IAI MSCON User manual

MSCON Controller
Instruction Manual Second Edition

[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 is a registered mark of Mitsubishi Electric Corporation.
•PROFIBUS is a registered mark of SIEMENS.
•CompoNet is a registered trademark of OMRON Corporation.
•EtherCAT® is a registered mark of Beckoff Automation GmbH.
•EtherNet/IP is a trademark used under the license of ODVA.
Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual describes all necessary information items to operate this product safely
such as the operation procedure, structure and maintenance procedure.
Before the operation, read this manual carefully and fully understand it to operate this product safely.
The enclosed 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.
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ME0306-2A

Contents
Safety Guide ···································································································· 1
Precautions in Operation ···················································································· 8
International Standards Compliances ···································································11
Name for Each Parts and Their Functions ···························································· 13
Actuator Axes································································································· 17
Starting Procedures ························································································· 19
Chapter 1 Specifications Check .....................................................................................21
1.1 Product Check................................................................................................................... 21
1.1.1 Parts .................................................................................................................... 21
1.1.2 Teaching Tool ............................................................................................................... 21
1.1.3 Instruction Manuals related to this product, which are contained in the DVD. ............ 22
1.1.4 How to read the model plate........................................................................................ 22
1.1.5 How to read the model................................................................................................. 23
1.2 Basic Specifications .......................................................................................................... 24
1.3 Selection of Power Source and Power Supply Supportive Devices ................................. 26
1.3.1 Power Capacity and Heat Generation ......................................................................... 26
1.3.2 Selection of Circuit Breaker ......................................................................................... 26
1.3.3 Selection of Leak Current Breaker............................................................................... 27
1.3.4 Control Power (24V DC) Capacity ............................................................................... 27
1.4 Specifications for each Fieldbus........................................................................................ 28
1.4.1 Specifications of DeviceNet Interface .......................................................................... 28
1.4.2 Specifications of CC-Link Interface.............................................................................. 28
1.4.3 Specifications of PROFIBUS-DP Interface .................................................................. 29
1.4.4 Specifications of CompoNet Interface.......................................................................... 29
1.4.5 Specifications of EtherNet/IP Interface ........................................................................ 30
1.4.6 Specifications of EtherCAT Interface ........................................................................... 30
1.5 External Dimensions ....................................................................................................... 31
1.5.1 Incremental Type ......................................................................................................... 31
1.5.2 Absolute Type .............................................................................................................. 32
1.6 Option ....................................................................................................................... 33
1.6.1 Regenerative Resistor Unit.......................................................................................... 33
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 ................................................................................................................... 47
2.3.1 Wiring of Control Power Supply and Drive Power Supply Input Connector ................ 47
2.3.2 Wiring Layout of System I/O Connector ...................................................................... 49
2.3.3 Actuator Connection .................................................................................................... 50
2.3.4 Battery Connection (For Absolute Type)...................................................................... 52
2.3.5 Connection of Regenerative Resistance Unit .............................................................. 53
2.3.6 Connection of SIO Connector...................................................................................... 55
2.3.7 Wiring Layout of Field Network Connector .................................................................. 56
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Chapter 3 Operation.......................................................................................................61
3.1 Basic Operation................................................................................................................. 61
3.1.1 Basic Operation Methods ............................................................................................ 61
3.1.2 Parameter Settings ...................................................................................................... 65
3.2 Initial Setting...................................................................................................................... 66
3.3 Setting of Position Data..................................................................................................... 71
3.4 Fieldbus Type Address Map.............................................................................................. 77
3.4.1 PLC Address Construction by each Operation Mode.................................................. 77
3.4.2 Example for Address Map Construction for each Field Network ................................. 80
3.4.3 Gateway Control Signals (in common for all operation modes) .................................. 90
3.4.4 Control Signals for Direct Simple Direct ...................................................................... 93
3.4.5 Control Signals for Positioner 1 Mode ......................................................................... 98
3.4.6 Control Signals for Direct Indication Mode ................................................................ 103
3.4.7 Control Signals for Direct Indication Mode 2 ..............................................................110
3.4.8 Control Signals for Positioner 2 Mode ........................................................................117
3.4.9 Control Signals for Positioner 3 Mode ....................................................................... 121
3.4.10 Control Signals for Remote I/O Mode........................................................................ 124
