Dyadic Systems SCN Series User manual

Mechatronics Cylinder
SCN Series
SCL Series
Operation Manual
Document No. MF-005500-EN Ver. 1.33 2008/07/01

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-2/63
《For Safety》
If this product is to be used in any application which has a potentially serious
effect on human life and health by the failure and/or accidental movement of
this product, such as machines relating to Nuclear Power, Aerospace,
Transportation, Medical and safety systems, etc., please consult us.
In case of incorrect handling, some level of damage to the product may occur.
This damage may lead to poor product performance.
[General]
● Please do not use this product in explosive
environments.
● Please do not move, work on wiring, or
conduct any maintenance while the Power is
ON. Wait several minutes after the Power is
OFF to conduct any of the above tasks.
● Please have experts to do the job of
transportation, installation, wiring, operation
and maintenance, etc.
● Please use this product within the
specifications.
● Please do not use damaged product.
● Any modification or reconstruction of the
product by the customers voids warranty and
transfers responsibility for all results to the
customer.
[Mounting, Start Up]
● Please make sure that there is no Flammable
material and/or product in the vicinity of the
Mechatronics Cylinder.
● Please make sure that there is no obstruction to
ventilation for cooling.
Ensure appropriate assemblies guide any
loading on the Mechatronics Cylinder. In case of
direct coupling to the mechanism, please pay
attention to the accuracy to minimize radial
loading.
● Check that the direction of the movement is
correct before mounting of our product.
● The Mechatronics Cylinder doesn’t have
mechanical protection for over load. Please
provide mechanical over load protection.
[Wiring]
● Please make sure that the wiring is correct and
completed with strong connections.
● Please do not bend, pull or pinch cables.
● Please make sure that the ground wires and
terminals are grounded.
[Running]
● The Mechatronics Cylinder may run at high
temperatures. Please do not touch with bare
skin.
● The Mechatronics Cylinder has its own control
built in. Please do not use other control.
● Please do not use our product without
additional protection in the presence of water
splashes, corrosive gas or material, or
flammable material.
[Maintenance/Inspection]
● Please do not measure open circuit resistance.
[Storage]
● Please store the Mechatronics Cylinder in a
cool, dry environment free of corrosive gas and
liquids.
[Transportation/Receiving]
● Please pay extra caution for any damage during
the transportation.
● Please check if the delivered product is the
right one.

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-3/63
Table of Contents
1. Summary.................................................................................................................................5
1.1. Features ------------------------------------------------------------------------------------------------ 5
1.1.1 Overcoming weaknesses of Pneumatic Cylinders--------------------------------------------5
1.1.2. This section is to introduce some product features and notes in detail:----------------8
1.2 Names of Parts---------------------------------------------------------------------------------------- 9
1.2.1 Names----------------------------------------------------------------------------------------------------9
1.2.2 Name Plate--------------------------------------------------------------------------------------------11
2. Safety Notes.......................................................................................................................... 11
3. Start Up..................................................................................................................................12
3.1. Preparation-------------------------------------------------------------------------------------------12
3.1.1. Check if there is any damage--------------------------------------------------------------------12
3.1.2 Check if the product is correct--------------------------------------------------------------------12
3.1.3 Power Supply-----------------------------------------------------------------------------------------12
3.1.4. Tools---------------------------------------------------------------------------------------------------12
3.1.5. Programming Tool----------------------------------------------------------------------------------12
3.2. Wire the Power/IO cable and run from the PC programming tool------------------12
3.2.1. Check the Power & I/O cable:-------------------------------------------------------------------12
3.2.2. Check Parallel Connector Cable----------------------------------------------------------------12
3.2.3. Parallel Cable Preparation -----------------------------------------------------------------------14
3.2.4. Connect Parallel cable and ADP Cable with Mechatronics Cylinder------------------15
3.2.5. Teach Pendant Programming – Quick Start and Simple Cycling ----------------------16
3.2.6. Quick Start – Program some Position-Controlled Motions With the Teach Pendant18
3.2.7. Quick Start – Program a Force-Controlled Motion With the Teach Pendant--------19
3.2.8. Quick Start – Set Up of Basic Parameters Using the PC Tool (TBVST-EN-SET) -20
4. Installation and Test Running .............................................................................................22
4.1. Installation--------------------------------------------------------------------------------------------22
4.1.1. The Installation Environment --------------------------------------------------------------------22
4.1.2. Recommended mounting of Mechatronics Cylinder---------------------------------------22
4.1.3. Use of the shaft tip screw-------------------------------------------------------------------------22
4.1.4. Load installation accuracy------------------------------------------------------------------------22
4.1.5. Servo Amplifier Mounting and Environmental Installation Limits-----------------------23
4.2. Wiring --------------------------------------------------------------------------------------------------23
4.2.1. Wiring--------------------------------------------------------------------------------------------------23
4.3. Notes for wiring and connections ------------------------------------------------------------25
4.3.1. Power shut down -----------------------------------------------------------------------------------25
4.3.2. +24VDC Ground ------------------------------------------------------------------------------------25
4.3.3. Power input circuit----------------------------------------------------------------------------------26
4.3.4. When Driving Coils or Other Inductive Loads -----------------------------------------------26
4.4. Wiring examples of outside connections --------------------------------------------------27
4.5. Trial run------------------------------------------------------------------------------------------------29
5. Specifications of Mechatronics Cylinder ...........................................................................30
5.1. Specification of Servo Cylinder ---------------------------------------------------------------30
5.1.1. Specifications----------------------------------------------------------------------------------------30
5.1.2. Rod speed-thrust curve ---------------------------------------------------------------------------34
5.1.3. Dimensions-------------------------------------------------------------------------------------------40

