IAI America SCON-C User Manual
Operation Manual Fourteenth Edition
SCON Controller
Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among others,
providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to
ensure safe use of the product.
The CD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.
[Important]
This Operation Manual is original.
The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall
assume no responsibility for the outcome of any operation not specified herein.
Information contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
If you have any question or comment regarding the content of this manual, please contact the IAI sales
office near you.
Using or copying all or part of this Operation Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the sentence s are
registered trademarks.
1. PC Software and Teaching Pendant Models
New functions have been added to the entire SCON controller series.
To support these new features, the communication protocol has been changed to the general Modbus
(Modbus-compliant) mode. As a result, the existing PC software programs and teaching pendants
compatible with RCS/E-Con controllers can no longer be used.
If you are using this controller, use a compatible PC software program and/or teaching pendant selected
from the following models.
Model Remarks
PC software (with RS232C
communication cable)
PC software (with USB communication
cable)
Teaching pendant CON-T
Teaching pendant RCM-T
Simple teaching pendant RCM-E
Data setting unit RCM-P
Touch panel display RCM-PM-01
2. Recommendation for Backing up Latest Data
This product uses nonvolatile memory to store the position table and parameters. Normally the memory will
retain the stored data even after the power is disconnected. However, the data may be lost if the nonvolatile
memory becomes faulty.
(We strongly recommend that the latest position table and parameter data be backed up so that the data
can be restored quickly in the event of power failure, or when the controller must be replaced for a given
reason.)
The data can be backed up using the following methods:
[1] Save to a CD or FD from the PC software.
[2] Hand write the position table and parameter table on paper.
3. Using a Rotary Actuator of Multi-rotation Specification
Rotary actuators available in the multi-rotation specification allow the user to select the multi-rotation mode
or limited-rotation mode using a parameter.
For the parameter setting, refer to 3.2.5, “Linear/Rotary Control” under 3, “Parameter Settings” in Appendix.
When using a rotary actuator of multi-rotation specification, the user should take note of the following
points:
[1] Rotational axes of absolute specification do not support the index mode. Accordingly, these axes
cannot perform multi-rotation operations.
[2] In solenoid valve mode 2 [3-point type]: PIO pattern 5 (parameter No. 25), rotary operations cannot be
performed by means of relative coordinate specification.
Actuator
RCM-101-MW
RCM-101-USB
All are compatible with existing RCS/E-Con
controllers.
Cannot be connected to conventional RCS
controller
Applicable models
RS-30/60
RCS2-RT6/RT6R/RT7/RT7R
RCS2-RTC8L/RTC8HL/RTC10L/RTC12L
CAUTION
±
2
6
3
1
Precautions
Please use rotary actuators of multi-rotation specification within the range where the following formula is
satisfied. Moreover, the maximum rotation angle is ±9999 [deg]
23
±2
Maximum rotation angle [deg]
≥
Unit Travel Distance [deg/pulse]
• Maximum rotation angle: Set the usage conditions (maximum -9999 to 9999 [deg]).
Note 1 :The following models can not be rotated up to ±9999.99 [deg].
deceleration
ratio
1/24
1/30
1/50
1/100
Maximum rotation angle
corresponding model
[deg]
±7679.99 RCS2-RTC8、RCS2-RTC10
±6143.99
±3685
RCS2-RTC12
RS-30、RS-60
±1842
• Unit movement: The amount of movement per command pulse.
Example) In case RCS2-RTC8L-I-12-24(deceleration ratio：1/24) is operated maximum rotation
angle 6000 [deg].
223
Maximum rotation angle [deg]
≥
Unit Travel Distance [deg/pulse]
23
≥
±2
Maximum rotation angle [deg]
23
±2
6000
≥
23
±2
≥
553600
×
16384
60
×
4
Therefore, the actuator can be operated in this case.
(NOTE1)
(maximum software stroke limit).
No. of Encoder Pluses [pulse/rev]
×
360[deg/rev] × Rotary Axis
deceleration
Ratio
About zone function change
Applicable application version: From V001E
In zone signal settings, it is now valid to specify plus side zone setting smaller than minus side zone setting.
Up to V001D: Zone signals are not output in the case of plus side zone settin g minus side zone setting only.
From V001E: Zone signals are not output in the case of plus side zone settin g = minus side zone setting o nly.
With this arrangement, zone output is enabled even if the zone single ON range spans over 0 in the index mode
of rotary actuators.
An example is shown below.
