IAI SCON-CA User manual

SCON-CA/CAL/CGAL
First Step Guide Fifth Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to
this First Step Guide to ensure correct use.
This Instruction Manual is original.
•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.
•EtherCAT® is a registered mark of Beckoff Automation GmbH.
•EtherNet/IP is a trademark used under the license of ODVA.
Product Check
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts
No. Part Name Model Reference
1 Controller Main Body Refer to “How to read the model plate”, “How to read the
model of the controller”.
Accessories
2 System I/O Plug FMC1.5/4-ST-3.5 (Supplier : Phoenix Contact)
3 Power Supply Plug for Brake MC1.5/2-ST-3.5 (Supplier : Phoenix Contact)
Applicable Cable Size
0.5mm2(AWG20)
4 AC Power Supply plug MSTB2.5/6-STF-5.08 (Supplier : Phoenix Contact)
Applicable Cable Size
2.0mm2(AWG14)
5 Absolute Battery AB-5 Enclosed in Absolute Type
6 Dummy plug DP-5 Enclosed in SCON-CGAL
7 First Step Guide
8 Instruction Manual (DVD)
9 Safety Guide
2. Teaching Tool (to be purchased separately)
A teaching tool such as PC software is necessary when performing the setup for position setting, parameter setting, etc. that
can only be done on the teaching tool.
Please prepare either of the following teaching tools such as PC software.
No. Part Name Model
1 PC Software (RCS232C converter adapter + external equipment communication cable are included) RCM-101-MW
2 PC Software (USB converter adapter + USB cable + external equipment communication cable are included) RCM-101-USB
3 Touch Panel Teaching CON-PT
4 Touch Panel Teaching (Dead-man Switch is included) CON-PD
5 Touch Panel Teaching (Dead-man Switch +TP Adapter (RCB-LB-TG) are included) CON-PG
6 Touch Panel Teaching TB-01 TB-01
7 Touch Panel Teaching TB-01 (with dead-man switch attached on the left) TB-01D
8 Touch Panel Teaching TB-01 (with dead-man switch attached on the right) TB-01DR
3. Instruction Manuals Related to this Product, which are Contained in the Instruction Manual (DVD).
No. Name Manual No.
1 SCON-CA Controller Instruction Manual ME0243
2 EtherCAT® Instruction Manual ME0273
3 EtherNet/IP Instruction Manual ME0278
4 CC-Link (High Performance Type) Instruction Manual ME0254
5 DeviceNet (High Performance Type) Instruction Manual ME0256
6 PROFIBUS-DP (High Performance Type) Instruction Manual ME0258
7 CompoNet (High Performance Type) Instruction Manual ME0220
8 MECHATROLINK (High Performance Type) Instruction Manual ME0221
9 MECHATROLINKⅢ Instruction Manual ME0317
10 PROFINET-IO Instruction Manual ME0333
11 PC Software RCM-101-MW/ RCM-101-USB Instruction Manual ME0155
12 Touch Panel Teaching CON-PTA/PDA/PGA/PGAS Instruction Manual ME0295
13 Touch Panel Teaching TB-01 Position Controller Instruction Manual ME0324
4. How to Read the Model Plate
5. How to Read the Model of the Controller
Basic Specifications
List of Specifications
SCON-C/CA
Item
Less than 400W 400W or more
SCON-CAL/CGAL
Corresponding Motor Capacity 12W to 399W 400W to 750W 12W to 200W
Power-supply Voltage
Single-Phase 100 to 115V AC
Single-Phase 200 to 230V AC
(Power fluctuation within ± 10%)
Single-Phase 200 to 230V AC
(Power fluctuation within ± 10%)
Single-Phase 100 to 115V AC
Single-Phase 200 to 230V AC
(Power fluctuation within ± 10%)
Power-supply Voltage 100V AC Rush
Current*1
Power-supply Voltage 200V AC
20A (Controller side),
70A (Drive side) 20A (Controller side),
80A (Drive side)
30A (Controller side),
80A (Drive side)
Load Capacity Refer to Power Capacity and Heat Generation
Leak Current*2 3.0mA Primary side when noise filter is connected to power supply line
Heat Generation Refer to Power Capacity and Heat Generation
Power Supply Frequency 50/60Hz
PIO Power Supply*3 24V DC±10%
Power Supply for Electromagnetic Brake
(for actuator equipped with brake)
24V DC±10% 1A (MAX.)
(supplied from external equipment)
Transient Power Cutoff Durability 20ms (50Hz), 16ms (60Hz)
Motor Control System Sine Wave PWM Vector Current Control
Corresponding Encoder Incremental Serial Encoder, Absolute Serial Encoder,
ABZ (UVW) Parallel Encoder
Incremental Serial Encoder,
Absolute Serial Encoder,
Actuator Cable Length MAX. 20m
Serial Communication Interface RS485 : 1CH … based on Modbus Protocol RTU/ASCII
Speed : 9.6 to 230.4Kbps
Control available with serial communication in the modes other than the pulse train
PIO
Specifications
Signal I/O dedicated for 24V DC (selected from NPN/PNP) … Input 16 ports max.,
output 16 ports max.
External Interface
(Each dedicated
controller) Fieldbus
Specification EtherCAT, EtherNET/IP, PROFINET IO
PIO MAX. 10m
RS485 Total cable length 100m or less.
Cable Length
Fieldbus Refer to each Fieldbus specification
Data Setting and Input PC Software, Touch Panel Teaching, Teaching Pendant
Data Retention Memory Saves position data and parameters to non-volatile memory
(There is no limitation in number of writing)
Operation Mode Positioner Mode/Direct Mode
Number of Positions in Positioner
Mode
Standard 64 points, maximum 512 points (PIO Type), 768 points (only for SCON-CA Fieldbus Type)
(Note) Number of positions differs depending on the selection in PIO pattern and fieldbus operation mode.