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-4/63
6. Interface specifications........................................................................................................45
6.1. Circuit Diagrams for 24VDC I/O (PNP)-------------------------------------------------------45
6.2. PIO specifications----------------------------------------------------------------------------------46
6.2.1. Input signals------------------------------------------------------------------------------------------46
6.2.2. Input signal details----------------------------------------------------------------------------------48
6.2.3 Output signal------------------------------------------------------------------------------------------49
6.2.4. Output signal details -------------------------------------------------------------------------------50
6.2.5. Timing Chart -----------------------------------------------------------------------------------------51
6.3. Specification of SIO -------------------------------------------------------------------------------53
6.3.1. Summary----------------------------------------------------------------------------------------------53
7. Support equipment............................................................................................................... 53
7.1. PC Tool (Model: TBVST-EN-SET) -------------------------------------------------------------53
Installation condition of PC is as follows: -------------------------------------------------------54
7.2. Teaching Pendant Tool (Model: CTA-23EN-SET) ----------------------------------------54
7.3. RS232C/RS485 Junction Converter Circuit-----------------------------------------------55
7.4. Connector Converter: ADP-2-4 ----------------------------------------------------------------55
7.5. Cables--------------------------------------------------------------------------------------------------56
7.6. Foot mounting brackets--------------------------------------------------------------------------57
8. Maintenance.......................................................................................................................... 59
8.1. Maintenance & Inspection-----------------------------------------------------------------------59
8.2. Warranty-----------------------------------------------------------------------------------------------59
9. Diagnosis of Abnormal Operation.......................................................................................60
9.1. Diagnosis by Alarm Codes----------------------------------------------------------------------60
9.2. Error Diagnosis by error operation of Mechatronics Cylinder ----------------------61

