IAI MCON-C User manual

MCON-C/CG Controller
Instruction Manual Fourth Edition

Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual describes all necessary information items to operate this product safely
such as the operation procedure, structure and maintenance procedure.
To ensure the safe operation of this product, please read and fully understand this manual.
The enclosed 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]
• This Instruction Manual is original.
• 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.
• Information contained in this Instruction 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 Instruction Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.
• DeviceNet is a registered mark of ODVA.
• CC-Link, CC-Link IE and SSCNET is a registered mark of Mitsubishi Electric Corporation.
• PROFIBUS is a registered mark of Siemens.
• CompoNet is the registered trademark of OMRON Corporation.
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.
• EtherNet/IP is a trademark used under the license of ODVA.
• PROFINET is a trademark used under the license of PROFIBUS Association.
• MECHATROLINK is a registered mark of MECHATROLINK Association.

Construction of Instruction Manual for Each Controller
Model and This Manual
MCON-C/CG
●Basic Function
・Numerical Specification / MCON-C/CG (This Manual) ME0341
Positioner Operation
・Remote I/O
・Serial Communication Serial Communication [Modbus] ME0162
★Types to Select From
・Fieldbus Controll
(i) DeviceNet DeviceNet (This Manual) ME0341
(ii) CC-Link CC-Link (This Manual) ME0341
(iii) PROFIBUS-DP PROFIBUS-DP (This Manual) ME0341
(iv) CompoNet CompoNet (This Manual) ME0341
(v) EtherNet/IP EtherNet/IP (This Manual) ME0341
(vi) EtherCAT EtherCAT (This Manual) ME0341
(vii) PROFINET-IO PROFINET-IO (This Manual) ME0341
(
viii ) CC-Link IE Field CC-Link IE Field (This Manual) ME0341
(ix) SSCNETⅢ/H SSCNETⅢ/H ME0352
(x) MECHATROLINK-Ⅲ MECHATROLINK-Ⅲ ME0317
(xi) EtherCat Motion EtherCat Motion ME0367
� Teaching Tool
• PC Software PC Software ME0155
• Teaching BOX
(і) TB-01/TB-01D/TB-01DR Applicable for Position Controller
Touch Panel Teaching ME0324
(іі) TB-02/TB-02D Applicable for Position Controller
Touch Panel Teaching pendant ME0355
(ііі) TB-03 Data Setter ME0376

Table of Overall Contents
Name for Each Parts and Their Functions
In this section, explains the functions and conditions of the
connectors and LED lamps located on the front of the controller.
Chapter 1 Specifications Check
In this chapter, explains about the specifications, current
amperage, model codes and so on for the products.
Chapter 2 Wiring
In this chapter, explains about the connections to actuators and
external devices.
Chapter 3 Operation
In this chapter, explains the details of each operation such as the
initial settings, how to set up in the position data or parameter
data, control signals in each mode and how to make operation.
Chapter 4 Vibration Suppress Control Function
In this chapter, explains about the vibration suppress control
function to reduce vibration caused by the actuator.
Chapter 5 Collision Detection Feature
In this chapter, explains the setup and tuning for collision
detection feature.
Chapter 6 Power-Saving Function
In this chapter, explains the feature to reduce the power
consumption.
Chapter 7 Absolute Reset and Absolute Battery
In this chapter, explains the procedures for absolute reset and
replacement of battery.
Chapter 8 Parameter
In this chapter, explains how to set up or fine-tune the controller
settings.
Chapter 9 Troubleshooting
In this chapter, explains how to act in errors and contents of them.
Chapter 10 Appendix
In this chapter, explains compliance with safety categories,
model codes of connectable actuators, etc.
Chapter 11 Warranty
In this chapter, explains about the Warranty.
19
63
275
283
269
13
39
259
265
325
349
465

