IAI SCON-CA User manual

SCON-CA/CAL/CGAL
Instruction Manual Eighth Edition
Controller

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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.
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Contents
Safety Guide ··································································································1
Difference between SCON-CA and SCON-CAL/CGAL············································8
Precautions in Operation ··················································································9
International Standards Compliances ································································ 13
Name for Each Parts and Their Functions ·························································· 14
Actuator Axes······························································································· 19
Starting Procedures······················································································· 21
Chapter 1 Specifications Check········································································ 23
1.1 Product Check······························································································ 23
1.1.1 Parts ···································································································· 23
1.1.2 Teaching Tool························································································· 23
1.1.3 Instruction Manuals Related to this Product, which are Contained in the
Instruction Manual (DVD).········································································· 24
1.1.4 How to Read the Model Plate ···································································· 24
1.1.5 How to Read the Model of the Controller······················································ 25
1.2 Basic Specifications ······················································································· 26
1.2.1 Specifications························································································· 26
1.2.2 Power Capacity and Heat Generation·························································· 28
1.2.3 Selection of Circuit Interrupter···································································· 28
1.2.4 Selection of Leak Current Breaker ······························································ 29
1.3 Appearance ································································································· 30
1.3.1 SCONCA Less than 400W······································································ 30
1.3.2 SCON-CA 400W or More ······································································· 30
1.3.3 SCON-CAL/CGAL··················································································· 31
1.4 I/O Specifications ·························································································· 32
1.4.1 PIO Input and Output Interface ·································································· 32
1.4.2 Pulse Train Input Output Interface (Dedicated for SCON-CA) ··························· 33
1.5 Options ······································································································· 33
1.5.1 Pulse Converter : AK-04 (Dedicated for SCON-CA) ········································ 33
1.5.2 Pulse Converter : JM-08 (Dedicated for SCON-CA)········································ 34
1.5.3 Regenerative Unit (Option) ······································································· 35
1.5.4 Brake Box: RCB-110-RA13-0 (Option)························································· 36
1.5.5 Loadcell (Dedicated for SCON-CA Option) ··············································· 37
1.6 Installation and Storage Environment································································· 38
1.7 Noise Elimination and Mounting Method····························································· 39
Chapter 2 Wiring··························································································· 43
2.1 Positioner Mode (PIO Control) ········································································· 43
2.1.1 Wiring Diagram (Connection of Construction Devices) ···································· 43
2.1.1.1 SCON-CA························································································ 43
2.1.1.2 SCON-CAL/CGAL ············································································· 45
2.1.2 PIO Pattern Selection and PIO Signal ························································· 46
2.1.3 Circuit Diagram ······················································································ 52
[1] Main Power Circuit ················································································· 52
[2] Brake Power Supply Circuit ······································································ 52
[3] Emergency Stop Circuit ··········································································· 53
[4] Motor • Encoder Circuit············································································ 55
[5] PIO Circuit ···························································································· 58
[6] Regenerative Units Circuit········································································ 66