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-5/63
1. Summary
The Mechatronics Cylinder consists of a rotary-linear motion transfer mechanism, a stepper motor, an
encoder, and a servo controller. Manufactured by Dyadic Systems, this product can be a replacement for
pneumatic cylinders. Motion is programmed and controlled using Dyadic’s simple interfaces, allowing for a wide
variety of inputs and inter-operability.
1.1. Features
1.1.1 Overcoming weaknesses of Pneumatic Cylinders
(1) Simplifying wiring and related equipment.
(2) Multiple positioning: Easy program for up to 16 motions per axis
(3) Programmable Push Force
MODEL SCLT4-015 SCLT4-030 SC LT6-025 SCLT6-050
-XXX AS -XXX AS -XXX AB -XXX AB
Am plifier B u ilt-in to a c tu a to r External
S troke (m m ) 50 / 100 / 150 / 200 / 300 / 400 / 500 50 / 100 / 150 / 200 / 300 / 400 / 500 / 600 / 700
M ax. Thrust (N ) / (kgf) 150 / 15 300 / 30 250 / 25 500 / 50
M ax. carriable w t at pw r O N (kg) 1.5 2.5 46
P ush m ode m ax. T hrust (N )/(kgf) 105 / 10.5 210 / 21 175 / 17.5 350 / 35
B all screw lead (m m ) 12 6 12 6
M ax. S peed (m m /s) * note 1 700 (680m m /s for 400 (340m m /s for 600 (500m m /s for 350 (600m m : 340m m /s)
500m m stroke) 500m m stroke) for 700m m stroke) (700m m : 250m m /s)
R epeatability (m m ) ± 0.02 ± 0.02 ± 0.2 ± 0.2
B ackla sh (m m ) 0.1 0.1 0.1 0.1
M ax. H or Load w eight (kg) 5 10 16 30
M ax. vertical load (kg) 1.5 2.5 46
Load m om ent (N m / kgf-cm ) *2 M p=12 / 120, M y=12 / 120, M r=31 / 310 M p=25.7 / 257, M y=25.7 / 257, M r= 58 / 580
P rogram C apacity 16 P osition s
Power Supply D C 24V ± 10% (D rive P ow er m ax. 2.0 A m ps, C ontrol pow er m ax. 0.2A )
Life 3 years after delivery, or 10,000 km operation w hen used w ithin all specs.
P a r a lle l D C 2 4 V ty p e D ig ita l In p u t In te r fa c e
Input N am es P osition select bits (4 bit binary coded decim al: P C 1,P C 2,P C 4,P C 8)
S tart (C S T R ), M ovem ent Interlock (ILK )
Input current M ax. 4m A / port, P N P S tandard M ax. 4m A / port, P N P S tandard
I/O P a r a lle l D C 2 4 V ty p e D ig ita l O u tp u t In te rfa c e
O utput N am es C om pleted P osition N um ber (4bit binary: P M 1,P M 2,P M 4,P M 8) : (S C LT 6 O nly)
H om ed signal (ZF IN ), Z one signal(ZO N E ), A larm (A LM ), P osition com plete (P FIN /IN P )
O utput current M ax. 10m A / port, P N P S tandard M ax. 10m A / port, P N P S tandard
S erial S ignal S erial In terface (C onnector S IO )
+5V , 0V , S + , S -, A S C II P rotocol F reely A vailable
P rotection function O ver speed, M ain pow er over voltage, abnorm al voltage,
O verload, S ensor abnorm al, S ervo abnorm al, E ncoder w ire disconnected
A m bience O perate T em perature 0 ~ 40°C
S torage T em perature -20 ~ 60°C
O pe/S torage H um idity =< 90% R H , non-condensing
W eight (kgs) 1.42/1.53/1.64/1.74/1.96/2.18/2.4 2.7 / 2.9 / 3.1 / 3.3 / 3.7 / 4.1 / 4.5 / 5.0 / 5.4
N o te s : (* 1 ) T y p ic a l d a ta , (* 2 ) T h is is a lo a d th a t th e w t ( m k g ) is g e n e ra te d b y th e o v e r h a n g ( L m ) fro m th e a r rio r s lid e r.
(T he calculation of the load m oem ent (kgf-cm ) is: m (kg) x L (cm ) < M p, M y, M r)
The actual m om ent will be com binations of those m om ents (M p, Py, M r).
A
cceleration Deceleration
Programmed
Speed
Stop
condition
Speed
Time
A
cceleration Deceleration
Work
Programmed
Speed
A
cceleration Deceleration
Stop Position
Push
Movement
Speed
Stop
condition
Time

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-6/63
(4) Programmable Positioning Speed: Very Slow Speed is possible, which is very difficult with Air
Cylinder.
(5) Incremental Movement: Starting from the current position. Multiple incremental moves can be used
together to simulate a “Step & Direction” type of control.
(6) Programmable Acceleration and Deceleration: Same Acceleration and Deceleration can be
programmed. Optimum Acceleration and desired Deceleration can be set respectively.
(7) Programmable Flexible Speed Profiles: Speed can be changed without stopping.
A
cceleration Deceleration
Programmed
Speed
Stop
condition
Speed
Time
Ultimate Acceleration
A
ccordin
g
to the load
Programmed
Deceleration
A
cceleration Deceleration
Programmed
Speed
Stop
condition
Speed
Time
200 mm/sec
150 mm/sec
100 mm/sec
Posi Signal
Width
Speed 200
(1)
Stop
condition
Posi Signal
Width
Speed 150
Posi Signal
Width
Speed 100
(2) (3)
Speed
Time