Table of Contents
Starting Procedures
Safety Guide ·············································································································· 1
Precautions in Operation ······························································································ 8
International Standards Compliances··············································································12
CE Marking···············································································································12
UL ···············································································································12
Name for Each Parts and Their Functions········································································13
Actuator Axes············································································································17
Chapter 1 Specifications Check ················································································ 19
1.1 Product Check ................................................................................................................ 19
1.1.1 Parts........................................................................................................................... 19
1.1.2 Teaching Tool ............................................................................................................. 21
1.1.3 Instruction manuals related to this product, which are contained in the instruction
manual (DVD). ........................................................................................................... 21
1.1.4 How to Read the Model Nameplate........................................................................... 22
1.1.5 How to read the model............................................................................................... 23
1.2 List of Basic Specifications ............................................................................................. 24
1.3 Calculation for Power Capacity ...................................................................................... 26
1.4 Specifications for each Fieldbus..................................................................................... 27
1.4.1 Specifications of DeviceNet Interface ........................................................................ 27
1.4.2 Specifications of CC-Link Interface............................................................................ 27
1.4.3 Specifications of PROFIBUS-DP Interface ................................................................ 28
1.4.4 Specifications of CompoNet Interface ....................................................................... 28
1.4.5 Specifications of EtherNet/IP Interface ...................................................................... 28
1.4.6 Specifications of EtherCAT Interface ......................................................................... 29
1.4.7 Specifications of PROFINET-IO Interface.................................................................. 29
1.4.8 Specifications of CC-Link IE Field Interface .............................................................. 29
1.4.9 Specifications of SSCNETⅢ/H Interface................................................................... 30
1.4.10 Specifications of MECHATROLINK-Ⅲ Interface....................................................... 30
1.4.11 Specifications of EtherCAT Motion Network Interface ............................................... 30
1.5 External Dimensions ...................................................................................................... 31
1.5.1 Controller Main Unit ................................................................................................... 31
1.5.2 Absolute Battery Box ................................................................................................. 32
1.6 Option ............................................................................................................................. 33
1.6.1 Absolute Battery Box ................................................................................................. 33
1.6.2 Regenerative Resistor Unit (RER-1).......................................................................... 34
1.7 Installation and Storage Environment............................................................................. 35
1.8 Noise Elimination and Mounting Method........................................................................ 36
Chapter 2 Wiring ··································································································· 39
2.1 Wiring Diagram (Connection of construction devices) ................................................... 39
2.2 Circuit Diagram............................................................................................................... 40
2.3 Wiring Method ................................................................................................................ 48
2.3.1 Connection to Power Input Connector....................................................................... 48
2.3.2 Wiring Layout of System I/O Connector .................................................................... 49
2.3.3 Connection of Drive Cutoff/Emergency Stop Input Connector .................................. 50
2.3.4 Connecting with Actuator ........................................................................................... 51
2.3.5 Connection of Absolute Battery Connector................................................................ 54
2.3.6 Connection of External Brake Connector .................................................................. 55
2.3.7 Connection of SIO Connector.................................................................................... 56
2.3.8 Wiring Layout of Fieldbus Connector......................................................................... 57