[In index mode of rotary actuators]
Setting value
Plus side zone setting: 70
Minus side zone setting: 315
[In case of translation axis]
Current position
Zone signal output
Zone signal output
Range of
zone signal ON
Setting value
Plus side zone setting: 315
Minus side zone setting: 70
Setting value
Plus side zone setting: 70 mm
Minus side zone setting: 30 mm
Setting value
Plus side zone setting: 30 mm
Minus side zone setting: 70 mm
CAUTION
Table of Contents
Safety Guide....................................................................................................Pre-1
Chapter 1 Introduction .........................................................................................1
1. Overview.................................................................................................................................1
1.1 Introduction........................................................................................................................... 1
1.2 SCON Functions ..................................................................................................................1
1.3 How to Read the Model Specification ..................................................................................4
1.4 System Configuration........................................................................................................... 5
1.5 Procedure from Unpacking to Test Operation and Adjustment............................................ 6
1.6 Warranty Period and Scope of Warranty.............................................................................. 8
2. Specifications..........................................................................................................................9
2.1 Basic Specifications..............................................................................................................9
2.2 Name and Function of Each Part....................................................................................... 10
2.3 External Dimensions ..........................................................................................................21
3. Installation and Wiring...........................................................................................................23
3.1 Installation Environment..................................................................................................... 23
3.2 Heat Radiation and Installation ..........................................................................................23
3.3 Noise Elimination Measures and Grounding...................................................................... 24
3.4 Wiring the Power Supply....................................................................................................26
3.5 Connecting the Actuator..................................................................................................... 28
3.6 Connecting the PIO Cable (I/O)......................................................................................... 29
3.7 External Input/Output Specifications.................................................................................. 30
3.8 Connecting the Emergency Stop Input (Wiring to the System I/O Connector).................. 32
3.9 Connecting the Regenerative Unit (RB)............................................................................. 48
3.10 Connecting the Brake Box (RCB-110-RA13-0)..............................................................50
Chapter 2 Positioner Mode................................................................................52
1. I/O Signal Control and Signal Functions...............................................................................52
1.1 PIO Patterns and Signal Assignments ...............................................................................52
1.2 Connecting the I/O Cable................................................................................................... 61
1.3 Details of I/O Signal Functions...........................................................................................67
2. Data Entry.............................................................................................................................77
2.1 Description of Position Table..............................................................................................77
2.2 Explanation of Modes......................................................................................................... 84
2.3 Power-saving Modes at Standby Positions........................................................................ 94
3. Operation..............................................................................................................................96
3.1 How to Start........................................................................................................................96
3.2 How Return Operation...................................................................................................... 107
3.3 Positioning Mode (Back and Forth Movement between Two Points)...............................109
3.4 Push & Hold Mode ............................................................................................................111
3.5 Speed Change during Movement..................................................................................... 114
3.6 Operation at Different Acceleration and Deceleration Settings........................................ 116
3.7 Pause ............................................................................................................................... 118
3.8 Zone Signal Output .......................................................................................................... 120
3.9 Incremental Moves........................................................................................................... 123
Jogging/Teaching Using PIO........................................................................................ 129
3.10
3.11 Operations in Solenoid Valve Mode 1 [7-point Type]....................................................131
3.12 Operations in Solenoid Valve Mode 2 [3-point Type]....................................................135
Chapter 3 Pulse-train Input Mode....................................................................142
1. Overview.............................................................................................................................142
1.1 Features ........................................................................................................................... 142
1.2 Standard Accessories.......................................................................................................143
1.3 Options .............................................................................................................................143
2. Wiring..................................................................................................................................147
2.1 External Connection Diagram..........................................................................................147
2.2 Command Pulse-train Input Specifications ......................................................................148
2.3 Feedback Pulse Output Part ............................................................................................149
3. I/O Signal Control and Signal Functions.............................................................................150
3.1 Input Signals.....................................................................................................................150
3.2 Output Signals..................................................................................................................156
4. How to Switch to the Pulse-train Control Mode...................................................................161
5. Parameters .........................................................................................................................162
5.1 Parameter Settings Required for Operation..................................................................... 162
5.2 Effective Parameters in the Pulse-train Mode.................................................................. 166
* Appendix ..........................................................................................................169
1. Actuator Specification List...................................................................................................169
2. Battery Backup Function.....................................................................................................174
2.1 Absolute-encoder Backup Battery....................................................................................175
3. Parameter Settings.............................................................................................................177
3.1 Parameter Table...............................................................................................................177
3.2 Detail Explanation of Parameters.....................................................................................179
4. PC/Teaching Pendant Connection Method in Multi-axis Configurations.............................202
4.1 Connection Example........................................................................................................202
4.2 Name and Function of Each Part of the SIO Converter...................................................203
4.3 Address Switch.................................................................................................................205
4.4 Connection Cables........................................................................................................... 205
4.5 Detail Connection Diagram ..............................................................................................206
5. Troubleshooting..................................................................................................................207
5.1 Action to Be T aken upon Occurrence of Problem............................................................207
5.2 Alarm Level Classification................................................................................................208
5.3 Alarm Description Output Using PIO................................................................................209
5.4 Alarm Description and Cause/Action ............................................................................... 211
5.5 Messages Displayed during Operation Using the Teaching Pendant..............................220
5.6 Specific Problems.............................................................................................................222
6. Basic Example of Positioning Sequence ............................................................................224
Recording of Parameters ...........................................................................................................227
Change History...................................................................................................229
Safety Guide
This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property
damage. Be sure to read this section before using your product.
Regulations and Standards Governing Industrial Robots
Safety measures on mechanical devices are generally classified into four categori es under the International
Industrial Standard ISO/DIS 12100, “Safety of machinery,” as follows:
Safety measures Inherent safety design
Protective guards --- Safety fence, etc.
Additional safety measures --- Emergency stop device, etc.