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-7/63
(8) Emergency Stop: During the movement of Mechatronics Cylinder, the movement will stop if the
Interlock signal is interrupted.
(9) Programmable Zone Signal Output: Mechatronics Cylinders can be programmed to output a Zone
Signal.
(10) An air compressor is not needed so that systems using Mechatronics Cylinders will have high energy
efficiency.
(11)Oil waste is not generated so that oil collection equipment is not needed.
. (12)Dampers (Shock absorbers) are not needed.
Emergency
Stop Signal
ON
OFF
ON
OFF
Zone Signal Output
Zone Signal Output Area
Stop
condition
Speed
Time
A
cceleration Deceleration
A
cceleration
Stop
condition
Speed
Time
A
cceleration Deceleration

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-8/63
1.1.2. This section is to introduce some product features and notes in detail:
(1) SCN-5 All-In-One Actuator: The Mechatronics Cylinder model SCN5 is a fully integrated actuator
including linear actuation mechanism, motor, servo drive and controller. Therefore after connecting
the power supply and some signal wiring, the SCN5 is ready for operation.
Other models (SCN6, SCLL, some SCLT models) have external controllers but the programming
software and ease of use are the same and the controllers are included in the part number.
(2) All actuators can be set such that the home position is at either end. The default home position is the
return (motor) end. The PC tool software allows the user to change homing parameters such as
speed and target thrust. The coordinate system is negative for the return home position and positive
for the forward home position.
(3) There is a close correlation between thrust and speed. If the necessary thrust is large, the max speed
is reduced. Please consult with the speed-thrust curve.
(4) Thrust capacity is the same for forward motion and return motion.
(5) The “Push Force” mode uses a high-speed, position-controlled approach move, followed by a lower
speed force controlled move. The speed of the force-controlled part of the move can be changed on
some Dyadic actuators. However, the max speed of the force controlled move will be limited by the
amount of current allowed for the target force (ie the actuator will not achieve full speed in this mode
if the target force is low). Also please keep in mind that high-speed impact to a hard target may
shorten the life of the actuator.
(6) In vertical use, the max load at power-up is lower. This value is published in the specs for each
actuator.
(7) There are 3 types of power saving functions (PC tool software is necessary to access these modes):
-1 Current setting at homing
-2 Current setting during positioning motion
-3 Current shut off after positioning
(8) Mechatronics Cylinder amplifiers have PNP models and NPN models. Please wire carefully following
the correct schematics.
(9) Mechatronics Cylinder outputs are open collector type. In case of driving a load like a coil, please
provide a surge absorber diode.
(10) The shafts of rod-type actuators are not designed for radial loading. Please provide external guides
and ensure proper alignment as poor alignment will transfer radial stress to the shaft nut and reduce
actuator life.
(11) Linear guides should be aligned within 0.1mm over the length of travel. Rough installation will
reduce the product life.
(12) The short cables protruding from the actuator motor are not flex-rated. If the application requires
cable motion, please use high flex cables (marked with “R” after the cable part number).
(13) Tightening torque for shaft-tip nuts is as follows: 30 kg-cm for SCN5, 45 kg-cm for SCN6
(14) Clean room actuators may be available depending on the requirement.
(15) Stroke limits for both directions can be set.
(16) The shaft tip screw is: M10, 1.25mm pitch for SCN5, M14, 1.5mm pitch for SCN6 models
(17) The front mounting block has a pilot diameter to make centering easily. (for SCN5 and SCN6)
(18) Shafts are anti-rotational. Please do not turn the shaft. (for SCN5 and SCN6)
(19) Multiple axis operation through serial communication is possible. DeviceNET, ccLink, and ASCII
interfaces can be used.
The operational PLC are; Mitsubishi, Keyence, OMRON as follows:
Mitsubishi PLC - MELSEC-A series (PC link unit)
AJ71UC24, A1SJ71US24-R2/R4/PRF, A1SJ71C24-R2/R4/PRF, A1SCPUC24-R2,
A2CCPUC24(PRF)
Mitsubishi PLC - MELSEC-F series (Communication board)
FX2N-232-BD, FX1N-232-BD, FX2NC-232-ADP
Notes: Sample programs can be provided in the project file of Mitsubishi GX Developer Version 7,
therefore the customer must have the program GX Developer Version 7 or newer.
Keyence PLC – KV-700 (Communication unit) KV-L20 attached
OMRON PLC – CS/CJ series (CPU unit)
CS1H-CPU*H, CS1G-CPU4*H, CS1H-CPU6*-V1, CS1G-CPU4*-V1, CJ1H-CPU6*H,