Chapter 3 Operation······························································································· 63
3.1 Basic Operation.............................................................................................................. 63
3.1.1 Basic Operation Methods .......................................................................................... 63
3.1.2 Parameter Settings .................................................................................................... 67
3.2 Initial Setting ................................................................................................................... 68
3.2.1 Operation Mode Setting (Setting in gateway parameter setting tool)........................ 68
3.2.2 Parameter Settings (Setting on RC PC Software)..................................................... 74
3.3 Setting of Position Data.................................................................................................. 76
3.4 Fieldbus Type Address Map ........................................................................................... 84
3.4.1 PLC Address Construction by each Operation Mode................................................ 84
3.4.2 Example for each Fieldbus Address Map .................................................................. 87
3.4.3 Gateway Control Signals (Common for all operation modes) ................................. 105
3.4.4 Control Signals for Simple Direct Mode................................................................... 108
3.4.5 Control Signals for Positioner 1 Mode ......................................................................113
3.4.6 Control Signals for Direct Indication Mode ...............................................................118
3.4.7 Control Signals for Positioner 2 Mode ..................................................................... 125
3.4.8 Control Signals for Positioner 3 Mode ..................................................................... 129
3.4.9 Control Signals for Positioner 5 Mode ..................................................................... 132
3.4.10 Control Signals for Remote I/O Mode...................................................................... 136
3.4.11 About Commands (Position Data Read/Write and Alarm Axis Read)...................... 140
3.5 Input and Output Signal Process for Fieldbus.............................................................. 159
3.6 Power Supply ............................................................................................................... 161
3.7 Control and Functions of Input and Output Signals of Modes Other than
Remote I/O Mode ......................................................................................................... 163
3.7.1 Input and Output Signal Functions .......................................................................... 163
3.7.2 Operation for Positioner 1/Simple Direct Modes ..................................................... 180
3.7.3 Operation for Direct Indication Mode....................................................................... 182
3.7.4 Operation for Positioner 2, Positioner 3 and Positioner 5 Modes............................ 184
3.8 Control and functions of Input and output signals of Remote I/O Mode ...................... 186
3.8.1 Operation Supportive Signal = Patterns 0 to 2, 4 and 5 in common ....................... 186
3.8.2 Operation with the Position No. Input = Operations of PIO Patterns 0 to 2 ............... 195
3.8.3 Direct Position Specification (Solenoid Valve Mode 1) = Operation of
PIO Pattern 4 ........................................................................................................... 215
3.8.4 Direct Position Specification (Solenoid Valve Mode 2) = Operation of
PIO Pattern 5 ........................................................................................................... 227
3.9 About Gateway Parameter Setting Tool ....................................................................... 237
3.9.1 Startup of Tool .......................................................................................................... 237
3.9.2 Explanation of each Menu ....................................................................................... 238
3.9.3 Description of Functions .......................................................................................... 240
3.9.4 Operation Mode Setting........................................................................................... 247
3.10 Fieldbus Status LEDs ................................................................................................... 248
3.10.1 DeviceNet ................................................................................................................ 248
3.10.2 CC-Link .................................................................................................................... 249
3.10.3 PROFIBUS-DP ........................................................................................................ 250
3.10.4 CompoNet................................................................................................................ 251
3.10.5 EtherNet/IP .............................................................................................................. 252
3.10.6 EtherCAT ................................................................................................................. 253
3.10.7 PROFINET-IO .......................................................................................................... 255
3.10.8 CC-Link IE Field....................................................................................................... 256
3.10.9 SSCENTⅢ/H ........................................................................................................... 257
3.10.10 MECHATROLINK-Ⅲ................................................................................................ 257
3.10.11 EtherCAT Motion...................................................................................................... 257
Chapter 4 Vibration Suppress Control Function ·························································· 259
4.1 Setting Procedure......................................................................................................... 261
4.2 Settings of Parameters for Vibration Suppress Control ............................................... 262
4.3 Setting of Position Data................................................................................................ 263