Information on use --- Danger sign, warnings, operation manual
Based on this classification, various standards are established in a hierarchical manner unde r the International
Standards ISO/IEC. The safety standards that apply to industrial robots are as follows:
Type C standards (individual safety standards) ISO10218 (Manipulating industrial robots – Safety)
JIS B 8433
(Manipulating industrial robots – Safety)
Also, Japanese laws regulate the safety of industrial robots, as follows:
Industrial Safety and Health Law Article 59
Workers engaged in dangerous or harmful operations must recei ve special education.
Ordinance on Industrial Safety and Health
Article 36 --- Operations requiring special education
No. 31 (Teaching, etc.) --- Teaching and other similar work involving industrial robots (exceptions
apply)
No. 32 (Inspection, etc.) --- Inspection, repair, adjustment and similar work involving industrial robots
(exceptions apply)
Article 150 --- Measures to be taken by the user of an industrial robot
Pre-1
Requirements for Industrial Robots under Ordinance on Industrial Safety and
Health
Work area Work condition Cutoff of drive source Measure Article
Signs for starting operation Article 104 Outside
Installation of railings, enclosures,
etc.
Sign, etc., indicating that work is in
progress
Preparation of work rules Article 150-3
Measures to enable immediate
stopping of operation
Sign, etc., indicating that work is in
progress
Provision of special education Article 36-31
Checkup, etc., before
commencement of work
To be performed after stopping the
operation
Sign, etc., indicating that work is in
progress
Preparation of work rules Article 150-5
Measures to enable immediate
stopping of operation
Sign, etc., indicating that work is in
progress
Provision of special education
(excluding cleaning and lubrication)
Article 150-4
Article 150-3
Article 150-3
Article 150-3
Article 151
Article 150-5
Article 150-5
Article 150-5
Article 150-5
Article 36-32
movement
range
Inside
movement
range
During
automatic
operation
During
teaching, etc.
During
inspection, etc.
Not cut off
Cut off (including
stopping of operation)
Not cut off
Cut off
Not cut off (when
inspection, etc., must
be performed during
operation)
Pre-2
Applicable Modes of IAI’s Industrial Robot
Machines meeting the following conditions are not classified as industrial robots according to Notice of Ministry
of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No. 340):
(1) Single-axis robo with a motor wattage of 80 W or less
(2) Combined multi-axis robot whose X, Y and Z-axes are 300 mm or shorter and whose rotating part, if
any, has the maximum movement range of within 300 mm
(3) Multi-joint robot whose movable radius and Z-axis are within 300 mm
Among the products featured in our catalogs, the following models are classified as industrial robots:
1. Single-axis ROBO Cylinders
RCS2/RCS2CR-SS8
2. Single-axis robots
The following models whose stroke exceeds 300 mm and who se motor capacity also exceeds 80 W:
ISA/ISPA, ISDA/ISPDA, ISWA/ISPWA, IF, FS, NS
3. Linear servo actuators
All models whose stroke exceeds 300 mm
4. Cartesian robos
Any robot that uses at least one axis corresponding to one of the models specified in 1 to 3
5. IX SCARA robots
All models whose arm length exceeds 300 mm
(All models excluding IX-NNN1205/1505/1805/2515, NNW2515 and NNC1205/1 505/1805/2515)
whose stroke exceeds 300 mm
3
including the tip of the rotating part
Pre-3
Notes on Safety of Our Products
Common items you should note when performing each task on any IAI robot are explained below.
No. Task Note
1 Model
selection
2 Transportation
3 Storage/
preservation
4 Installation/
startup
This product is not planned or designed for uses requiring high degrees of safety.
Accordingly, it cannot be used to sustain or support life and must not be used in the
following applications:
[1] Medical devices relating to maintenance, management, etc., of life or health
[2] Mechanisms or mechanical devices (vehicles, railway facilities, aircraft facilities, etc.)
intended to move or transport people
[3] Important safety parts in mechanical devices (safety devices, etc.)
Do not use this product in the following environments:
[1] Place subject to flammable gases, ignitable objects, flammables, explosives, etc.
[2] Place that may be exposed to radiation
[3] Place where the surrounding air temperature or relative humidity exceeds the specified
range
[4] Place subject to direct sunlight or radiated heat from large heat sources
[5] Place subject to sudden temperature shift and condensation
[6] Place subject to corrosive gases (sulfuric acid, hydrochloric acid, etc.)
[7] Place subject to excessive dust, salt or iron powder
[8] Place where the product receives direct vibration or impact
Do not use this product outside the specified ranges. Doing so may significantly shorten
the life of the product or result in product failure or facility stoppage.
When transporting the product, exercise due caution not to bump or drop the product.
Use appropriate means for transportation.
Do not step on the package.
Do not place on the package any heavy article that may deform the package.
When using a crane of 1 ton or more in capacity, make sure the crane operators are
qualified to operate cranes and perform slinging work.
When using a crane, etc., never hoist articles exceeding the rated load of the crane, etc.
Use hoisting equipment suitable for the article to be hoisted. Calculate the load needed
to cut off the hoisting equipment and other loads incidental to equipment operation by
considering a safety factor. Also check the hoisting equipment for damage.