Input Pulse Frequency Differential System (Line Driver System) : MAX. 2.5Mpps
Open Collector Type :
200Kpps max. (under condition AK-04 is used)
Pulse Train
Control
Mode
(Dedicated
for PIO
Specifications)
Command Pulse
Multiplying Factor
(Electrical Gear : A/B)
1/50 < A/B <50/1
Setting Range of A and B (set to parameter) : 1 to 4096
Feedback Pulse
(Dedicated for PIO Specifications)
Differential System (Line Driver System) : MAX. 2.5Mpps
Open Collector Type :
500Kpps max. (under condition JM-08 is used)
LED Display
(mounted on Front Panel)
PWR (green) : Controller in normal condition,
SV (green) : Servo ON,
ALM (orange) : Alarm generated,
EMG (red) : Emergency Stop
PWR (green) : Controller in
normal condition / SV
(green) : Servo ON / ALM
(orange) : Alarm generated /
EMG (red) : Emergency
Stop / WRG (orange) :
Warning generated
Electromagnetic Brake Compulsory Release
Switch (mounted on Front Panel)
Switching NOM (standard)/BK RLS (compulsory release)
Insulation Resistance 500V DC 10MΩor more
Insulation Strength 1,500V AC for 1 min. (Note) Withstand voltage of force control loadcell is 50V DC
Surrounding air temperature 0 to 40°C
Surrounding humidity 85%RH or less (non-condensing)
Surrounding environment [Refer to Installation Environment]
Surrounding storage temperature -20 to 70°C (non-condensing)
Surrounding storage humidity 85% or less (non-condensing)
Environment
Vibration Durability
XYZ Each direction 10 to 57Hz Pulsating amplitude 0.035mm (continuous) 0.075mm (intermittent)
57 to 150Hz 4.9m/s
2
(continuous) 9.8m/s
2
(intermittent)
Protection Class IP20 or equivalent
Mass Approx. 900g Approx. 1200g Approx. 560g
Cooling Method Natural air-cooling Forced Air Cooling Forced Air Cooling
External Dimensions 58W ×194H ×121D [mm] 72W ×194H ×121D [mm] 49W ×158H ×116D [mm]
*1 In-rush current will flow for approximately 20msec after the power is turned on (at 40°C).
Note that the value of in-rush current differs depending on the impedance of the power supply line.
*2 Leak current varies depending on the capacity of connected motor, cable length and the surrounding environment.
Measure the leak current at the point where a ground fault circuit interrupter is to be installed when leakage protection
is conducted.
A ground fault circuit interrupter needs to be selected carefully considering the purposes of prevention of fire and
protection of human.
Use the harmonic type (for inverter) for the ground fault circuit interrupter.
*3 It is not necessary to supply power to PIO when operating with using Fieldbus (EtherCAT®, EtherNet/IP,
PROFINET IO, DeviceNet, CC-Link, PROFIBUS-DP, CompoNet or MECHATROLINK), ROBONET, Gateway Unit or
SIO Converter without using PIO. In this case, set the parameter No. 74 (PIO Power Supply Monitor) to “1” (Invalid). It
will generate the error code No. 0CF (I/O 24V Power Supply Error) if the setting is not done.
Power Capacity and Heat Generation
Rated Power Capacity =Motor Power Capacity +Control Power Capacity
Peek Max. Power Capacity =Peek Max. Motor Power Capacity +Control Power Capacity
Actuator Motor Type
Motor Power
Capacity
[VA]
Peek Max.
Motor Power
Capacity [VA]
Control Power
Capacity
[VA]
Rated Power
Capacity
[VA]
Peek Max.
Power Capacity
[VA]
Heat
Generation
[W]
12 41 123 89 171 30
20 26 78 74 126 30
30D (Excluding RS) 46 138 94 186 31
30R (for RS) 138 414 186 462 33
60 138 414 186 462 33
60 (RCS3-CTZ5) 197 591 245 639 32
100 234 702 282 750 35
100S (LSA) 283 851 331 899 36
150 328 984 376 1032 37
200 421 1263 469 1311 38
200S
(LSA excluding LSA-N15H)
486 1458 534 1506 38
200S (LSA-N15H) 773 2319 821 2367 56
300S (LSA) 662 1986 710 2034 40
400 920 2760 968 2808 45
400 (RCS3-CT8) 1230 3690 1278 3738 47
600 1164 2328 1212 2376 56
750 3042 3090
750S 1521 4563
48
1569 4611 58
RS : Rotary Shaft LSA : Linear Actuator
Selection of Circuit Interrupter
• 3 times of the rated current flows to the controller during the acceleration/deceleration. Select an interrupter that does not trip
with this value of current. If a trip occurs, select an interrupter that possesses the rated current of one grade higher. [Refer to
the operation characteristics curves in the product catalog.]
• Select an interrupter that does not trip with the in-rush current. [Refer to the operation characteristics curves in the product
catalog.]
• Consider the current that enables to cutoff the current even when a short circuit current is flown for the rated cutoff current.
Rated Interrupting Current >Short Circuit Current =Primary Power Capacity / Power Voltage
Consider margin for the rated current on the circuit breaker.
Rated Current for Circuit Interrupter >(Rated Motor Power Capacity [VA] +Control Power Capacity [VA]) /
AC Input Voltage ×Safety Margin (reference 1.2 to 1.4 times)
External Dimensions
Shown below are the dimensions for EtherCAT® type. The dimensions for EtherNet/IP and PROFINET IO should
also be the same.