Chapter 5 Collision Detection Feature······································································ 265
5.1 Collision Detection Judgement..................................................................................... 265
5.2 Settings......................................................................................................................... 266
5.3 Adjustment.................................................................................................................... 267
Chapter 6 Power-saving Function ··········································································· 269
6.1 Automatic Servo-off and Full Servo Functions............................................................. 269
6.1.1 Setting of periods taken until automatic servo OFF................................................. 270
6.1.2 Set of power-saving mode ....................................................................................... 270
6.1.3 Status of positioning complete signal in selection of automatic servo OFF............. 271
6.2 Selecting Automatic Current Reduction Feature.......................................................... 272
6.2.1 Process When Feature is Active.............................................................................. 273
6.2.2 Caution..................................................................................................................... 273
Chapter 7 Absolute Reset and Absolute Battery ························································· 275
7.1 Absolute Reset ............................................................................................................. 275
7.2 Absolute Battery (for Simple Absolute Type)................................................................ 279
7.2.1 Absolute encoder backup specifications ................................................................. 280
7.2.2 Absolute Battery Charge.......................................................................................... 280
7.2.3 Absolute Battery Voltage Drop Detection ................................................................ 281
Chapter 8 Parameter···························································································· 283
8.1 Parameter List .............................................................................................................. 284
8.2 Detail Explanation of Parameters................................................................................. 289
8.3 Servo Adjustment ......................................................................................................... 322
8.3.1 Adjustment of Pulse Motor and Servo Motor........................................................... 322
8.3.2 Adjustment of Brushless DC Electric Motor............................................................. 324
Chapter 9 Troubleshooting ···················································································· 325
9.1 Action to Be Taken upon Occurrence of Problem ........................................................ 325
9.2 Fault Diagnosis............................................................................................................. 327
9.2.1 Impossible operation of controller............................................................................ 327
9.2.2 Positioning and speed of poor precision (incorrect operation) ................................ 328
9.2.3 Generation of noise and/or vibration........................................................................ 329
9.2.4 Impossible Communication...................................................................................... 329
9.3 Gateway Alarm ............................................................................................................. 330
9.3.1 Gateway Alarm Codes ............................................................................................. 330
9.4 Driver Alarm.................................................................................................................. 333
9.4.1 Alarm Level .............................................................................................................. 333
9.4.2 Simple Alarm Code .................................................................................................. 333
9.4.3 Alarm Codes for Driver Board (Each Axis) .............................................................. 335
Chapter 10 Appendix ····························································································· 349
10.1 Conformity to Safety Category ..................................................................................... 349
10.2 When Connecting Power Supply with + Grounding ..................................................... 360
10.3 Maintenance................................................................................................................. 361
10.3.1 Consumed Parts ...................................................................................................... 361
10.3.2 Maintenance Information ......................................................................................... 361
10.3.3 Replacement of Fan ................................................................................................ 362
10.4 List of Specifications of Connectable Actuators ........................................................... 363
10.4.1 Specifications for Pulse Motor Type Actuator .......................................................... 363
10.4.2 Specifications for Servo Motor Type Actuator .......................................................... 393
10.4.3 Specifications for Brushless DC Electric Motor Actuator ......................................... 400
Correlation diagram of speed and loading capacity................................................................ 401
Pressing Force/Gripping Force and Current Limit Value ........................................................ 452
Rotational speed and Output torque / Allowable inertial moment ........................................... 462

Chapter 11 Warranty······························································································ 465
11.1 Warranty Period............................................................................................................ 465
11.2 Scope of the Warranty.................................................................................................. 465
11.3 Honoring the Warranty ................................................................................................. 465
11.4 Limited Liability............................................................................................................. 465
11.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and
Applications .................................................................................................................. 466
11.6 Other Items Excluded from Warranty ........................................................................... 466
Change History········································································································ 467