Do not climb onto the article while it is being hoisted.
Do not keep the article hoisted for an extended period of time.
Do not stand under the hoisted article.
The storage/preservation environment should conform to the installation environment.
Among others, be careful not to cause condensation.
(1) Installing the robot, controller, etc.
Be sure to firmly secure and affix the product (including its work part).
If the product tips over, drops, malfunctions, etc., damage or injury may result.
Do not step on the product or place any article on top. The product may tip over or the
article may drop, resulting in injury, product damage, loss of/drop in product
performance, shorter life, etc.
If the product is used in any of the following places, provide sufficient shielding
measures:
[1] Place subject to electrical noise
[2] Place subject to a strong electric or magnetic field
[3] Place where power lines or drive lines are wired nearby
[4] Place subject to splashed water, oil or chemicals
Pre-4
No. Task Note
4 Installation/
startup
(2) Wiring the cables
Use IAI’s genuine cables to connect the actuator and controller or connect a teaching
tool, etc.
Do not damage, forcibly bend, pull, loop round an object or pinch the cables or place
heavy articles on top. Current leak or poor electrical continuity may occur, resulting in
fire, electric shock or malfunction.
Wire the product correctly after turning off the power.
When wiring a DC power supply (+24 V), pay attention to the positive and negative
polarities.
Connecting the wires in wrong polarities may result in fire, product failure or
malfunction.
Securely connect the cables and connectors so that they will not be disconnected or
come loose. Failing to do so may result in fire, electric shock or product malfunction.
Do not cut and reconnect the cables of the product to extend or shorten the cables.
Doing so may result in fire or product malfunction.
(3) Grounding
Be sure to provide class D (former class 3) grounding for the controller. Grounding is
required to prevent electric shock and electrostatic charges, improve noise resistance
and suppress unnecessary electromagnetic radiation.
(4) Safety measures
Implement safety measures (such as installing safety fences, etc.) to prevent entry into
the movement range of the robot when the product is moving or can be moved.
Contacting the moving robot may result in death or serious injury.
Be sure to provide an emergency stop circuit so that the product can be stopped
immediately in case of emergency during operation.
Implement safety measures so that the product cannot be started only by turning on the
power. If the product starts suddenly, injury or product damage may result.
Implement safety measures so that the product will not start upon cancellation of an
emergency stop or recovery of power following a power outage. Failure to do so may
result in injury, equipment damage, etc.
Put up a sign saying “WORK IN PROGRESS. DO NOT TURN ON POWER,” etc.,
during installation, adjustment, etc. If the power is accidently turned on, electric shock or
injury may result.
Implement measures to prevent the work part, etc., from dropping due to a power
outage or emergency stop.
Ensure safety by wearing protective gloves, protective goggles and/or safety shoes, as
necessary.
Do not insert fingers and objects into openings in the product. Doing so may result in
injury, electric shock, product damage, fire, etc.
When releasing the brake of the vertically installed actuator, be careful not to let the
actuator drop due to its dead weight, causing pinched hands or damaged work part, etc.
5 Teaching
Whenever possible, perform teaching from outside the safety fences. If teaching must
be performed inside the safety fences, prepare “work rules” and ma ke sure the operator
understands the procedures thoroughly.
When working inside the safety fences, the operator should carry a handy emergency
stop switch so that the operation can be stopped any time when an abnormality occurs.
When working inside the safety fences, appoint a safety watcher in addition to the
operator so that the operation can be stopped any time when an abnormality occurs.
The safety watcher must also make sure the switches are not operated inadvertently by
a third party.
Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.
Pre-5
No. Task Note
5 Teaching When releasing the brake of the vertically installed actuator, be careful not to let the
actuator drop due to its dead weight, causing pinched hands or damaged lo ad, etc.
* Safety fences --- Indicate the movement range if safety fences are not provided.
6 Confirmation
operation
After teaching or programming, carry out step-by-step confirmation operation before
switching to automatic operation.
When carrying out confirmation operation inside the safety fences, follow the specified
work procedure just like during teaching.
When confirming the program operation, use the safety speed. Failure to do so may
result in an unexpected movement due to programming errors, etc., causing injury.
Do not touch the terminal blocks and various setting switches while the power is
supplied. Touching these parts may result in electric shock or malfunction.
7 Automatic
operation
Before commencing automatic operation, make sure no one is inside the safety fences.
Before commencing automatic operation, make sure all related peripherals are ready to
operate in the auto mode and no abnormalities are displayed or indicated.
Be sure to start automatic operation from outside the safety fences.
If the product generated abnormal heat, smoke, odor or noise, stop the product
immediately and turn off the power switch. Failure to do so may result in fire or product
damage.
If a power outage occurred, turn off the power switch. Otherwise, the product may move
suddenly when the power is restored, resulting in injury or product damage.
8 Maintenance/
inspection
Whenever possible, work from outside the safety fences. If work must be performed
inside the safety fences, prepare “work rules” and make sure the operator understands
the procedures thoroughly.
When working inside the safety fences, turn off the power switch, as a rule.
When working inside the safety fences, the operator should carry a handy emergency
stop switch so that the operation can be stopped any time when an abnormality occurs.
