1 150.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0 2 0.00 50.00 0.20 0.20 0 0 100.00 0.00 0.00 0 0 0 0 3 0.00 100.00 0.20 0.20 0 0 0.10 0.00 5.00 0 0 0 0

 Control method

The speed of the actuator can be changed while it moves. Positions are used by the number of speeds. The method of controlling the operation to each position is the same as that described in [1] Positioning.

The example below describes the case of 2 speeds:

1) In this example, the speed is changed while the actuator moves from the position of

150mm to the position of 0mm. At first, set the positioning to the target position at the first speed in position No.2. In the positioning width, set the distance from the speed change position to the target position. The value is set to 100mm in the example. Thus, for position No.2, positioning complete signal PEND is turned ON at the position before the target position by 100mm.

2) Set the positioning to the target position at the second speed in position No.3.

3) Start position No.2. Then start position No.3 successively when PEND in position No.2 is

turned ON. In normal positioning, position data specified later has always a priority over position data specified earlier. Thus, the operation in position No.3 is started on the way of the operation in position No.2.

In this example, the target positions No.2 and 3 are equal with each other. They may not be the same. However, setting the target positions to be equal with each other allows the distance from the speed change position to the target position to be known easily. To increase in the number of speed change steps, add a position number and operation sequence, set the speed change position in the positioning width and operate the actuator continuously.

Positioning

Completion

Signal Output

Velocity

Positioning

Completion

Signal Output

1) 2) 3)

4) 5) 6) 7)

1) 2) 3)

6) 7)

Positioning complete width at position 2

Chapter 3 Operation

POWER CON

PCON-CA/CFA

[3] Pitch Feeding (relative movement = incremental feed)

 Sample use

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

Transported

load

Stop

mode

1 100.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0 2 25.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 1 0 0

(Position No.2 sets pitch feed.)

 Control method

1) The method of controlling pitch feed is the same as that described in [1] Positioning except

the setting of the position table. Repeat the positioning of a specific position No.

2) For pitch feed, the position set in the position table indicates the pitch. Set the pitch

(relative moving distance = incremental moving distance) in column “Position”.

3) If the operation command is issued, the actuator moves from the current stop position by

“Position” in the position table. To perform continuous movement, repeat the operation. Any accumulation error does not occur because the home position (coordinate value 0) is specified as the base point.

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

Velocity

1) 2) 3) 4)

1) 2) 3)

100

IAI America PCON-CA User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Table of 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 List of Basic Specifications

1.3 Appearance

1.4 I/O Specifications

1.5 Options

1.6 Installation and Storage Environment

1.7 Noise Elimination and Mounting Method

Chapter 2 Wiring

2.1 Positioner Mode (PIO Control)

2.2 Pulse Train Control Mode

2.3 Wiring Method

Chapter 3 Operation

3.1 Basic Operation

3.2 Operation in Positioner Mode