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-9/63
Internal RS232 communication port for CJ1G-CPU4*H, CJ1M-CPU2*, CJ1M-CPU1*
Notes: The DLL file is available for PC-based applications.
(20) Dyadic programming tools can configure many advanced parameters as follows:
Available function PC software Teach pendant
Stopping position, Max. speed, Acceleration, Push
force
O O
Maximum acceleration (with user-defined decel.) O O
Incremental motion O O
Position complete (PFIN) window width O O
Servo gain O O
Home position direction change O O
Stroke limit O O
Zone output range O O
ILK signal operation
(motion can be paused or cancelled)
O O
Homing motion speed and thrust O X
Selection of position completion signal or
in-position signal
O X
Choose operating mode (Normal, Air 1, Air 2) O X
(21) 24VDC I/O can be configured for different operation in “Normal”, “Air replaceable 1”, or “Air
Replaceable 2” modes using the TBVST software. In normal mode the cylinder uses the PC1, 2, 4,
and 8 inputs in BCD combination to run 16 different motions and needs a CSTR pulse to initiate each
move. In the “Air Replaceable” modes the cylinder can run up to 3 motions as commanded by the
PC1, PC2, or PC4 inputs. The different modes control whether the inputs must be maintained during
motion, or can be pulsed. Please see the TBVST manual for more information on the “Air
Replaceable” modes.
1.2 Names of Parts
1.2.1 Names
SCN5 Model (10Kgf Type)
Rod Shaft
Mechanism
ServoAmplifier & Controller
Name Plate
Motor
Thread
Rod

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-10/63
SCN6 Model (20Kgf & 50Kgf Type)
SCLL6 Model (Slider 20Kgf Type)
Shaft thread Main body Motor
Motor/Encoder
Connector
Servo
amplifier
/
Controller Motor/Encoder
Connector
Power
Parallel
Connector Serial
Connector
Face of name
plate
Servo
amplifier
/Controller
Motor/Encoder
Connector
Power
Parallel
Connector
Serial
Connector
Face of name
plate
Motor
Motor/Encoder
Cable
Face of
name
p
late
Cover
Slider Mechanical portion

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-11/63
1.2.2 Name Plate
The name plate is located at the back of the Mech. Cylinder. (Please refer to 1.2.1)
2. Safety Notes
(1) Please use the following voltages and power supplies of sufficient capacity:
Using N axes, 2 x N (amps) power supply capacity is not necessary if the timing of axis
movements varies slightly.
(2) Incorrect wiring may damage the equipment.
(3) Please do not change wiring when the power is on. Please remove and/or plug in parallel connectors (PIO)
when the power is turned off.
(4) Please install the unit in a good place for sensitive electrical equipment. (Good thermal radiation, low vibration,
low shock)
(5) Please make sure to provide protection from electrical noise. If the unit receives noise, the cylinder may
vibrate and/or make inaccurate movement.
(6) Please do not test the unit for voltage durability or electro-magnetic susceptibility.
(7) Please hold the connector when disconnecting the cables.
(8) Please note that the coordinate system for the forward homing mode is negative and the reverse homing
mode is positive. This also applies to the push force mode. This is especially important to keep in mind for
Teach Pendant operation.
(9) The short cables protruding from the motor are not high flex cables.
Notes for SCLL6 Model
(10) Ensure the system is designed within the specifications of max moment load on the slider table.
(11) The acme screw in the SCLL6 is exposed to the ambient environment. Therefore it requires an application of
grease approximately every 6 months. The recommended grease is Lithium type No.2. Remove the top
cover by removing the 4 cover screws, and apply grease on the slider screw. Move the carriage back and
forth several times to distribute the grease. Please do not apply grease to the guide bushings of the carriage.
Intelligent Cylinder
Model Name & Code
Dyadic Systems Co.,Ltd
S/N
MODEL
Serial Number
MADE IN JAPAN
Models Power type Power
SCN5- Built-in Amp,
SCLL5- Built-in Amp,
SCLG5- Built-in Amp,
SCLT4- Built-in Amp
DC24V+/-10% (Max. 2A)
SCN6, SCLL6, SCLT6 Motor DC24V+/-10% (Max. 3A)
Control DC24V+/-10% (Max. 0.2A)
SCLL5- External Amp,
SCLG5- External Amp,
SCLT4- External Amp
Motor DC24V+/-10% (Max. 2A)
Control DC24V+/-10% (Max. 0.2A)