Starting Procedures (“PC” stated in this section means “RC PC software”.)
When using this product for the first time, make sure to avoid mistakes and incorrect wiring by
referring to the procedure below.
↓
Contact your local IAI distributor.
↓ Yes
No →
↓
Check of Packed Items [Refer to Section 1.1.1]
Have all the items been delivered?
Installation and Wiring [Refer to Chapter 1 and 2]
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?
Power Supply and Alarm Check
Connect the PC, put the operation mode setting switch to [MANU] side, and then turn the power ON.
Select “Teach Mode 1 Safety Speed Valid / Prohibit PIO Startup” in the PC software.
No →
↓
No →
Check Item [Refer to Name for Each Parts and Their Functions 12)]
Is SYS in Status LEDs turned ON in green?
Connect the PC software, confirm the alarm
code, and remedy the indicated situation.
Check Item [Refer to Name for Each Parts and Their Functions 7).]
Is SYS* on the status LED display for the driver on the axis
number indicated for the servo-on turned ON in green?
Safety Circuit Check
Does the emergency stop circuit (drive cutoff circuit) work
properly and turn the servo OFF?
↓Yes
If an alarm gets generated, check the content
of the alarm on the PC and have a
counteraction.
↓ Yes
Initial Setting
1) Have the fieldbus and operation mode conducted with the gateway parameter setting tool. [Refer to Section 3.2.1]
2) Set up the parameters (operation patterns) for each axis on the PC software. [Refer to Section 3.2.2]
Check the emergency stop circuit.
Servo ON
Turn the servo ON for all the connected axes by operating a teaching tool such as PC.
Caution:
Please perform this process with the actuator away from the mechanical end or interfering objects as much as possible.
Move the actuator away from interfering surroundings. It may generate an alarm if the actuator hit the mechanical end
or interfering objects when the servo is turned ON.
The slider may get slightly dropped by self-weight if servo ON and OFF is repeatedly performed at the same position.
Be careful not to pinch the hand or damage the work.
No →
↓ Yes
↓
Position Data Setting (except for direct indication mode)
Set the position (*), velocity and acceleration/deceleration in each position table. [Refer to Section 3.3]
*Setting is unnecessary in simple direct mode
↓
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.
↓ Yes
Check Item
Any vibration or abnormal noise?
No →
↓
Test Run Adjustment 1
1) Cancel the emergency stop, do not put a work piece on, set to low speed and check the operation with commands from
the PC.
2) Put on a work piece, set to the automatic operation speed, and then check the operation with the command from the PC.
Test Run Adjustment 2
Output an operation command from the host (such as PLC) to check by the system operation.
Link to Fieldbus (For Fieldbus Type: Sections 3.4)
1) Assign MCON to the host controller, put the operation mode setting switch to AUTO side, and then turn the power ON again.
2) Once the link is established to the master unit, turn ON MON Signal in the gateway control signals.
(Control can be held from the fieldbus while MON Signal is ON)
↓
↓

1
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 Description
1 Model
Selection
● 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.)
● Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
● 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
● 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.

2
No. Operation
Description Description
2 Transportation ● When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
● 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.
● 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.
● 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.
● Do not step or sit on the package.
● Do not put any heavy thing that can deform the package, on it.
● When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
● When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
● Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
● Do not get on the load that is hung on a crane.
● Do not leave a load hung up with a crane.
● Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
● The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention
of condensation.
● 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.
● 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.
● 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.
● 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

3
No. Operation
Description Description
(2) Cable Wiring
● Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
● 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.
● Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
● 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.
● 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.
● 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
● 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.
● 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 0.5mm2 (AWG20 or equivalent) or more for
grounding work. For security grounding, it is necessary to select an
appropriate wire thickness suitable for the load. Perform wiring that
satisfies the specifications (electrical equipment technical standards).
● Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100Ω or below).

4
No. Operation
Description Description
4 Installation
and Start
(4) Safety Measures
● 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.
● 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.
● Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
● 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.
● 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.
● 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.
● Take the measure so that the work part is not dropped in power failure or
emergency stop.
● Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
● 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.
● 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 ● 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.
● 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.
● 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.
● 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.
● Place a sign “Under Operation” at the position easy to see.
● 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.

5
No. Operation
Description Description
6 Trial
Operation
● 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.
● After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic
operation.
● 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.
● 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.
● 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
● Check before starting the automatic operation or rebooting after
operation stop that there is nobody in the safety protection fence.
● Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no
alarm indication.
● Make sure to operate automatic operation start from outside of the
safety protection fence.
● 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.
● 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.

6
No. Operation
Description Description
8 Maintenance
and
Inspection
● 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.
● 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.
● When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
● 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.
● 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.
● Place a sign “Under Operation” at the position easy to see.
● For the grease for the guide or ball screw, use appropriate grease
according to the Instruction Manual for each model.
● Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
● 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.
● 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.
● 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
● Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal ● When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
● When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
● Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other ● 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.
● See Overseas Specifications Compliance Manual to check whether
complies if necessary.
● For the handling of actuators and controllers, follow the dedicated
instruction manual of each unit to ensure the safety.