When working inside the safety fences, appoint a safety watcher in addition to the
operator so that the operation can be stopped any time when an abnormality occurs.
The safety watcher must also make sure the switches are not operated inadvertently by
a third party.
Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.
Use appropriate grease for the guides and ball screws by checking the operation
manual for each model.
Do not perform a withstand voltage test. Conducting this test may result in product
damage.
When releasing the brake of the vertically installed actuator, be careful not to let the
actuator drop due to its dead weight, causing pinched hands or damaged work part, etc.
* Safety fences --- Indicate the movement range if safety fences are not provided.
9 Modification The customer must not modify or disassemble/assemble the product or use
maintenance parts not specified in the manual without first consulting IAI.
Any damage or loss resulting from the above actions will be excluded from the scope of
warranty.
10 Disposal When the product becomes no longer usable or necessary, dispose of it properly as an
industrial waste.
When disposing of the product, do not throw it into fire. The product may explode or
generate toxic gases.
Pre-6
Indication of Cautionary Information
The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” a nd
“Note,” as specified below.
Level Degree of danger/loss Symbol
Danger
Warning
Caution
Note
Failure to observe the instruction will result in an
imminent danger leading to death or serious injury.
Failure to observe the instruction may result in death
or serious injury.
Failure to observe the instruction may result in injury
or property damage.
The user should take heed of this information to
ensure the proper use of the product, although failure
to do so will not result in injury.
Danger
Warning
Caution
Note
Pre-7
CE Marking
CE Marking
If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.
Pre-8
Chapter 1 Introduction
1. Overview
1.1 Introduction
Thank you for purchasing the SCON controller.
Please read this manual carefully to handle the controller with due care while ensuring the correct operation of
the controller.
Keep this manual with you so that you can reference the applicable sections whenever necessary.
Should you encounter any trouble when actually starting up your system, also refer to the manuals for the
teaching pendant, PC software and other components included in your system, in addition to this manual.
This manual does not cover all possible operations other than normal operations, or unexpected events such as
complex signal changes resulting from use of critical timings.
Accordingly, you should consider items not specifically explained in this manual as “prohibited.”
* We have made every effort to ensure precision of the information provided in this manual. Should you find an
error, however, or if you have any comment, please contact IAI.
Keep this manual in a convenient place so it can be referenced readily when necessary.
1.2 SCON Functions
The SCON is a single-axis AC servo controller capable of controlling actuators in the position er mode or the
pulse-train input mode.
The functions of SCON are as follows:
The positioner mode and the pulse-train input mode cannot be used at the same time.
Switching of modes uses the piano switch located on the front face of the controller.
Positioner mode
Pulse-train input mode
Positioning mode [Standard type]
Teaching mode [Teaching type]
256-point mode [256-point type]
512-point mode [512-point type]
Solenoid valve mode 1 [7-point type]
Solenoid valve mode 2 [3-point type]
1
1.2.1 Features of the Positioner Mode
In the positioner mode, one of five PIO patterns is selected using a parameter.
The number of positioning points and input/output functions vary depending on the PIO pattern selected.
The table below lists the parameter settings and corresponding PIO patterns, as well as the features of each PIO
pattern.
Parameter setting Features of PIO pattern
0 Positioning mode [Standard type]
64 positioning points are supported.
Available output functions include the moving output and zone output.
1 Teaching mode [Teaching type]
64 positioning points are supported.
Normal positioning operation can be performed, along with jogging via I/O operation
and writing of the current position to the position table.
The MODE input signal is used to switch between the normal positioning operation
mode and the teaching mode.
The zone output (set by parameters) and brake forced-release input accessible in the
standard type are not available in this type.
2 256-point mode [256-point type]
The moving output and zone output (set by parameters) accessible in the standard
type are not available in this type.
3 512-point mode [512-point type]
The moving output and zone output (set by parameters/position data) accessible in the
standard type are not available in this type.
4 Solenoid valve mode 1 [7-point type]
Seven positioning points are supported.
Direct command inputs and position complete outputs are provide d separately for
different target positions to simulate air-cylinder control.
The moving output accessible in the standard type is not available in this type.
5 Solenoid valve mode 2 [3-point type]
Three positioning points are supported.
The function of position complete output signals is different from how these signals
function in the 7-point type.
The “position detection” function, which operates just like an auto-switch of an air
cylinder, is also available.
Take note that incremental positioning commands are not supported in this mode.
2
1.2.2 Features of the Pulse-train Input Mode
Dedicated home return signal
Home return operation is supported in this mode.
When this function is used, home return can be performed automatically without having to program a
complex sequence or use an external sensor, etc.
Brake control function
The electromagnetic brake power is supplied to the controller from a power supply different from the main
power. Since the controller controls the brake, there is no need to program a separate sequence. Also, the
electromagnetic brake can be released freely after the main power has been cut off.
Torque limiting function
The torque can be limited (a desired limit can be set by a parameter) using an external signal. When the
torque reaches the specified level, a signal will be output. This function permits push & hold operation, pressfit operation, etc.
Feed-forward control function
With this function, response can be improved in certain situations such as when the load inertia ratio is high.