2.2 Pulse Train Control Mode (SCON-CA Type) ························································ 67
2.2.1 Wiring Diagram (Connection of Construction Devices) ···································· 67
2.2.2 I/O Signals in Pulse Train Control Mode······················································· 69
2.2.3 Circuit Diagram ······················································································ 70
[1] Main Power Circuit ················································································· 70
[2] Brake Power Supply Circuit ······································································ 70
[3] Emergency Stop Circuit ··········································································· 71
[4] Motor • Encoder Circuit············································································ 72
[5] PIO Circuit ···························································································· 73
[6] Circuits for Pulse Train Control ·································································· 74
[7] Regenerative Units Circuit········································································ 75
2.3 Wiring Method ······························································································ 76
2.3.1 Wiring of Power Circuit············································································· 76
2.3.2 Wiring for Emergency Stop Circuit (System I/O)············································· 78
2.3.3 Connection to Actuator············································································· 79
2.3.4 Connection of PIO··················································································· 82
2.3.5 Connection of Pulse Train Signal (Dedicated for SCON-CA)····························· 83
2.3.6 Connectable Regenerative Units ································································ 86
2.3.7 SIO Connector Connection ······································································· 88
Chapter 3 Operation ······················································································ 89
3.1 Basic Operation ···························································································· 89
3.1.1 Basic Operation Methods ········································································· 89
3.1.2 Parameter Settings ················································································· 90
3.2 Operation in Positioner Mode··········································································· 91
[1] PIO Pattern Selection and Main Functions ·······················································92
[2] Overview of major Functions ·········································································93
[3] Operation modes of rotary actuator in multiple rotation mode and command
limitations ·································································································93
3.2.1 Set of Position Table (This section is not required in selection of pulse train
control mode.)························································································ 94
3.2.2 Control of Input Signal ············································································ 100
3.2.3 Operation Ready and Auxiliary Signals = Common to Patterns 0 to 7 ················100
[1] Emergency stop status (EMGS)································································100
[2] Operation Mode (RMOD, RMDS)······························································ 101
[3] Servo ON (SON, SV, PEND)····································································102
[4] Home Return (HOME, HEND, PEND, MOVE) ············································· 103
[5] Zone Signal and Position Zone Signal (ZONE1, PZONE)·······························106
[6] Alarm, Alarm Reset (*ALM, RES)······························································108
[7] Binary Output of Alarm Data Output (*ALM, PM1 to 8) ···································109
[8] Brake release (BKRL) ············································································ 111
[9] Battery Alarm (*BALM) ··········································································· 111
3.2.4 Operation with the Position No. Input = Operations of PIO Patterns 0 to 3 and 6 ···· 112
[1] Positioning [Basic] (PC1 to PC**, CSTR, PM1 to PM**, PEND, MOVE, LOAD,
TRQS) ································································································ 112
[2] Speed change during the movement ························································· 117
[3] Pitch Feeding (relative movement = incremental feed)··································· 118
[4] Pressing operation ················································································120
[5] Tension Operation ·················································································126
[6] Multi-step pressing ················································································ 128
[7] Teaching by PIO (MODE, MODES, PWRT, WEND, JISL, JOG+, JOG-)·············129
[8] Pause and Operation Interruption (*STP, RES, PEND, MOVE)························131

3.2.5 Direct Position Specification (Solenoid Valve Mode 1) = Operation of PIO Pattern
4 or 7 ··································································································133
[1] Positioning [Basic] (ST1 to ST6, PE1 to PE6, PEND) ····································133
[2] Pitch Feeding (relative movement = incremental feed)··································· 135
[3] Pressing operation ················································································137
[4] Tension Operation ·················································································142
[5] Multi-step pressing ················································································ 144
[6] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND)·····················145
3.2.6 Direct Position Specification (Solenoid Valve Mode 2) = Operation of PIO
Pattern 5······························································································ 147
[1] Home return (ST0, HEND) ······································································147
[2] Features of LS signals (LS0 to 2)······························································ 150
[3] Positioning [Basic] (ST0 to ST2, LS0 to LS1)··············································· 151
[4] Speed change during the movement ·························································153
[5] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND)·····················155
3.2.7 Operation Ready for Pressing Operation Using Force Sensor
(Calibration of Loadcell) (Dedicated for SCON-CA) ·······································156
[1] Initial Setting ························································································157
[2] Calibration of Loadcell (CLBR, CEND) ·······················································158
3.3 Operation in Pulse Train Control Mode (Dedicated for SCON-CA)···························160
3.3.1 I/O Signal Controls ················································································· 161
3.3.2 Operation Ready and Auxiliary Signals ·······················································162
[1] System Ready (PWR) ············································································162
[2] Emergency stop status (*EMGS) ······························································ 162
[3] Operation Mode (RMOD, RMDS)······························································ 163
[4] Compulsory Stop (CSTP) ········································································ 164
[5] Servo ON (SON, SV) ·············································································164
[6] Home Return (HOME, HEND)··································································165
[7] Zone (ZONE1, ZONE2) ··········································································168
[8] Alarm, Alarm Reset (*ALM, RES)······························································169
[9] Binary Output of Alarm Data Output (*ALM, ALM1 to 8) ································· 169
[10] Brake Forcible Release (BKRL)································································ 171
[11] Overload Alarm/Light Error Alarm (*OVLW/*ALML) ·······································171
3.3.3 Pulse Train Input Operation······································································172
[1] Command Pulse Input (PP•/PP, NP•/NP)····················································172
[2] Position complete (INP) ··········································································173
[3] Torque Limit Select (TL, TLR) ··································································174
[4] Deviation Counter Clear (DCLR)·······························································174
[5] Feedback Pulse Output (AFB•/AFB, BFB•/BFB, ZFB•/ZFB) ····························175
3.3.4 Settings of Basic Parameters Required for Operation ····································176
[1] Electrical Gear Setting············································································176
[2] Format Settings of Command Pulse Train···················································178
3.3.5 Output Settings of Feedback Pulse···························································· 179
[1] Setting Feedback Pulse Output Effective ···················································· 179
[2] Format Settings for Feedback Pulse··························································180
[3] Electric Gear Settings for Feedback Pulse ··················································181
3.3.6 Parameter Settings Required for Advanced Operations ·································· 183
[1] Position command primary filter time constant ·············································183
[2] Torque Limit ························································································· 183
[3] Clearing deviation during servo OFF or alarm stop ·······································183
[4] Error monitor during torque limiting ··························································· 184
[5] Deviation Counter Clear Input ·································································· 184
[6] Torque limit command input ····································································· 184
[7] Pulse count direction··············································································184
[8] Compulsory Stop Input ··········································································· 184