SCON-CA
Less than 400W 400W or more
SCON-CAL/CGAL
49
122.6
4
158
146.5
(17)
(8.5)
(6)
(6)
φ4.5
22.5
4.5
For DIN Rail
Mounting Type
DIN Rail
For Screw-fixed Type
35.4 (Width of 35mm DIN Rail )
82.5 from DIN rail cente
r
* There is no DIN rail part on the type with screw attachment.
SCON-CA-20 I HA-NP-3-1-DN-**
<Series>
<Type>
C : Standard Type CA : High Performance Type
CAL : Small Type CGAL : Small Global Type
< Actuator Characteristics >
[Motor Type] * For SCON- CAL/CGAL, 200W or Less
12 : 12W 200 : 200W
20 : 20W 200S : 200W (LSA)
30D : 30W (Excluding RS) 300S : 300W (LSA)
30R : 30W (for RS) 400 : 400W
60 : 60W 600 : 600W
100 : 100W 750 : 750W
100S : 100W (LSA) 750S : Equipped with loadcell
150 : 150W RCS2-RA
<Encoder Type>
I : Incremental A : Absolute G : Spurious Absolute(Note 1)
<Option>
No Indication : Standard Type I : Index Absolute Type (DD)
(Note 1)
HA : High Acceleration/Deceleration Type
M : Multi-Rotation Absolute Type (DD)
(Note 1)
<Identification for IAI use only>
* There is no identification in some cases.
< Type of Installation
(dedicated for SCON-CAL/CGAL)>
Not Specified : Screw Attachment Type
DN : DIN Rail Mounting Type
<Power-supply Voltage>
1 : Single-Phase 100V AC
2 : Single-Phase 200V AC
<I/O Cable Length>
0 : Equipped with no cable 2 : 2m
3 : 3m (Standard) 5 : 5m
In Absolute Battery Attachment
(Absolute Encoder Type)
In Absolute Battery Attachment
(Absolute Encoder Type)
Side View (Common)
Model
Serial number
SCON-CA-60A-EC-2-1
MODEL
SERIAL No.
800056144 L11
MADE IN JAPAN
Warning : Operation of this equipment requires detailed installation and operation instructions which are
provided on the DVD Manual included in the box this device was packaged in. It should be retained
with this device at all times.
A hardcopy of the Manual can be requested by contacting your nearest IAI Sales Office listed at
the back cove
r
of the Instruction Manual or on the First Ste
p
Guide.
<I/O Type>
NP : NPN Specification (Sink Type) (Standard) ML : MECHATROLINK ⅠⅡ Connection 1,2 Type
PN : PNP Specification (Source Type) ML3 : MECHATROLINK
Ⅲ Connection 3 (Motion) Type
(Note 1)
DV : DeviceNet Connection Type EC : EtherCAT Connection Type
CC : CC-Link Connection Type EP : EtherNet/IP Connection Type
PR : PROFIBUS-DP Connection Type PRT : PROFINET IO Connection Type
CN : CompoNet Connection Type
(Note 1) Specified only for SCON-CA

16.85 17.15
1.5
φ5
4.5
145
154
136
R2.5
4.5
106.5
5
30.7
34
1.5
1.5
Ø5
4.5
145
154
136
4.5
115
5
30.7
34
1.5
4
4
8.5
(77 from DIN rail center)
(9)
Regenerative Resistor Unit (Option) : RESU(D)-1, RESU(D)-2
This is a unit that converts the regenerative current to heat when the motor decelerates.
[Specification] [Appearance]
Item Specification
Body Size W35.6mm ×H158mm ×D115mm
Body Weight 0.7kg
Internal Regenerative Resistor 235Ω80W
2nd unit
or later
RESU-1
RESUD-1
Controller Connection Cable
(Model Code CB-ST-REU010) 1m
Acces
sories
First Unit RESU-2
RESUD-2
Controller Connection Cable
(Model Code CB-SC-REU010) 1m
[Reference Connectable Quantity]
Motor Wattage
Horizontal Mount/Vertical Mount
Connectable Number of
Regenerative Resistor Units
To 1 0 0 W (Note 3) Not Required
101 to 400W 1
401 to 750W 2
(Note 1) This is a reference for the case when the actuator is ran forward and
backward on 1,000mm stroke with the operation duty 50% under the
rated acceleration/deceleration speed and rated load.
(Note 2) It is necessary to have the regenerative resistor listed above when the
operation duty is above 50%.
The maximum quantity of the external regenerative resistor units that
can be connected is as stated below:
•2 units for less than 400W •4 units for 400W or more
(Note 3) It is necessary to have one unit for LSA/LSAS-N10S Type.
Brake Box (Option) : RCB-110-RA13-0
This is applied on NS Actuator and RCS-RA13R with brake.
1 unit of Brake Box possesses brakes for 2 shafts.
[Specification] [Appearance]
Item Specification
Body Size W162 ×H94 ×D65.5mm
Power Voltage and Current 24V DC±10% 1A
Connection Cable Encoder Cable
(Model Code CB-RCS2-PLA010) 1m
[24V Power Supply Connector]
Connector on
Cable Side
(Enclosed in
standard package)
MC1.5/2-STF-3.5 (Phoenix Contact)
Applicable Cable AWG28 to 16
Pin No. Signal Explanation
1 0V
Power Supply Grounding for
Brake Excitation
Terminal
Assignment
2 24VIN
For Brake Excitation and
24V Power Supply
[Connectors 1 and 2 for external brake release switch connection]
Connected
Equipment Brake Release Switch
Connector on
Cable Side
(Please prepare
separately)
XAP-02V-1
(Contact BXA-001T-P0.6) (JST)
Switch Rating 30V DC Minimum Current 1.5mA
Pin No. Signal Explanation
1 BKMRL Brake Release Switch Input
Terminal
Assignment 2 COM
Power Supply Output for
Brake Release Switch Input
(Note) Short circuit of pin No. 1 and 2 of this connector releases the brake compulsorily.