Increasing the parameter value will reduce the deviation (difference between th e position command and the
position feedback), thereby improving response.
Position-command primary filter function
Soft start and stop can be achieved even when the actuator is operated in the command-pulse input mode
where acceleration and deceleration are not considered.
Feedback function
Position detection data is output using pulse trains (differential).
The current actuator position can be read in real time from the host controller.
3
1.3 How to Read the Model Specification
<Series>
<Controller type>
C: Standard type
<Motor capacity>
20: 20W
30D: 30 W for DS
30R: 30 W for RS
60: 60W
100: 100W
150: 150W
200: 200W
200S: 200 W for linear
300S: 300 W for linear
400: 400W
600: 600W
750: 750W
<Encoder type>
I: Incremental
A: Absolute
<Option>
HA: High acceleration/deceleration specification
<Power-supply voltage>
1: Single phase 100 VAC
2: Single phase 200 VAC
<I/O cable length>
2: 2 m
3: 3 m
5: 5 m
0: Not supplied
<I/O types>
NP: NPN specification
PN: PNP specification
DV: DeviceNet specification
CC: CC-Link specification
RR: PROFIBUS connection specification
4
A
A
r
1.4 System Configuration
Regenerative
resistance unit
It may become
necessary depending
on the use condition.
Breaker
Note) Noise filter
MC1210 by
Densei-Lambda
EMG switch
Grounded
Absolute
battery
Host control
system
DC24V
bsolute battery
Brake power
supply
PC
ctuato
Teaching
pendant
Caution: The customer must provide a noise filter. A noise filter is always required at the minimum, even
when your system need not conform to the EC Directives. Also add clamp filters, etc., if necessary.
5
1.5 Procedure from Unpacking to Test Operation and Adjustment
If you are using this product for the first time, carry out each step by referring to the procedure below to ensure
that all necessary items are checked and all wires are connected corre ctly. The procedure below covers the flow
from unpacking to trial operation using a PC or teaching pendant.
(1) Check the content in the package
If you found any missing part or part specified for a different model, please contact your dealer.
* Check that the model specification pasted on the controller and the model specification of the delivered
actuator match.
Controller SCON-*-
Motor cable
Encoder cable
I/O flat cable
Pulse-train control connector plug: 10114-3000PE (Sumitomo 3M)
Pulse-train control connector housing: 10314-52F0-008 (Sumitomo 3M)
Actuator
Options
Pulse converter AK-04, JM-08
Teaching pendant COM-T RCM-T RCM-E RCM-P
PC software RCM-101-MW, RCM-101-USB
Regenerative unit
Touch panel display RCM-PM-01 (supported from system software version V0015)
(2) Installation
[1] Affix the actuator.
[2] Install the controller.
(3) Wiring/connection
Connect the motor cable and encoder cable.
Wire the AC power supply.
Connect the grounding wire to ground.
Wire the emergency stop circuit.
Connect the I/O flat cable (wiring with the host PLC and 24-V I/O power supply).
Connect the 24-V brake power supply (only if the actuator is equipped with a brake).
Connect the regenerative unit(s). The need for regenerative unit will vary depending on the use condition.
(4) Turn on the power and check for alarms
[1] If the SCON is to be used in the positioner mode, set piano switch 1 to the OFF position (ri ght side).
[2] Connect the PC or teaching pendant, and then set the AUTO/MANU switch to the MANU position.
[3] Input the 24-V I/O power.
[4] If the actuator is equipped with a brake, turn on the 24-V power supply for the brake.
[5] Input the AC power (control power, drive power).
If an emergency stop is actuated, the EMG LED indicator will illuminate in red.
If an alarm generates, the ALM LED indicator will illuminate in orange. Check the nature of the alarm using the
PC or teaching pendant and remove the cause by referring to Appendix 5, “Troubleshooting.”
System I/O shorting connector
Power connector
Brake connector
6
(5) Set parameters
Before the 24-V I/O power supply is connected, PIO power monitor can be disabled temporarily by changing
the applicable parameter setting.
Parameter No. 74, “PIO power monitor”: 0 (Enable) 1 (Disable)
Note) After the 24-V I/O power supply has been connected, be sure to reset parameter No. 74 to “0” to
enable PIO power monitor.
If the host PLC or other host controller is not yet wired and the servo-on signal cannot be input, the servo-on
input can be disabled temporarily by changing the applicable parameter setting.
Parameter No. 21, “Servo-on input”: 0 (Enable) 1 (Disable)
Note) After the host PLC, etc., has been wired, be sure to reset parameter No. 21 to “0” to enable the
servo-on input.
Change the safety speed, if necessary.
The factory-set safety speed is “100 mm/sec.” (If the maximum speed is less than 100 mm/sec, the safety speed
conforms to the maximum speed.)
Select a desired PIO pattern using the applicable parameter.
Parameter No. 25, “PIO pattern selection”: 0 to 5
When a parameter has been changed, the new setting will become effective once the power is reconnected or
software is reset.
(6) Check the servo-on status
When the servo turns on, the SV LED indicator will illuminate in green. (In the MANU teaching mode, the servo
will not turn on even when the servo-on signal is input after the AC power has been turned on. )
If the servo-on input is disabled by the parameter and the controller is in the AUTO mode, the servo will turn on
automatically after the controller has started.
