SCON Position Controller pdf

SCON Position Controller pdf
Slider
Type
SCON
Controller
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Position Controller
For RCS2 Series
Controllers
Integrated
Table/Arm
/FlatType
Mini
Standard
List of models
There are 2 types of SCON controllers: standard specifications in which operation is performed via PIO or pulse train input, and network
specifications for operation via connection to a field network. Incremental specifications and absolute specifications are available for
both types. However, only incremental specified operations are available when operating via the pulse train input.
Type
Gripper/
Rotary Type
Linear Servo
Type
C
Name
Standard
Network connection specifications (optional)
External View
Cleanroom
Type
Splash-Proof
Description
Positioning mode, Teaching mode
Solenoid Valve Mode
Pulse train mode
Position points
Max. 512 points
(−)
I/O type symbol
Controllers
PMEC
/AMEC
Compatible encoder
DeviceNet
Connection specifications
Absolute
DV
Incremental
*Always use a noise filter for power supplies.
(See P548)
ProfiBus
Connection specifications
Max. 512 points
NP/PN
Incremental
CC-Link
Connection specifications
Incremental
CC
Absolute
Incremental
PR
Absolute
Incremental
Absolute
(Caution) Note that with the network specifications, neither control via pulse train nor PIO is available.
PSEP
/ASEP
ROBO
NET
ERC2
PCON
Model
ACON
SCON
SCON
C
Series
Type
Motor
Encoder
Option
I/O Type
I/O Cable Length Power/Voltage
PSEL
ASEL
C
Standard Type
HA
High Accel./Decel.
SSEL
20
XSEL
I
Incremental
30R 30W motor (for RS)
A
Absolute
60W motor
100 100W motor
150 150W motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
547
200 200W motor
NP
PIO NPN (standard)
300 300W motor
PN
PIO PNP
400 400W motor
DV
DeviceNet
600 600W motor
CC CC-Link
750 750W motor
PR
SCON
Single-phase AC100V
2
Single-phase AC200V
20W motor
30D 30W motor (for RCS2)
60
Pulse Motor
1
ProfiBus
0
No cable
2
2m (standard)
3
3m
5
5m
* If you selected DV, CC, or PR for the
I/O type, select 0 for the I/O cable length.
SCON
Controller
Slider
Type
System configuration
Mini
PLC
Standard
Controllers
Integrated
Rod
Type
Field Network
I/O Flat Cable
<Model: CB-PAC-PIO020>
Cable length
Standard 2m
(Supplied with the controller)
For a replacement cable, see P556.
* If the open collector
method is used for the
command pulse train,
always use the AK-04
pulse converter (option).
ROBONET Gateway Unit
+ extension unit
(See P505-506)
DeviceNet compatible version
<Model: RGW-DV>
+ <Model: REXT-CTL>
CC-Link compatible version
<Model: RGW-CC>
+ <Model: REXT-CTL>
ProfiBus compatible version
<Model: RGW-PR>
+ <Model: REXT-CTL>
Pulse train control plug +
shell (Supplied with the
controller)
* Always use a noise filter
when connecting power
Absolute data retention
battery (see P555)
<Model: AB-5>
(included with absolute type controller)
Required Number of
Regenerative Resistance Units
Horizontal
Main Power Supply
Single-phase AC100V
Single-phase AC200V
~100W
~100W
1 unit
~400W
~400W
2 units
~750W
~750W
Recommended: MC1210 (Manufacturer: TDK-Lambda)
(Available through IAI. Please inquire for details.)
2.5 lead
1.25 lead
1 unit
0 units
Vertical
1 unit
1 unit
Table/Arm
/FlatType
Mini
PC software
(See P555)
RS232 version
<Model: RCM-101-MW>
USB version
<Model: RCM-101-USB>
Linear Servo
Type
Cleanroom
Type
Teaching Pendant
(See P555)
<Model: CON-PT-M>
<Model: CON-T>
<Model: RCM-E>
Splash-Proof
* The cable is supplied with the PC software
Controllers
PMEC
/AMEC
PSEP
/ASEP
Required Number of
Units (RCS2-RA13R only)
Horizontal
Controllers
Integrated
Gripper/
Rotary Type
Vertical
0 units
Standard
Standard
Pulse train control cable
<Model: CB-SC-PIOS>
(Optional)
Regenerative resistor unit
(See P555)
<Model: REU-2>
(Optional)
Mini
ROBO
NET
ERC2
* Depending on the operating conditions,
‫ޓ‬more regenerative resistor may be needed.
Motor Cable
<Model: CB-RCC-MA>
Standard 1m / 3m / 5m
For a replacement cable, see P556.
PCON
ACON
SCON
Encoder Cable
<Model: CB-RCS2-PA>
Standard 1m / 3m / 5m
For a replacement cable, see P556.
Actuator
RCS2 series / single-axis robot / linear servo actuator
PSEL
ASEL
SSEL
Pulse converter AK-04 (option)
(
Applicable wire: AWG No. 24 to 26, 0.14 to less than 0.3mm2
Outer diameter of finished wire 1.0 to 1.2mm
Pulse Motor
Servo Motor
(24V)
Basic Specifications
・Input power
:DC24V±10% (Max. 50mA)
・Input pulse
:Open collector (collector current Max. 12mA)
・Input frequency
:200 kHz or less
・Output pulse
:26C31 equivalent differential output (Max. 10mA)
・External dimensions :See the figure at right
(cable connector not included)
・Weight
:10g or less (cable connector not included)
・Accessories
:I/O e-CON connector
3M 37104-3122-000FL
XSEL
Description: Pulse converter (model: AK-04) + I/O e-CON connector
Use this converter if output pulses from the host controller are of open collector specification.