Chapter 4 Field Network ··············································································· 185
Chapter 5 Vibration Suppress Control Function ················································· 187
5.1 Setting Procedure ························································································189
5.2 Settings of Parameters for Vibration Suppress Control ·········································190
[1] Damping Characteristic Coefficient 1,2 (Parameter No.97, 98, 101, 102, 105, and
106) Do Not Change.·················································································190
[2] Natural Frequency [1/1000Hz] (Parameter No.99, 103 and 107) ·························190
[3] Notch Filter Gain (Parameter No.100, 104 and 108) ········································· 190
[4] Default Vibration Suppress No. (Parameter No.109)·········································191
[5] Stop method at Servo OFF (Parameter No.110) ··············································191
5.3 Setting of Position Data ·················································································191
Chapter 6 Power-saving Function (Auto Servo-motor OFF Function) ····················· 193
Chapter 7 Absolute Reset and Absolute Battery ················································ 195
7.1 Absolute Reset ····························································································195
[1] Absolute Reset Procedure from Teaching Tool ················································195
[2] Absolute Reset Using PIO ··········································································198
7.2 Absolute Battery ··························································································199
7.2.1 Absolute Encoder Backup Specifications······················································ 199
7.2.2 Replacement of Absolute Battery ·······························································201
Chapter 8 I/O Parameter ·············································································· 203
8.1 I/O Parameter List ························································································ 204
8.2 Detail Explanation of Parameters·····································································209
8.3 Servo Adjustment ·························································································244
Chapter 9 Troubleshooting ············································································ 247
9.1 Action to Be Taken upon Occurrence of Problem················································· 247
9.1.1 WRG LED (Specified only for SCON-CA/CGAL) ···········································248
9.2 Fault Diagnosis····························································································249
9.2.1 Impossible Operation of Controller·····························································249
9.2.2 Positioning and Speed of Poor Precision (Incorrect Operation) ························252
9.2.3 Generation of Noise and/or Vibration··························································254
9.2.4 Impossible Communication ······································································ 255
9.3 Alarm Level ································································································256
9.4 Alarm List ···································································································257
Chapter 10 Appendix··············································································· 271
10.1 Conformity to Safety Category ········································································271
[1] System Configuration ················································································271
[2] Wiring and Setting of Safety Circuit·······························································272
[3] Examples of Safety Circuits ········································································274
[4] TP Adapter and Related Components ···························································280
10.2 Way to Set Multiple Controllers with 1 Teaching Tool ············································283
10.2.1 Connecting Example ··············································································283
10.2.2 Detailed Connection Diagram of Communication Lines ·································· 284
10.2.3 Axis No. Setting····················································································· 285
[1] SCON-CA····························································································285
[2] SCON-CAL/CGAL ·················································································285
10.2.4 Handling of e-CON Connector (How to Connect) ··········································286
10.2.5 SIO Converter······················································································· 287
10.2.6 Communications Cable ··········································································· 289
10.2.7 External Dimension ················································································289
10.3 Maintenance ·······························································································290
10.3.1 Consumed Parts···················································································· 290
10.3.2 Maintenance Information ·········································································290
10.3.3 Replacement of Fan Unit (Specified only for SCON-CAL/CGAL) ······················291