Same as the brake release switch on SCON main unit, it is possible to release the brake.
Do not keep the compulsory release condition while in automatic operation.
Loadcell (Dedicated Option for SCON-CA)
This is the pressing force measurement unit that is used for the force control.
This is used by connecting to the actuator corresponding to the force control.
[Specification]
Item Specification
Loadcell System Strain Gauge, Hollowed Cylindrical Type
Rated Capacity 20000N
Allowable Overload 200%R.C*1
Loadcell Accuracy ±1%R.C*1
Zero ±0.2%R.C/10°C
Temperature Drift Output ±0.1%R.C/10°C
Applicable Temperature Range 0 to 40°C
*1 R.C : Rated Capacity
[Refer to RCS2-RA13R Instruction Manual for details of how to attach and the dimensions.]
Installation Environment
This product is capable for use in the environment of pollution degree 2*1 or equivalent.
*1 Pollution Degree 2 : Environment that may cause non-conductive pollution or transient conductive
pollution by frost (IEC60664-1)
1. Installation Environment
Do not use this product in the following environment
•Location where the surrounding air temperature exceeds the range of 0 to 40°C
•Location where condensation occurs due to abrupt temperature changes
•Location where relative humidity exceeds 85%RH
•Location exposed to corrosive gases or combustible gases
•Location exposed to significant amount of dust, salt or iron powder
•Location subject to direct vibration or impact
•Location exposed to direct sunlight
•Location where the product may come in contact with water, oil or chemical droplets
•Environment that blocks the air vent [Refer to Installation and Noise Elimination]
When using the product in any of the locations specified below, provide a sufficient shield.
•Location subject to electrostatic noise
•Location where high electrical or magnetic field is present
•Location with the mains or power lines passing nearby
2. Storage and Preservation Environment
•The storage and preservation environment should comply with the same standards as those for
the installation environment. In particular, when the machine is to be stored for a long time, pay
close attention to environmental conditions so that no dew condensation forms. Unless specially
specified, moisture absorbency protection is not included in the package when the machine is
delivered. In the case that the machine is to be stored and preserved in an environment where
dew condensation is anticipated, take the condensation preventive measures from outside of the
entire package, or directly after opening the package.
Installation and Noise Elimination
1. Noise Elimination Grounding (Frame Ground)
2. Precautions regarding wiring method
1) Wire is to be twisted for the 24V DC power supply.
2) Separate the signal and encoder lines from the power
supply and power lines.
3. Noise Sources and Elimination
Carry out noise elimination measures for power devices on
the same power path and in the same equipment.
The following are examples of measures to eliminate noise
sources.
1) AC solenoid valves, magnet switches and relays
[Measure] Install a Surge absorber parallel with the coil.
2) DC solenoid valves, magnet switches and relays
[Measure] Install a diode parallel with the coil. Use a DC
relay with a built-in diode.
4. Heat Radiation and Installation
Design and Build the system considering the size of the controller box, location of the controller and
cooling factors to keep the ambient temperature around the controller below 40°C.
SCON-C/CA
10mm or more
50mm
or more
50mm
or more
50mm
or more
50mm
or more
50mm
or more
50mm
or more
100mm
or more
30mm
or more
10mm
or more
100mm
or more
150mm
or more
Air Flow
Air Flow
Fan
Brake Box
Regenerative
Resistor Unit
SCON-CAL/CGAL
Connection Diagram
●Standard
For EtherCAT®
Host Master (PLC)
Ethernet Straight Cable
(Note 1)
(general-purpose cable, Category 5e or more)
Status Display LED
Mode Changeover
Switch
Brake Release
Switch
PC Software
(Option)
Touch Panel Teaching
(Option)
Power Supply Terminal
(Note 2)
[Connect the cables referring
the section for the power supply
and emergency stop circuit.]
Actuator Actuator
I/O Slave etc.
Status LED
(Note 1) STP (with shield) is recommended for Ethernet cable.
(Note 2) It is necessary to prepare a power supply cable and the cables for the emergency stop circuit wiring
as well as this cable. [Refer to power supply and emergency stop circuit.]
For EtherNet/IP and PROFINET-IO
PLC (Master Unit)
Status Display LED
Status LED
I/O Slave etc.
Ethernet Straight Cable
(Note 1)
(general-purpose cable, Category 5e or more)
Hub
Ethernet Straight Cable
(Note 1)
(general-purpose cable, Category 5e or more)
PC Software
(Option)
Actuator Actuator
Mode
Changeover
Switch
Brake Release
Switch
Power Supply Terminal
(Note 2)
[Connect the cables referring
the section for the power supply
and emergency stop circuit.]
Touch Panel Teaching
(Option)
(Note 1) STP (with shield) is recommended for Ethernet cable.
(Note 2) It is necessary to prepare a power supply cable and the cables for the emergency stop circuit wiring
as well as this cable. [Refer to power supply and emergency stop circuit.]