(7) Operate with the PC or teaching pendant
While the servo is on, perform the operation check specified below. For details on the operating method, refer to
the operation manual for your PC software or teaching pendant.
[1] Use the PC or teaching pendant to set a target position in the “Position” field of the position table.
[2] Perform home return.
[3] Move the actuator to the specified position.
(8) Check the actuation of the emergency stop circuit
While the actuator is operating, press the emergency stop button to confirm that an emergency stop will be
actuated.
Caution: When the teaching pendant is disconnected, an emergency stop is actuated momentarily. The
emergency stop will be cancelled immediately thereafter, but the actuator and other equipment that
are operating when the teaching pendant is disconnected will stop.
Therefore, do not disconnect the teaching pendant when an actuator or any other equipment is
operating.
Also pay attention to the design of the emergency stop circuit that includes the emergency stop
switch on the teaching pendant.
7
1.6 Warranty Period and Scope of Warranty
The SCON controller you have purchased passed IAI’s shipping inspection implemented under the strictest
standards. The unit is covered by the following warranty:
1. Warranty Period
The warranty period shall be one of the following periods, whichever ends first:
18 months after shipment from our factory
12 months after delivery to a specified location
2. Scope of Warranty
The scope of warranty shall cover our products delivered at cost. If an obvious manufacturing defect is found
during the above period under an appropriate condition of use, IAI will repair the defect free of charge. Note,
however, that the following items are excluded from the scope of warranty.
Aging such as natural discoloration of coating
Wear of a consumable part due to use
Noise or other sensory deviation that doesn’t affect the mechanical function
Defect caused by inappropriate handling or use by the user
Defect caused by inappropriate or erroneous maintenance/inspection
Defect caused by use of a part other than IAI’s genuine part
Defect caused by an alteration or other change not approved by IAI or its agent
Defect caused by an act of God, accident, fire, etc.
The warranty covers only the product as it has been delivered and shall not cover any losses arising in
connection with the delivered product. The defective product must be brought to our factory for repair.
Please read carefully the above conditions of warranty.
8
2. Specifications
2.1 Basic Specifications
Item Less than 400 W 400 W or more
Applicable motor capacity 20 W to 399 W 400 W to 750 W
Power-supply voltage
100 VAC Rush current *1
Leak current *2 3.0 mA (Primary side when noise filter is connected to the power supply line)
Heat output 30 W to 58 W
Power supply frequency 50/60 Hz
PIO interface power supply *3
Solenoid brake power supply
(in case of actuators equipped with brake)
Resistance against temp orary electric power
failure
Motor control method Sine wave PWM vector current control
Supported encoders Incremental serial encoder
Operation mode Positioner mode/pulser-train control mode (Operation mode is switched with the DIP switch.)
mode
Pulse-train
mode
Serial communication interface RS485: 1 channel (conforming to Modbus protocol RTU/ASCII)
I/O (PIO) cable length 10 m or less
Communication cable length Total cable length shall be 100 m or less (RS485).
Data input method Teaching pendant, PC software
Protective functions Overvoltage, motor overcurrent, motor overload, driver temperature error, encoder error, etc.
Air cooling method Natural cooling Forced cooling
Withstand voltage Between primary and secondary: 1500 VAC, 1 minute
Insulation resistance
Environment
Protection class IP20
Weight Approximately 800 g (approximately 25 g more
External dimension 58 (W) x 194 (H) x 121 (D)
*1 Rush current flows approximately 20 ms after turning the power supply on (guideline at 40C).
*2 Leak power supply changes depending on the capacity of connected motor, cable length, and surrounding environment. If protection against leak
current is installed, measure leak current at installation location of leak current breaker.
*3 Power supply for I/O signals is not necessary if the controller is operated using field network (CC-Link, DeviceNet, PROFIBUS), gateway unit, or
SIO converter, without using PIO. In this case, set “1” (disabled) for parameter No. 74 (PIO power supply monitoring).
200 VAC
Number of positions 512 points (maximum) Positioner
Inputs/outputs 16 dedicated input points / 16 dedicated output points
Feedback pulse frequency The maximum speed with differential pulse is 500 kpps (up to 109 kpps can be output linearly
Command pulse multiplier
(electronic gear: A/B)
Dedicated I/O (PIO) 8 input points / 12 output points
Surrounding air temperature
Surrounding humidity 85%RH or less (no condensation)
Surrounding environment (See the installation environment section.)
Storage ambient temperature
Storage ambient humidity 90%RH or less (no condensation)
Vibration resistance XYZ directions, 10 to 57 Hz, one side width 0.035 mm (continuous), 0.075 mm (intermittent)
Caution: Position data, parameters, etc. are written in EEPROM. The number of writings is limited to approximately 100,000 times.
Single-phase 100 to 115 VAC 10%
Single-phase 200 to 230 VAC 10%
20 A (control), 70 A (drive)
24 VDC 10% (Externally supplied)
24 VDC 10% 1 A (peak value)
(Externally supplied)
10 ms (50 Hz), 8 ms (60 Hz)
Absolute serial encoder
ABZ (UVW) parallel encoder
Differential pulse MAX. 500 kpps Input pulse frequency
Open-collector pulse MAX. 200 kpps (Pulse converter AK-04 is required.)
following the speed of actuators).