10.4 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) ································· 292
10.4.1 I/O Assignment······················································································292
10.4.2 Ladder Sequence ··················································································293
[1] Servo ON (Emergency Stop) Circuit······························································293
[2] Operation and Stop Circuit·········································································· 293
[3] Pause Circuit ··························································································· 294
[4] Reset Circuit···························································································· 295
[5] Home Return Circuit·················································································· 296
[6] Decode Circuit of Positioning Complete Position No. ········································ 297
[7] Actuator Start Circuit ·················································································297
[8] Position 1 Operation Circuit ········································································298
[9] Position 2 Operation Circuit ········································································299
[10] Position 3 Operation Circuit ········································································300
[11] Commanded Position No. Output Ready Circuit ··············································301
[12] Commanded Position No. Output Circuit························································302
[13] Start Signal Output Circuit ··········································································302
[14] Other Display Circuits (Zone 1, Position Zone, and Manual Mode) ······················303
10.5 List of Specifications of Connectable Actuators ···················································304
10.5.1 List of Specifications for Actuator Operation Conditions ··································304
10.5.2 Specifications and Limitations in Pressing Operation of RCS2-RA13R
(Dedicated for SCON-CA)········································································348
[1] Pressing Force and Current-Limiting Value ·················································348
[2] Limitation in Operation············································································349
Chapter 11 Warranty ··············································································· 355
11.1 Warranty Period···························································································355
11.2 Scope of the Warranty··················································································· 355
11.3 Honoring the Warranty ·················································································· 355
11.4 Limited Liability ···························································································· 355
11.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and
Applications ································································································356
11.6 Other Items Excluded from Warranty ································································356
Change History··························································································· 357

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 100Ωor 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
Difference between SCON-CA and SCON-CAL/CGAL
Shown in the table below is the list of differences in the main features between SCON-CA Controller
and SCON-CAL/CGAL Controller. Places with bolded letters are the differences.
Comparison Table for Main Features of SCON-CA and SCON-CAL/CGAL
SCON-CA SCON-CAL/CGAL
Applicable Motor Rated Power 12W to 750W 12W to 200W
Corresponding Encoder
Absolute serial encoder
Incremental serial encoder
ABZ (UVW) parallel encoder
Absolute serial encoder
Incremental serial encoder
Serial Communication | |
Program × ×
Positioner | |
Operation
Mode
Pulse Train } ×
Complied Fieldbus
CC-Link
DeviceNet
PROFIBUS-DP
MECHATROLINK Ι/ΙΙ
CompoNet
EtherNet/IP
EtherCAT
MECHATROLINK ΙΙΙ
PROFINET IO
CC-Link
DeviceNet
PROFIBUS-DP
MECHATROLINK Ι/ΙΙ
CompoNet
EtherNet/IP
EtherCAT
PROFINET IO
Drive Cutoff Circuit
Standard type
(with built-in driving source
relay)
Standard type
(with built-in driving source
relay)
Global type
(with no driving source relay)
LED Status Display
PWR(Green): Normal controller
start
SV(Green): Servo ON
ALM(Orange): Alarm generated
EMG(Red): Emergency stop
PWR(Green): Normal controller
start
SV(Green): Servo ON
ALM(Orange): Alarm generated
EMG(Red): Emergency stop
WRG(Orange): Warning
generated
Servo Monitor } ×
Vibration Suppress Control Function | |
Vibration Suppress Control Function
Frequency Analysis } ×
Off Board Tuning } Δ (Servo motor analysis
unavailable)
Loadcell I/F, Force Control } ×
Axis Address Setting Rotary switch Parameter
Air Cooling System Natural air-cooling Forced air-cooling
Product Installation Screw attachment Screw attachment
DIN rail attachment
Note: Please note that the following models will not work with SCON-CAL/CGAL.
All models of Linear Servo Actuator, RCS2-RN5N/RP5N/GS5N/GD5N/SD5N/
TCA5N/TWA5N/TFA5N/SRA7BD/SRGS7BD/SRGD7BD, NS-SXM□/SZM□
(in Incremental Type only for both)