●For Models Equipped with brake Except for RCS2-RA13R and NS Actuators
●RSC2-RA13R Equipped with Brake, with no Loadcell, or NS Actuators with Brake
A
ttached to RCS2-RA13R
Loadcell
24V DC
Power Supply for Brake
Absolute Battery
(for Absolute Type)
Actuator
The following models are excluded:
•RCS2-RA13R with brake or loadcell equipped
•NS Actuators with brake equipped
24V DC
Power Supply for Brake
For LS (option)
Brake Box
CB-RCS2-PLA010
(enclosed to Brake Box)
For LS (option)
• NS Actuators (with Brake㧕
•RCS2-RA13R (with Brake㧕
Connect to back side
Absolute Battery
(for Absolute Type)
94
70
12
55 152
162
142
4-φ5
LS Input Connector
Encoder Input Connector
Encoder Output Connector
Primary
Shaft
min100
12
Connector 1 for
External Brake Release
Switch Connection
(for the primary shaft)
Power Supply
Input Connector
POWER ON LED
(turns in green while ON)
Connector 2 for
External Brake Release
Switch Connection
(for the secondary shaft)
Secondary
Shaft
Surge Absorber
Relay
Coil
Relay Coil
R
C
+24V 0V
+24V 0V
+-
Earth Terminal
Connect using FG connection
terminal on the main unit.
Copper wire:
Connect a ground wire with
a diameter of 1.6mm or larger.
Controller
Class D grounding
(Formerly Class-III grounding :
Grounding resistance at 100
Ω or less)
Do not share the ground wire with or connect
to other equipment. Ground each controller.
Controller Other
equipment
Controller Other
equipment
Other
equipment
Screw
Attachment
Type
RESU-1
RESU-2
DIN rail
Attachment
Type
RESUD-1
RESUD-2
50mm
or more
10mm
or more 10mm or more 10mm or more 1mm or more 1mm or more
50mm
or more
150mm
or more
Air Flow

●RCS2-RA13R Equipped with no Brake, with Loadcell in SCON-CA
●RCS2-RA13R Equipped with Brake and Loadcell in SCON-CA
Power Supply and Emergency Stop Circuit
●Wiring for Power Supply (to be prepared by customer)
NF
*3
SK
*2
+24V
0V
L1
L2
L1C
L2C
NC
PE
BK+
PWR-
100V AC
or
200V AC
(Refer to Controller
Power Voltage Specifications)
Circuit
Breaker
Ground Fault
Circuit
Interrupter
CLF
*1
Class D grounding
(Formerly Class-III grounding)
24V DC
Power
Supply
SCON
AC Power Supply
Input Connector
B. Motor Power Unit
A. Control power supply
Brake Power Supply
Input Connector
Brake
Release Box
Power consumption of SCON varies depending on the connected actuator, etc. Select the circuit breaker that suits to the
specification.
[Refer to Basic Specifications]
A ground fault circuit interrupter needs to be selected carefully considering the purposes of prevention of fire and protection
of human.
Have a measurement of the leak current where a ground fault circuit interrupter is to be installed.
Use the “harmonic type” for the ground fault circuit interrupter.
*1 CLF : Clamp Filter … It is recommended to attach it to improve noise immunity.
*2 SK : Surge Killer … It is recommended to attach it to improve noise immunity.
*3 NF : Noise Filter … Make sure to install it. It is recommended to have it installed within 0.3m of the cable length from
SCON.
Parts Name Maker Model
CLF Clamp Filter TDK ZCAT3035-1330
SK Surge Protector Okaya ELECTRIC CO.,LTD R·A·V-781BWZ-2A
COSEL NAC-10-472
SOSHIN ELECTRIC CO.,LTD NF2010-UP
NF Noise Filter
DENSEI-LAMBDA MC1210
●Wiring for Emergency Stop Input
The following diagram shows an example of how the emergency stop switch for the teaching pendant may be
included in the emergency stop circuit you may construct.
Note 1 When the teaching pendant is not connected, S1 and S2 become short-circuited inside the controller.
Note 2 Connect a contactor to L1 and L2 terminals for external power cutoff by the emergency stop if the motor power is
required to be cut off externally to comply with the Safety Categories.
Note 3 The rating for the emergency stop signal to turn ON/OFF at contact CR1 is 24V DC and 10mA.
Note 4 For CR1, select the one with coil current 0.1A or less.
Operation Modes and Functions (in common for each Fieldbus)
SCON-CA Type is available for all the operation modes in the next table.
SCON-CAL/CGAL Type is available for the operations in the modes except for those in the shaded area in
the next table.
(1) Remote I/O Mode : This is the mode to perform operation by PIO (24V I/O) with Fieldbus.
(2) Position / : This is the mode to perform operation by indicating the target position by inputting the value directly.
Simple Direct Mode The values of the position data already registered for the speed, acceleration/deceleration and
positioning band are to be used in this mode.
(3) Half Direct Mode : This is the operation mode to indicate the speed, acceleration/deceleration and pressing
current, as well as the target position, by inputting the values directly.
(4) Full Direct Mode : This is the operation mode to indicate all related to the position control by inputting the values directly.
(5) Remote I/O Mode 2 : This is the mode that the function to read the current position and the current speed is added to Remote I/O.
(6) Position / : This is the mode corresponding to the force control function instead of the teaching and zone
Simple Direct Mode 2 functions in (2).
(7) Half Direct Mode 2 : This is the mode that enables to read the loadcell data instead of reading the command current value in (3).
(8) Remote I/O Mode 3 : This is the mode that the function to read the current position and loadcell data is added to (1) functions.
(9) Half Direct Mode 3 : This is the mode that equips the vibration control function instead of the jog function in (3).