3.4.11 About Commands (Position Data Read/Write and Alarm Axis Read)........................ 128
3.5 Input and Output Signal Process for Field Network........................................................ 143
3.6 Power Supply and Cutoff ................................................................................................ 145
3.7 Control and functions of Input and output signals of Modes
other than Remote I/O Mode ....................................................................... 147
3.8 Control and functions of Input and output signals of Remote I/O Mode ......................... 169
3.8.1 Operation Supportive Signal = Patterns 0 to 2, 4 and 5 in common ......................... 169
3.8.2 Operation with the Position No. Input = Operations of PIO Patterns 0 to 2 ................. 177
3.8.3 Direct Position Specification (Solenoid Valve Mode 1)
= Operation of PIO Pattern 4.................................................................... 197
3.8.4 Direct Position Specification (Solenoid Valve Mode 2)
= Operation of PIO Pattern 5.................................................................... 209
3.9 About Gateway Parameter Setting Tool.......................................................................... 217
3.9.1 Startup of Tool ............................................................................................................ 217
3.9.2 Explanation of each Menu ......................................................................................... 218
3.9.3 Description of Functions ............................................................................................ 220
3.9.4 Operation Mode Setting............................................................................................. 226
3.10 Field network status LEDs .............................................................................................. 227
3.10.1 DeviceNet .................................................................................................................. 227
3.10.2 CC-Link .................................................................................................................. 227
3.10.3 PROFIBUS................................................................................................................. 228
3.10.4 CompoNet .................................................................................................................. 228
3.10.5 EtherNet/IP ................................................................................................................ 228
3.10.5 EtherNet/IP ................................................................................................................ 229
3.10.6 EtherCAT .................................................................................................................. 230
3.11 Gateway status LED ....................................................................................................... 231
Chapter 4 Vibration Suppress Control Function...........................................................233
4.1 Setting Procedure ........................................................................................................... 235
4.2 Settings of Parameters for Vibration Suppress Control .................................................. 236
4.3 Setting of Position Data................................................................................................... 237
Chapter 5 Power Saving Function (Automatic Servo-off Function) ...........................239
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Chapter 6 Absolute Reset and Absolute Battery..........................................................241
6.1 Absolute Reset................................................................................................................ 241
6.2 Absolute Battery.............................................................................................................. 244
6.2.1 Absolute encoder backup specifications ................................................................... 244
6.2.2 Replacement of absolute battery ............................................................................... 246
Chapter 7 Parameter....................................................................................................247
7.1 Parameter List................................................................................................................. 248
7.2 Detail Explanation of Parameters.................................................................................... 253
7.3 Servo Adjustment ............................................................................................................ 280
Chapter 8 Troubleshooting...........................................................................................283
8.1 Action to Be Taken upon Occurrence of Problem ........................................................... 283
8.2 Fault Diagnosis ............................................................................................................... 285
8.2.1 Impossible operation of controller.............................................................................. 285
8.2.2 Positioning and speed of poor precision (incorrect operation) .................................. 286
8.2.3 Generation of noise and/or vibration.......................................................................... 287
8.2.4 Impossible Communication........................................................................................ 287
8.3 Alarm ..................................................................................................................... 288
8.3.1 Gateway Alarm Codes ............................................................................................... 288
8.3.2 Alarm Code for Each Axis.......................................................................................... 290
8.4 Noise Prevention............................................................................................................. 301
Chapter 9 Appendix .....................................................................................................303
9.1 List of Specifications of Connectable Actuators .............................................................. 303
Chapter 10 Warranty .......................................................................................................347
10.1 Warranty Period .............................................................................................................. 347
10.2 Scope of the Warranty..................................................................................................... 347
10.3 Honoring the Warranty .................................................................................................... 347
10.4 Limited Liability................................................................................................................ 347
10.5 Conditions of Conformance with Applicable Standards
/Regulations, Etc., and Applications ............................................................ 348
10.6 Other Items Excluded from Warranty.............................................................................. 348
Change History ................................................................................................................349
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Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No. Operation
Description 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.
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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
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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 100Ωor below).