9
Precautions in Operation
1. Use the following teaching tools.
Use the PC software and the teaching pendant stated in the next clause as the applicable for
this controller.
[Refer to 1.1.2 Teaching Tool.]
2. 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 external memory or hard disk with using the PC software
(2) Hard-copy the information of position tables and parameters on paper
3. Set the operation patterns.
SCON-CA controller is capable for 9 types of control logics (including 8 types of PIO patterns
and pulse train control) and SCON-CAL/CGAL Controller is capable for 6 types of PIO patterns
to meet various ways of usage and changes the role of each PIO signal following the selected
control logic.
The setup can be performed by using the operation mode change switch or parameter No.25
“PIO pattern selection” on the front panel.
[Refer to Chapter 3 Operation and Chapter 8 I/O Parameter.]
The PIO pattern is set to “0” (Standard Type) when the unit is delivered. Set the operation
pattern setting to the logic that suits to your use after the power is turned on.
4. Clock Setting in Calendar Function
There may be a case that Alarm Code 069 “Real Time Clock Vibration Stop Detect” is issued at
the first time to turn the power on after the product is delivered. 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
out, the battery is not fully charged. Therefore, there may be a case that the clock data is lost
even with fewer days than described above passed since the product is shipped out.
5. In pulse train control mode (dedicated for SCON-CA), actuator operation is
unavailable through serial communication.
In the pulse train control mode, the actuator operation is unavailable through serial
communication. (The field bus specification does not meet the pulse train control mode.)
However, it is possible to monitor the current status.
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
unex
p
ected.

10
6. Attempt not to exceed the actuator specifications in the pulse train control
mode (dedicated for SCON-CA).
In the pulse train control, the acceleration/deceleration speed is also controlled by the change
of the command pulse frequency from the host controller. The use of the actuator with
exceeding acceleration/deceleration speed may cause a malfunction.
7. Actuator would not operate without servo-on and pause signals.
(1) Servo ON Signal (SON)
Servo ON signal (SON) is selectable from “Enable” or “Disable” by using a parameter.
It is settable by parameter No.21 “selection of servo-on signal disable”.
[Refer to Chapter 8 I/O Parameter.]
If it is set to “Enable”, the actuator would not operate unless turning this signal on.
If parameter No.21 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.
[Refer to 3.2.3 [3] or 3.3.2 [5] Emergency Stop Circuit.]
This parameter is set to “0” (Enable) at delivery. Have the setting that suits to the desirable
control logic.
(2) Pause Signal (*STP)
The input signal of the pause signal (*STP) is always on considering the safety. Therefore,
in general, the actuator would not operate if this signal is not on.
It is available to make this signal to “Disable”, if this signal is undesirable.
It is settable by parameter No.15 “Pause input disable”.
[Refer to Chapter 8 I/O Parameter.]
If parameter No.15 is set to “1” (Disable), the actuator can operate even if this signal is not
on.
This parameter is set to “0” (Enable) at delivery.
8. 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.
9. For rotary actuator, note cable disconnections due to distortions.
Take particular note on actuators of 360-degree specification because they can be rotated
infinitely in a single direction.