Operation Modes and Main Functions
Corresponding
Type
All the
Types CA/CAL/CGAL Type
Dedicated for CA Type
CA/CAL/
CGAL Type
Main Functions
Remote I/O
Mode
Position /
Simple Direct
Mode
Half Direct
Mode
Full Direct
Mode
Remote I/O
Mode 2
Position /
Simple Direct
Mode 2
Half Direct
Mode 2
Remote I/O
Mode 3
Half Direct
Mode 3
Occupied Bytes 2 8 16 32 12 8 16 12 16
Position No.
Designated
Operation
○ ○× × ○○× ○×
Position Data
Designated
Operation
× ○(Note 1) ○○× ○(Note 1) ○× ○
Speed, Acceleration
and Deceleration
Direct Designation
× × ○○× × ○× ○
Pressing
Operation ○○○○○○○○○
Current Position
Reading
× ○○○○○○○○
Current Speed
Reading × × ○○× × ○× ○
Completed Position
No. Reading ○○× × ○○× ○×
Max. Number of
Position Tables 512 768 Not Applicable
Not
Applicable 512 768 Not Applicable 512 Not Applicable
Force Control
(Specified only
for SCON-CA)
△(Note 2) × × ○△(Note 2) ○○△(Note 2) ×
Vibration Control ○ ○× ○○○× ○○
Servo Gain
Changeover ○○○○○○× ○○
(Note 1) Operation is to be performed with designating the position No. for the position data except for Position Data.
(Note 2) It is available when the PIO pattern is set on either 6 or 7. However, SCON-CAL/CGAL is not applicable for PIO
Patterns 6 and 7.
EtherCAT®
●Specification
Item Specification
Communication protocol IEC61158Type12
Physical layer 100BASE-TX (IEEE802.3)
Communication speed Automatically follows the Master
Communication cable
length
Depends on EtherCAT® Specification (Distance between each node: 100m
max.)
Slave type I/O slave
Applicable node address 0 to 127
(17 to 80 : When connected to the master (CJ1W-NC*82) manufactured by
OMRON)
Communication cable Category 5e or more
(Double shielded cable braided with aluminum foil recommended)
Connector RJ45 Connector ×2pcs (Input ×1, Output ×1)
Connection Daisy chain only
●Interface Section
●Status LED Displays of EtherCAT® Type
Name Indication Color Description
OFF Initial condition (EtherCAT® communication in “INIT”
condition) or the power is OFF
GN (Illuminating) In normal operation (EtherCAT® communication in
“OPERATION” condition)
GN (Flashing)
(ON:200ms/OFF:200ms) (EtherCAT® communication in “PRE-OPERATION” condition)
GN (Flashing)
(ON:200ms/OFF:1000ms)
(EtherCAT® communication in “SAFE-OPERATION” condition)
RUN
OR (Illuminating) Communication component (module) error
OFF No abnormality or the power is OFF
OR (Flashing)
(ON:200ms/OFF:200ms)
Construction information (settings) error
(Information received from the master cannot be set)
OR (Flashing)
(ON:200ms ×2 times
/OFF:1000ms)
Communication section circuit error
(Watchdog timer timeout)
ERR
OR (Illuminating) Communication component (module) error
OFF Link status not detected or the power is OFF
GN (Illuminating) Linked (No network congestion)
Link/
Activity GN (Flashing)
(ON:50ms/OFF:50ms) Linked (Network in congestion)
●EtherCAT® Connector
Pin No. Signal Name Abbreviated Code
1 Data sending +TD+
2 Data sending −TD−
3 Data receiving +RD+
4 Not used
5 Not used
6 Data receiving −RD−
7 Not used
8 Not used
Connector Hood Security grounding FG
●Operation Mode Setting and Address Allocation
The operation mode is set using the parameters.
Set the mode change switch on the controller front panel to “MANU” side and set the parameter No. 84
“FMOD: Field Bus Operation Mode” using the teaching tool such as PC software for RC.
[Refer to the Instruction Manual for the details]
●Node address setting
The node address is set using specific parameters.
Set the parameter No. 85 “NADR: Field Bus Node Address”using the teaching tool such as PC software
for RC.
Settable Range : 0 to 127 (It is set to 17 which is the I/O slave top address of EtherCAT® at the delivery.)
●Communication Speed Setting
It is not necessary to do any settings because it automatically follows the communication settings applied
to the master for the communication frequency.
(Note) After parameter setting, reset the controller mode change witch to “AUTO” side, and then cycle the
controller power.