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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.
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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.
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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.
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Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the Instruction Manual for each model.
Level Degree of Danger and Damage Symbol
Danger
This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious
injury. Danger
Warning
This indicates a potentially hazardous situation which, if the
product is not handled correctly, could result in death or serious
injury. Warning
Caution
This indicates a potentially hazardous situation which, if the
product is not handled correctly, may result in minor injury or
property damage. Caution
Notice This indicates lower possibility for the injury, but should be kept to
use this product properly. Notice
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Precautions in Operation
1. Make sure to follow the usage condition, environment and specification range
of the product.
In case it is not secured, it may cause a drop in performance or malfunction of the product.
2. Use the following teaching tools.
Use the PC software and the teaching pendant stated in the next clause as applicable for this
controller.
[Refer to 1.1.2 Teaching Tool.]
3. Backup the data to secure for breakdown.
A non-volatile memory is used as the backup memory for this controller. All the registered
position data and parameters are written into this memory and backed-up at the same time.
Therefore, you will not usually lose the data even if the power is shut down. However, make
sure to save the latest data so a quick recovery action can be taken in case when the controller
is broken and needs to be replaced with another one.
How to Save Data
(1) Save the data to CD-R or hard disk with using the PC software
(2) Hard-copy the information of position tables and parameters on paper
4. Set the operation patterns.
To be applied to variety ways of use, this controller corresponds to the control by each fieldbus
and, in addition, it possesses multiple operation (PIO) patterns.
Setting can be established in the parameters. [Refer to Chapter 3 Operation and Chapter 7
Parameter.]
Set the operation pattern setting to the logic that suits to your use after the power is turned ON.
5. The actuators listed below cannot be connected:
1) Actuator with its motor capacity more than 200W
2) Linear Actuator
3) NS-S Type (Nut rotary actuator)
4) RCS2-SRA7BD
5) Slim Small ROBO Cylinder
(RCS2-RN5N/RP5N/GS5N/GD5N/SD5N/TCA5N/TWA5N/TFA5N)
6) When the total of the motor capacity of the connected actuators exceeds 900W for 200V
motor power or 450W for 100V type
Warning: Please note it is very risky when the control sequence and PIO pattern setting do not
match to each other. It may not only cause the normal operation disabled, but also
may cause an unexpected operation.
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6. Clock setting in calendar function
There may be a case that Gateway Error Code 84A “Real Time Clock Vibration Stop Detect” is
issued at the first time to turn the power ON after the product is delivered. In such a case, set
the current time with a teaching tool.
If the battery is fully charged, the clock data is retained for approximately 10 days after the
power is turned OFF.
Even though the time setting is conducted before the product is shipped out, the battery is not
fully charged. Therefore, the clock data may be already lost even in 10 days after the product is
shipped out.
7. For the rotary actuator, it is necessary to pay attention to cable breakage due to
twisting and other factors.
Especially for the type with a through hole in the center of rotation, and when using it with
cables going through the hole, and also for the actuator with 360°rotation, special care is
required because there is no limit to the rotation in one direction.
8. Limitations on operation of rotary actuator in index mode
Rotary actuators of 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 7 Parameter.]
The following limitations are applied to the index mode:
1) Index Mode cannot be selected in the absolute type controllers. It will issue Alarm Code
0A1 “Parameter Data Error”.
2) In the JOG operation by PC software, a teaching pendant or PIO Signal, the indicated
range in one time is from 0 to 360.00°and that makes one turn.
3) Pressing is unavailable. The pressing torque can only be set to 0.
4) Do not issue positioning command around 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.
5) Soft stroke limit is invalid in the index mode.
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9. According to sequence program creation
Please note the following things when creating a sequence program.
When data transfer is necessary between two devices that have a different scan time from each
other, duration more than the longer scan time is required to certainly read the signal. (To have
the loading process on PLC side safely, it is recommended to set the timer to at least twice
longer than the long scanning time.)
● Operation Image
Also, if one tries to read the signal that is being re-written by the other, the signal may be read wrongly.
Make sure to read the signal after the rewriting is complete. (It is recommended to have more than 2 scan
periods to wait.) Make sure not to have the output side to change the output until the other side completes
the reading. Also, a setting is made on the input area not to receive the signal less than a certain time to
prevent a wrong reading of noise. This duration also needs to be considered.
10. PLC Timer Setting
Do not have the PLC timer setting to be done with the minimum setting.
Setting to “1” for 100msec timer turns ON at the timing from 0 to 100msec while 10msec timer
from 0 to 10msec for some PLC.
Therefore, the same process as when the timer is not set is held and may cause a failure such
as the actuator cannot get positioned to the indicated position number in Positioner Mode.
Set “2” as the minimum value for the setting of 10msec timer and when setting to 100msec, use
10msec timer and set to “10”.
11. Regarding battery-less absolute type actuator
Make sure to have a home-return operation (absolute reset) after detaching the motor unit from
the actuator for motor replacement purpose and so on.
This controller
(scan time 1msec)
PLC (Programmable Logic Controller)
(example: scan time is 20msec)
Output
Process
Input
Process
As shown in the diagram, the input and output
timings of two devices that have different scan
time do not match, of course, when transferring
a signal.
There is no guarantee that PLC would read the
signal as soon as this controller signal turns
ON.
In such a case, make the setting to read the
signal after a certain time that is longer than the
longer scan time to ensure the reading process
to succeed on the PLC side.
It is the same in the case this controller side
reads the signal.
In such a case, it is recommended to ensure 2
to 4 times of the scan time for the timer setting
margin.
It is risky to have the setting below the scan
time since the timer is also processed in the
scan process.
In the diagram, PLC can only read the input
once in 20msec even though this controller
output once in 1msec.
Because PLC only conducts output process
once in 20msec, this controller identifies the
same out
p
ut status for that while.
ME0306-2A

11
International Standards Compliances
MSCON comply with the following overseas standards.
RoHS Directive CE Marking UL
{ { Compliance not planned
ME0306-2A

12
ME0306-2A