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-12/63
3. Start Up
3.1. Preparation
3.1.1. Check if there is any damage
Please check the appearance of the product to ensure no damage occurred during transportation.
3.1.2 Check if the product is correct
Please verify that the product is the same as ordered.
3.1.3 Power Supply
Please provide a power source. (Regulated DC24V)
3.1.4. Tools
Tools will be required to work on wiring and connecting. (Wire Stripper, Wire connectors, etc.)
3.1.5. Programming Tool
An individual Mechatronics Cylinder doesn’t include programming tools such as the Teach Pendant or
PC Tool (TBVST-EN). These items are sold separately.
3.2. Wire the Power/IO cable and run from the PC programming tool
3.2.1. Check the Power & I/O cable:
Connection Example (SCN5 Model)
3.2.2. Check Parallel Connector Cable
The parallel cable includes the power and signal cable required to run the Mechatronics Cylinder from a
PLC and/or switches.
Connect the Power & I/O
cable (Parallel cable)
Connect the ADP Cable for
communication with the PC
Programming Tool or a
teach pendant
Models Power cable
SCN5-Amp built-in: RP9100-XXX
SCN6 and all SCL
actuators:
RP9120-XXX

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-13/63
Cable For SCN5 Actuators (RP9100-XXX)
Cable For All Actuators Other Than SCN5
I/O cable to connect with PLC
and/or switches
(
Thicker cable
)
Power connection cable
(Thinner cable)
Connect to
Mechatronics Cylinder
Signal cable to connect with
PLC and/or switches
(Thicker cable)
Power connection cable
(Thinner cable)
Connect to the power & I/O connection of the actuator or controller

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-14/63
3.2.3. Parallel Cable Preparation
Please use tips for stranded wire on the ends of all connections.
SCN5 Models (10Kgf Type)
To run from PC Tool Kit (sold separately) only, please connect the power wires (Red: +24V, Black: 0V)
and ILK (Brown: +24V) at this time (see below)
Red: +24V
Black: 0V
Green: FG
(Connect to ground)
White: FG
(Connect to ground)
Orange: ZONE (ZONE signal)
Light Green: (ALM signal output)
Red: PC4
Green: PC8
Yellow: CSTR
White: PC2
Black: PC1
Brown: ILK (Emergency Stop) signal
Connect with +24V
Blue: PFIN (Position Finished)
Gray: ZFIN (Homed)
PNP T
yp
e

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-15/63
SCN6 Model SCL Models
* SCL actuators with amp built-in do not use the PM1, PM2, PM4 and PM8 outputs.
3.2.4. Connect Parallel cable and ADP Cable with Mechatronics Cylinder
SCN5 Models (10Kgf Type)
The ADP Cable is supplied with your Programming Tool (PC Tool Software, Teach Pendant Tool).
Please connect the ADP cable with the Mechatronics Cylinder after the 24VDC power is supplied.
Connect
p
arallel cable
Connect ADP Cable
(Included with Programming Tool)
Red: +24V, Motor Power
Black: 0V, Motor Power
Yellow: +24V, Controller Power
White: 0V, Controller Power
Brown: NC, please do not connect
Green: FG (ground)
Black: PC1
White: PC2
Red: PC4
Green: PC8
Yellow: CSTR
Brown: NC (No connection)
Blue: NC (No connection)
Purple: ILK, (E-Stop) +24VDC
Grey: PM1 *
Pink: PM2 *
Light green: PM4 *
Orange: PM8 *
Light blue: PFIN
Dark brown: ZFIN
White&Black: Zone
Red&Black: ALM
PNP T
yp
e