7
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

8
Precautions in Operation
1. Make sure to follow the usage condition, environment and specification range
of the product.
In case it is not secured, it may cause a drop in performance or malfunction of the product.
2. Use an appropriate teaching tool.
Use the PC Software or an appropriate teaching pendant to interface with this controller.
[Refer to 1.1.2 Teaching Tool]
3. Create a secure data backup for use in case of a 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 the controller is
broken and needs to be replaced with another one.
How to Save Data
(1) Save the data to external memory or hard disk using the PC software
(2) Hard-copy the information of position tables and parameters on paper
4. Initial Setting the operation
To make this controller flexibly applied in various situations, it is made applicable for seven
types of communication standards, possesses seven types of fieldbus operation modes for
control method, and is equipped with five types of operation patterns in the remote I/O mode.
The setup can be performed in the initial setting. [Refer to Chapter 3.2 Initial Setting and
Chapter 8 Parameter]
Set the operation mode and operation pattern setting to the logic that suits your use after the
power is turned ON.
5. Actuator would not operate without servo-on and pause signals.
(1) Servo ON Signal (SON)
The servo-on signal (SON) is available to select whether to enable or disable in the
Parameter No.21. [Refer to 8.2 [13] Servo ON input disable]
If it is set to “Enable”, the actuator would not operate unless turning this signal ON.
If parameter is set to “1”, SON is made disable. 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. It is set to “0”
(Effective) at delivery.
Have the setting that suits to the desirable control logic.
(2) Pause Signal (*STP)
Considering safety, the pause signal (*STP) is an input signal which is always ON.
Therefore, the actuator will not operate when this signal is not ON in the ordinary use.
This signal is available to choose valid/invalid in Parameter No.15. [Refer to 8.2 [11]
Selecting Pause Input Invalid]
Set the parameter to “1” to make it invalid. When it is set invalid, the actuator will become
available to operate without making this signal ON. It is set to “0” (Valid) at the delivery.
Warning: Please note it is very risky when the control sequence, operation mode of fieldbus
and operation pattern of remote I/O mode setting do not match each other. The
normal operation might not occur. There may be no movement, or there may be
unex
p
ected movement.

9
6. Clock Setting in Calendar Function
There may be a case in the first time to supply the power after delivery that Gateway Alarm
Code 84A “Real Time Clock Vibration Stop Detected” is generated. 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, the battery is not fully
charged. Therefore, there may be a case that the clock data is lost even if the days described
above have not passed.
7. 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.
8. Limitations on operation of rotary actuator in index mode
Rotary actuators of 360° 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 8 Parameter.]
The following limitations are applied to the index mode:
1) 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 360° at maximum for JOG while 1° at maximum
for Inching.
2) Pressing is unavailable. The pressing torque can only be set to 0.
3) Do not issue positioning command around 0° repeatedly during movement near 0°. Failure
to follow this may cause the actuator to rotate in the direction reverse to the specified
rotation direction or operate indefinitely.
4) Software stroke limit is invalid in the index mode.

10
9. According to Sequence Program Creation
Please note the following things when creating a sequence program.
When data transfer is necessary between two devices that have a different scan time from
each other, duration more than the longer scan time is required to certainly read the signal. (It is
recommended to have a timer setting of at least twice as long as the scan time in order for the
PLC to adequately perform the reading process.)
z Operation Image
Also, if one tries to read the signal that is being re-written by the other, the signal may be read wrong.
Make sure to read the signal after the rewriting is complete. (It is recommended to have more than 2 scan
periods to wait.) Make sure not to have the output side to change the output until the other side completes
the reading. Also, a setting is made on the input area not to receive the signal less than a certain time to
prevent a wrong reading of noise. This duration also needs to be considered.
10. PLC Timer Setting
Do not have the PLC timer setting to be done with the minimum setting.
Setting to “1” for 100msec timer turns ON at the timing from 0 to 100msec while 10msec timer
from 0 to 10msec for some PLC.
Therefore, the same process as when the timer is not set is held and may cause a failure such
as the actuator cannot get positioned to the indicated position number in Positioner Mode.
Set “2” as the minimum value for the setting of 10msec timer and when setting to 100msec, use
10msec timer and set to “10”.
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, 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
succeeds 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 entire time period.