A, B = 1 to 4096 (Parameter settings)
1
50
Speed: 9.6 kpps to 230.4 kpps
Control via serial communication is possible with the positioner mode.
Length in case of Fieldbus specifications (CC-Link, DeviceNet, PROFIBUS) depends on each
Fieldbus specification.
Between primary and FG: 1500 VAC, 1 minute
Between secondary and FG: 500 VDC 100 M or more
0C to 40C
-10C to 65C
in case of absolute specifications)
(Installation pitch: 184)
50
A
1
B
57 to 150 Hz 4.9 m/s2 (continuous), 9.8 m/s2 (ongoing)
Single-phase 200 to 230 VAC 10%
20 A (control), 80 A (drive)
Approximately 1100 g (approximately 25 g more
in case of absolute specifications)
72 (W) x 194 (H) x 121 (D)
(Installation pitch: 184)
9
2.2 Name and Function of Each Part
[17] Grounding screw
[1] LED indicators
[2] Rotary switches
[3] Piano switches
[4] System I/O
connector
[5] Regenerative
unit connector
[6] Motor connector
[7] Power connector
[16] Absolute battery holder
[8] Dedicated pulse-
train control
connector
[9] PIO connector
[10] AUTO/MANU
selector switch
[11] SIO connector
[12] Brake release switch
[13] Brake power
connector
[14] Encoder/sensor
connector
[15] Absolute battery
connector
10
[1] LED indicators
These LEDs indicate the condition of the controller.
Name Color Description
PWR Green
This LED illuminates when the system has become ready (after the power has
been input and the CPU has started normally).
SV Green This LED illuminates when the servo has turned on.
ALM Orange This LED illuminates while an alarm is present.
EMG Red This LED illuminates while an emergency stop is actuated.
[2] Rotary switches
These switches are used to set the controller address.
If two or more controllers are linked via serial communication, set a unique address for each controller.
* The address set by the switches will become effective after the power is reconnected or software is reset.
[3] Piano switches
These switches are used to set the various modes of the controller system.
Name Description
Operation mode selector switch
1
OFF: Positioner mode, ON: Pulse-train control mode
* The mode set by the switch will become effective after the power is reconnected.
2 Reserved by the system. (This switch must be set to “OFF.”)
Caution: When controlling the SCON controller via serial communication, a lways set the controller in the
“positioner mode” (piano switch 1: OFF).
If it happens to be in the “pulse-train mode” by mistake, the SCON controller may operate
erratically because it is operated according to the “pulse-train mode” parameters.
[4] System I/O connector
This connector is used to connect the emergency stop switch, etc.
Connector (controller side): MC1.5/4-G-3.5 (Phoenix Contact)
Connector (plug-in side): FMC1.5/4-ST-3.5 (Phoenix Contact)
Applicable cable diameter: 0.2 to 1.3 mm
2
(AWG24 to 16)
Pin No. Signal name Description
1 S1 Emergency-stop switch contact output for teaching pendant
2 S2 Emergency-stop switch contact output for teaching pendant
3 EMG+ 24-V output for emergency stop
4 EMG- Emergency sop input
11
[5] Regenerative unit connector
This connector is used to connect an external regenerative resistance unit. The need for regenerative unit
will vary depending on the use condition.
[6] Motor connector
This connector is used to connect the motor power cable of the actuator.
Motor connector specifications
Item Overview Description
Connector (cable side) GIC2.5/4-STF-7.52 4-pin, 2-piece connector by Phoenix Contact
Connector name M1 to 2 Motor connector
Cable size 0.75 mm2 (AWG18
or equivalent)
Connected unit Actuator
Terminal assignments
1 PE Protective grounding wire
2 Out U Motor drive phase U
3 Out V Motor drive phase V
4 Out W Motor drive phase W
Supplied with the actuator
[7] Power connector
This power connector accepts a 100/200-VAC single-phase power supply. The pins a re divid ed into control
power inputs and motor power inputs.
Item Specification Remarks
Connector
(cable side)
Applicable cable
size
6-pin, 2-piece connector MSTB2.5/6-STF-5.08
connector by Phoenix Contact
Control power: 0.75 mm
(AMG18)
Motor power: 2 mm
2
Recommended stripped wire length:
2
7 mm
(AMG14)
Terminal
assignments
Pin No. Signal name
1 L1 Motor power AC input
2 L2 Motor power AC input
3 L1C Control power AC input
4 L2C Control power AC input
5 NC Not connected
6 PE Grounding terminal
Signal names are indicated on the mating connector.
[8] Dedicated pulse-train input mode connector
This connector is used when the controller is to be operated in the pulse-train input mode. Do not conn ect it
if the controller is to be operated in the positioner mode.
[9] PIO connector
This connector is used to connect to the host controller (PLC, etc.) via the PIO (parallel input/output) cable.
It consists of a 40-pin flat connector and constitutes a DIO group of 16 inputs and 16 outputs.
12
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