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-16/63
SCN6 Model (20Kgf & 50Kgf Type)
SCL Models (Slider Type)
3.2.5. Teach Pendant Programming – Quick Start and Simple Cycling
(1) Please connect the the ADP cable with the Teach Pendant as per figure below.
(2) Apply 24VDC power to the actuator.
(3) Approx. 4 to 5 seconds after the power is turned ON, the Servo ON LED will be turned ON and the
LCD Display of the Teach Pendant will show “Make Homing” with Teach Position [0] flashing.
Please press and hold the HOMING button until the “HOMED” LED illuminates.
(4) When the axis has been homed, if the jog wheel on the Teach Pendant is turned to clockwise, the
rod of Mechatronics Cylinder will extend. if the jog wheel is turned counterclockwise, the
Mechatronics Cylinder will retract.
(5) Please press the “POSITION SELECT” button while pressing the “NORMAL POSITIONING”
button. This will download the demo data from the teach pendant to Mechatronics Cylinder.
(6) Please press the “POSITION SELECT” button once - the position number will show [1].
(7) Please hold the “NORMAL POSITIONING” button and press the “HOMING” button. This will
cause position 0 and position 1 to cycle repeatedly with a small delay between. The motions will
cycle from 0 to whatever number is displayed when the demo mode is initiated.
(8) Please press the “NORMAL POSITIONING” button to stop the motion.
(9) Please use the operation manual of Teaching Pendant for more details, or see the next section to
try programming some simple positions.
Connect ADP cable to actuator serial
connector
○ Servo ON ●Servo ON
○ Homed ●Homed
Connect parallel cable
Connect ADP Cable
(Included with Programming Tool)

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-17/63

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-18/63
3.2.6. Quick Start – Program some Position-Controlled Motions With the Teach Pendant
Stop position Speed Note
Position 0 - 5 mm 50 mm/sec Please enter the data close to the
value. Exact value is not needed.
Position 1 - 45 mm 10 mm/sec
Position 2 - 25 mm 25 mm/sec
Note: The default position coordinate is negative. If the home position was changed to the
forward side, the position coordinate is positive.
(1) Connect the ADP cable to the Teach Pendant and the serial connector on the servo controller.
(2) Wire the power cable as follows:
RP9100 power cable:
Red (Drive) with +24VDC, Black (Drive) with 0V, Brown (ILK) with +24VDC
RP9120 power cable:
Red (Drive) with +24VDC, Black (Drive) with 0V, Yellow (Control) with +24VDC, White (Control) with
0V, Purpule (ILK) with +24VDC
(3) Please turn the power ON.
(4) 4-5 seconds after the power is turned ON, the Servo ON LED of the Teach Pendant will be ON and
the LCD will be display “Make Homing”. Please press and hold the “homing” button until the display
shows the “Homed” message.
(5) Please turn the jog wheel clockwise, so that the Mechatronics Cylinder shaft will extend.
(6) Program Position number 0
Confirm that Position 0 is displayed and the “Pos. Jog/Teach” indicator is lit. Please turn the wheel to
make the LCD display [-5mm] then press “WRITE”.
Please press the “DATA ENTRY MODE” button twice to cycle to the “SPEED DATA INPUT”
parameter, then turn the wheel to set the speed to 50mm/sec. Please press “WRITE” to save the
change.
Now position 0 has a position target of -5mm and a speed target of 50mm/sec.
(7) Program Position number 1
Please press the “POSITION SELECT” button once so that position 1 is displayed in the red
seven-segment display. Now position 1 is available to change. Check that the “Pos. Jog/Teach”
indicator is lit, and turn the wheel to make the LCD display [-45mm], then press the “WRITE” button.
Please press the “DATA ENTRY MODE” button twice to cycle to the “SPEED DATA INPUT”
parameter, then turn the wheel to set the speed to 10mm/sec. Please press “WRITE” to save the
change.
Now position 1 has a position target of -45mm and a speed target of 10mm/sec.
(8) Program Position number 2
Please press the “POSITION SELECT” button once so that position 1 is displayed in the red
seven-segment display. Now position 1 is available to change. Check that the “Pos. Jog/Teach”
indicator is lit, and turn the wheel to make the LCD display [-45mm], then press the “WRITE” button.
Please press the “DATA ENTRY MODE” button twice to cycle to the “SPEED DATA INPUT”
parameter, then turn the wheel to set the speed to 10mm/sec. Please press “WRITE” to save the
change.
Now position 2 has a position target of -25mm and a speed target of 25mm/sec.
(9) Please hold the “NORMAL POSITIONING” button and press the “HOMING” button. This will cause
position 0, position 1, and position 2 to cycle repeatedly with a small delay between.
Please press the “NORMAL POSITIONING” button to stop the execution.