CB-RCS2-PLLA
RCS2-RA13R
(with Loadcel)
Absolute Battery
(for Absolute Type)
Status LED (RUN/ERR)
EtherCAT® Output Port
Link/Activity LED (Output)
EtherCAT® Input Port
Link/Activity LED (Input)
CB-LDC-CTL□□□-JY
CB-RCS2-PLLA
RCS2-RA13R
(with Loadcell and Brake)
CB-RCS2-PLA (enclosed to Brake Box)
24V DC
Brake Box
RCB-110-RA13-0
Connect to back side
Absolute Battery
(for Absolute Type)
Power Supply for Brake
1
8
RJ45 8-pin
Modular Connector
(Controller Side)
24V
Emergency stop
reset switch
Emergency stop
switch
Emergency stop switch
for the teaching pendant
(Note 1)
SCON
First unit
SCON
Second
unit
SCON
Nth unit
S1 S2 S1 S2 S1 S2 CR1
(Note 1)
0V
MC1
CR1
CR1
CR1
(Note 1)
MC1
(Note 2)
AC100V
AC200V
SCON-CA/CAL
SCON-CGAL
EMG+
EMG-
L1
L2
L1C
L2C
24V
Motor power cutoff relay
Motor
power supply
Control
power supply
CR1
(Note 1)
MC1
(Note 2)
AC100V
AC200V
EMG+
EMG-
L1
L2
L1C
L2C
SCON-CA/CAL
Second unit
EMG-
EMG+
CR1
(Note 1)
24V
MC1
(Note 2)
AC100V
AC200V L1
L2
L1C
L2C
Motor
power supply
Control
power supply

EtherNet/IP
●Specification
Item Specification
Communication protocol IEC61158 (IEEE802.3)
Communication speed 10BASE-T/100BASE-T (Autonegotiation setting is recommended)
Communication cable length Depends on EtherNet/IP Specification
(Distance between hub and each node : 100m or less)
Number of connection Depends on the master unit
Applicable node address 0.0.0.0 to 255.255.255.255
Communication cable Category 5 or more
(Double shielded cable braided with aluminum foil recommended)
Connector RJ45 Connector ×1pc
●Interface Section
●Status LED Displays of EtherNet/IP Type
Name Indication Color Description
OFF Power is OFF or IP addresses are not set
GN (Illuminating) Connection is established and the communication under normal condition.
GN (Flashing) Online but network connection is not yet established. Communication Stop
(Network is normal). Check the conditions of master unit.
RD (Illuminating)
Communication Error.
Communication cannot be
established due to the error detection
such as IP address duplication.
NS
RD (Flashing) Communication Error.
(Communication Time-out Detection)
Check the conditions of IP
address settings, communication
line, the power of hub units, noise
prevention, etc.
OFF Power OFF
GN (Illuminating) The machine is in the normal operation.
The machine is under the control of the scanner (master)
GN (Flashing)
The connection with the scanner (master) is not established.
Check the construction information settings.
Check if the scanner (master) is in the idle condition.
RD (Illuminating) Hardware Error.
The replacement of the board is required. Please contact us.
MS
RD (Flashing) There is an error occurred but is not critical such like a user setting error or
configuration error. It can be recovered with a rebuild of the settings.
●EherNet/IP Connector
Pin No. Signal Name Abbreviated Code
1 Data sending +TD+
2 Data sending −TD−
3 Data receiving +RD+
4 Not used
5 Not used
6 Data receiving −RD−
7 Not used
8 Not used
Connector Hood Security grounding FG
●Operation Mode Setting and Address Allocation
The operation mode is set using the parameters.
Set the mode change switch on the controller front panel to “MANU” side and set the parameter No. 84
“FMOD: Field Bus Operation Mode” using the teaching tool such as PC software for RC.
[Refer to the Instruction Manual for the details]
●Communication Speed Setting
The Communication speed can be set with the parameter. A special setting is not necessary since it is set
to automatic negotiation when the product is delivered. However, when a fixed speed is required, change
the setting to the desired speed in the parameter No. 86 “FBRS: Fieldbus Communication Speed” using
the teaching tool such as PC software for RC.
[Refer to the Instruction Manual for the details]
●IP Address Setting
IP Address can be set with the parameter.
Set the parameter No. 140 “IPAD: IP Address” using the teaching tool such as PC software for RC.
Settable Range : 0.0.0.0 to 255.255.255.255 (It is set to “192.168.0.1” when the machine is delivered
from the factory.)
●Settings for Subnet Mask
Subnet Mask can be set with the parameter.
Set the parameter No. 141 “SNMK: Subnet Mask” using the teaching tool such as PC software for RC.
Settable Range : 0.0.0.0 to 255.255.255.255 (It is set to “255.255.255.0” when the machine is delivered
from the factory.)
●Settings for Default Gateway
Default Gateway can be set with the parameter.
Set the parameter No. 142 “DFGW: Default Gateway” using the teaching tool such as PC software for RC.
Settable Range : 0.0.0.0 to 255.255.255.255 (It is set to “0.0.0.0” when the machine is delivered from the factory.)
PROFINET IO
●Specification
Item Specification
Communication protocol IEC61158 (IEEE802.3), IEC61748
Communication speed 100Mbps
Communication cable length Distance between each segment: 100m Max.
Number of connection Depends on the master unit
Applicable node address 0.0.0.0 to 255.255.255.255
Communication cable Category 5 or more
(Double shielded cable braided with aluminum foil recommended)
Connector RJ45 Connector ×1pc
GSDML file version Ver 2.3
●Interface Section
SCON-CA SCON-CAL/CGAL
●Status LED Displays of PROFINET IO Type
Name Indication Color Description
OFF Power is OFF, or there is no connectable controller.
GN
(Illuminating)
Connection has been established and proper communication is in
progress. (in RUN condition) Check the condition of the master unit.
NS
GN (Flashing)
Connection is established but communication is paused (in STOP
condition: network in normal condition). Check the condition of the master
unit.
OFF The power is turned OFF.
GN
(Illuminating) Operation is normal.
GN (Flashing) Communication under diagnosis
OR
(Illuminating)
A hardware error is present. (in EXCEPTION condition)
The board must be replaced. Please contact IAI.
OR (Flashing 1) There is an error in communication setting.
OR (Flashing 2) There is an error in IP address setting.
OR (Flashing 3) A wrong station name has been applied.
MS
OR (Flashing 4) A hardware error is present. (Critical internal error)
The board must be replaced. Please contact IAI.
OFF No link or activity
GN
(Illuminating) Link established
Link/Activity
(There is
limitation in
applicable
models) GN (Flashing) In activity (communication)
Orange (Flashing 1): Repeating of off for 0.75s and on for 0.25s
Orange (Flashing 2): Repeating two times of pattern of off for 0.75s and on for 0.5s
Orange (Flashing 3): Repeating three times of pattern of off for 0.75s and on for 0.5s
Orange (Flashing 4): Repeating four times of pattern of off for 0.75s and on for 0.5s
●EherNet/IP Connector
Pin No. Signal Name Abbreviated Code
1 Data sending +TD+
2 Data sending −TD−
3 Data receiving +RD+
4 Not used
5 Not used
6 Data receiving −RD−
7 Not used
8 Not used
Connector Hood Security grounding FG
●Operation Mode Setting and Address Allocation
The operation mode is set using the parameters.
Set the mode change switch on the controller front panel to “MANU” side and set the parameter No. 84
“FMOD: Field Bus Operation Mode” using the teaching tool such as PC software for RC.
[Refer to the Instruction Manual for the details]
●Communication Speed Setting
It is not necessary to establish setting. It is fixed at 100Mbps.
●Node address setting
It is not necessary to establish setting on the IAI controller side as it should be established on the master side.
[Refer to the instruction manual of the host unit that the master unit is mounted in.]
(Note) After parameter setting, reset the controller mode change witch to “AUTO” side, and then cycle the
controller power.
Starting Procedures
When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to
the procedure below
In this section, explains how to start up SCON complied with EtherCAT®, EtherNet/IP and PROFINET IO
(described as the “controller” in the following diagram). Refer to each Instruction Manual for the installation
and wiring of the equipment, controller, actuator and all other devices that are connected to the network.
Trouble Shooting
In the case an error is occurred, check the operation status on the LED display on the front panel [Refer to
Each Fieldbus Section], and also, check the status monitor by connecting a teaching tool such as PC
software for RC.
Either of the following alarms will be shown for Fieldbus. Please refer to the Instruction Manual of the
controller for other alarms to perform an appropriate treatment.
Code Error Name ID
(*1)
RES
(*2) Cause / Treatment
0F2 Fieldbus
Module Error 05 ×
Cause : An error is detected on Fieldbus module
Treatment : Check on the parameter
0F3 Fieldbus Module
Not Detected 04 ×
Cause : Module cannot be detected
Treatment : Turn the power off and reboot. Please contact us
if the problem is not solved with this action.
(*1) ID →Simple alarm code
(*2) RES →Alarm reset available/unavailable ○: Alarm reset available / ×: Alarm reset unavailable
1
8
RJ45 8-pin
Modular Connector
(Controller Side)
Check of Packed Items
Are there all the delivered items?
Installation and Wiring
Follow Instruction Manual and this manual to
install the controller and connect to the network.
Also, perform the wirings of the motor and encoder
cables for the power supply unit and the actuators
following the Instruction Manual of each controller.
To turn ON the controller
1) Set the mode switch on the front panel to MANU side.
2) Set the brake release switch on the front panel to NOM side.
3) Connect a teaching tool such as the PC software.
4) Turn the power ON and start up the teaching tool with
“Teaching Mode Safety Speed Valid” setting.
Controller Initial Settings
Refer to each fieldbus section to perform the necessary parameter settings of the modes, addresses, etc.
• Set Parameter No. 35 Safety Speed if necessary. (Initial Value: 100mm/s)
Servo ON
Turn the servo ON by operating the controller.
Contact us or our distributor.
Point Check Item
• Is frame ground (FG) connected?
• Has the noise countermeasure been taken?
Important Check Item
Is the status display LED (ALM)
on the front panel turned off?
Check the detail of the alarm on
the teaching tool and have an
appropriate treatment.
Yes↓
No↓
→
→
No→
↓Yes
←Yes
↓
↓
Note (In the case that the actuator is in vertical mount)
When the machine is turned ON/OFF repeatedly at the same
position, it might be lowered slightly due to its own weight.
Take care not to catch your hand or damage the work.
Check of Safety Circuit
Check that the emergency stop circuit (or motor drive-power cutoff
circuit) operates normally to turn OFF the servo.
Important Check Item
Is the status display LED (SV)
turned on in green?
If an alarm is generated (status display
LED (ALM) is on in red), check the detail
of the alarm on the teaching tool and
have an appropriate treatment.
Settings on Host System
Refer to PLC Instruction Manual to perform the communication settings and so on.
Refer to the Instruction Manual
for each unit, controller and PLC
to check each setting.
No↓
Yes↓
↓Yes
↓
↓
→
No→
Communication is now established. Perform an operation check and adjustment for the system.
Confirming Communication Establishment
• Confirm the communication is established on the status LED (RUN)
on the front panel. [Refer to the troubleshooting]
• Is the LED status in normal condition? Is PLC (master unit) side also
in normal condition?
(Note) Refer to PLC and master unit Instruction Manuals for how to check
the master unit side.
1
8
RJ45 8-pin
Modular Connector
(Controller Side)
Status LED
NS LED
MS LED
EtherNet/IP Port
(Note) After parameter setting, reset the controller mode change witch to “AUTO” side, and then cycle
the controller power.
EtherNet/IP
Communication Port
Monitoring LED
EtherNet/IP
Communication Port
Monitoring LED

Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL [phone] FAX [phone]
website: www.iai-robot.co.jp/
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL [phone] FAX [phone]
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL [phone] FAX [phone]
website: www.iai-robot.com
Technical Support available in USA, Europe and China
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL [phone] FAX [phone]
Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143
TEL [phone] FAX [phone]
TEL [phone] FAX [phone]
website: www.intelligentactuator.com
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand
TEL [phone] FAX [phone]
Manual No.: ME0277-5A