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-19/63
3.2.7. Quick Start – Program a Force-Controlled Motion With the Teach Pendant
Let’s program the motion as per the figure on
the right, such that the actuator moves
20mm at higher speed, then switches to low
speed to look for a pre-set force.
Please note that the force value is negative
(-) for the extend direction, positive (+)
for the retract direction.
(1) Connect the ADP cable to the Teach Pendant and the serial connector on the servo controller.
(2) Wire the power cable as follows:
RP9100 power cable:
Red (Drive) with +24VDC, Black (Drive) with 0V, Brown (ILK) with +24VDC
RP9120 power cable:
Red (Drive) with +24VDC, Black (Drive) with 0V, Yellow (Control) with +24VDC, White (Control) with
0V, Purpule (ILK) with +24VDC
(3) Please turn the power ON.
(4) 4-5 seconds after the power is turned ON, the Servo ON LED of the Teach Pendant will be ON and the
LCD will be display “Make Homing”. Please press and hold the “homing” button until the display shows
the “Homed” message.
(5) Please turn the JOG handle clockwise and verify that the actuator shaft moves forward.
(6) The following will store push force parameters in position 4.
Please press the “POSITION SELECT” button 4 times such that the position number display indicates
[4]. Now position 4 can be programmed.
Please press the “PUSH POSITIONING” button. Now position 4 is in push force mode.
Check that the “POS. JOG TEACH” LED is lit, and turn the JOG handle to extend the actuator until the
LCD displays position [-20mm]. Press “SAVE” button. This is the position at which the higher speed
part of the move will end and the force controlled part of the move will begin. This is also referred to as
the “Approach Point”.
Please press the “DATA ENTRY MODE” button twice to access the “SPEED DATA INPUT” parameter.
Change the speed to 50mm/sec by turning the JOG handle, then press the SAVE button.
Press the “DATA ENTRY MODE” button 3 times to access the “PUSH FORCE DATA IN” parameter.
Set the push force to -20% by turning the JOG handle, then press the “SAVE“ button.
Now, position 4 has a force-controlled motion programmed as shown in the above figure.
(7) Turn the JOG handle counter clockwise to retract the shaft. Press and hold the “POSITION RUN” button
with number 4 displayed in the seven segment display, and the actuator will operate the push force
motion. If the button is released the motion will stop.

. .
Dyadic Systems – Mechatronics Cylinder Manual MF-005500-EN-20/63
Connect to PC serial port (COM port)
3.2.8. Quick Start – Set Up of Basic Parameters Using the PC Tool (TBVST-EN-SET)
The following sequence of operations will allow you to download a default program into your Mechatronics
Cylinder Controller. This program will over-write any other program currently in the controller.
(1) Connect the ADP cable to the CN2 jack of the Connector Junction (ADP-2-4) as per figure below.
Connect the SIO cable to the CNA jack of the Connector Junction (ADP-2-4) as per figure below.
(2) Power up the Mechatronics Cylinder, and connect the SIO cable to the RS232/485 adaptor
(ADP-1) and connect it to the serial port (COM port) of your PC as per the figure below.
(3) Start the PC Tool software (TBVST-EN).
(4) The first menu is for communication setup – please select the serial port Number that the ADP-1 is
plugged in to, then click Set. After few seconds, the operation menu will come up as follows.
(5) Please click the HOMING button, so that the Mechatronics Cylinder will home itself.
ADP Cable (RP9050)
SIO Cable (RP9041)
Connector Junction (ADP-2-4)
RS232/485 Adaptor
(
ADP
-
1
)
SIO Cable
(
RP9041
)
CNA CN2
[HOMING] button
If this block is dragged
and moved right or left,
the Cylinder will move
accordingly.
Click [FILE]