This converter is used to convert the open-collector command output pulses from the host controller to differential pulses. Converting open collector pulses to differential pulses
improves noise resistance.
Two phases of differential pulses equivalent to those from the line driver 26C31 are output.
The e-CON connector is used as an input/output connector to simplify the field wiring.
)
Servo Motor
(200V)
Linear
Servo Motor
SCON
548
Slider
Type
SCON
Controller
I/O Specifications
Mini
Standard
Controllers
Integrated
Rod
Type
■ Input section External input specifications
Item
Input voltage
Input current
■ Output section External output specifications
Specifications
DC24V ±10%
4mA / 1 point
ON voltage…Min DC18.0V (3.5mA)
ON voltage…Max DC6.0V (1mA)
Photocoupler
ON/OFF power supply
Isolation method
Item
Load Voltage
Max. load current
Leak current
Isolation method
Specifications
DC24V
100mA / 1 point 400mA / 8 points
Max 0.1mA / 1 point
Photocoupler
Mini
NPN Specifications
NPN Specifications
Standard
+24V
Controllers
Integrated
Load
Table/Arm
/FlatType
Output
5.6kΩ
Input
Input
10Ω
Logic
circuit
Mini
Internal
circuit
Internal
circuit
Logic
circuit
Load
Output
0V
Standard
Gripper/
Rotary Type
Linear Servo
Type
PNP Specifications
PNP Specifications
+24V
Cleanroom
Type
Internal
circuit
Input
Splash-Proof
Input
Controllers
Logic
circuit
Logic
circuit
10Ω
Internal
circuit
Load
Output
Load
5.6kΩ
Output
0V
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
Explanation of I/O Signal Functions
SCON-C is compatible with all of the following control methods.
Positioning is possible with up to 512 points in positioner mode and up to 7 points in solenoid valve mode.
ACON
SCON
■ Control Function by Type
PSEL
Type
SCON-C
Features
ASEL
Positioner mode
○
This is the basic operating mode, in which the user
designates position numbers and inputs start signals.
Teaching mode
○
In this mode, it is possible to move the slide
(rod) via external signal, and then register the
stop position as position data.
Solenoid valve mode
○
The actuator can be moved simply by ON/OFF of position
signals. This mode supports the same control signals you
are already familiar with on solenoid valves of air cylinders.
Pulse train mode
○
In this mode, you can operate the actuator freely
using pulse trains without inputting position data.
Note that for network compatible types,
Network compatible
○
If the optional network specifications are selected,
direct connection to a field network is possible.
PIO and pulse train communication are
not available.
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
549
SCON
CAUTION
SCON
Controller
Explanation of I/O Signal Functions
The table below explains the functions allocated to the controller’s I/O signal.
Since the signals that can be used vary depending on the controller type and settings, check the signal table for each
controller to confirm the available functions.
■ Signal Function Description
Signal
Classification Signal abbreviations
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Function description
Start signal
Input this signal to cause the actuator to start moving to the position set by the command
position number signal.
Command position number signal
This signal is used to input a target position number (binary input).
BKRL
Brake forced release signal
This signal forcibly releases the brake.
RMOD
Running mode switching signal
Operations mode can be switched when the controller’s MODE switch is set to AUTO. (AUTO if
this signal is OFF, MANU if the signal is ON)
* STP
Pause signal
Turning this signal OFF causes the moving actuator to decelerate to a stop. The actuator will
resume the remaining movement if the signal is turned ON during the pause.
RES
Reset signal
Turning this signal ON resets the alarms that are present. If this signal is turned ON while the
actuator is paused (*STP is OFF), the remaining movement can be cancelled.
Mini
SON
Servo ON signal
The servo remains on while this signal is ON, or off while the signal is OFF.
Standard
HOME
Home return signal
Turning this signal ON preforms home-return operation.
MODE
Teaching mode signal
Turning this signal ON switches the controller to the teaching mode (provided that CSTR, JOG+
and JOG- are all OFF and the actuator is not moving)
JOG/INCHING switching signal
When the main signal is off, the JOG operation will be conducted for JOG+ and JOG-.
When the signal is on, the unit will do the inching operation for JOG+ and JOG-.
JOG signal
When the JISL signal is OFF and the JOG +/- signal turns ON, the unit will jog in the + (positive)
direction when the JOG + turns on and the - (negative) direction when the JOG - turns on.
During the JOG operation, the unit slows to a stop when the JOG +/- signal turns off.
Cleanroom
Type
Teaching signal
In the teaching mode, specify a desired position number and then turn this signal ON for at least
20ms to write the current position to the specified position number.
Splash-Proof
Start position command signal
Turning this signal ON in the solenoid valve mode causes the actuator to move to the specified
position. (Start signal is not required)
Torque limit selection signal
While this signal is ON, torque is limited by the value set by a parameter. The TLM signal turns on
if torque has reached the specified value.
CSTP
Forced Stop Signal
Servo OFF is performed when this signal is ON for more than 10ms.
DCLR
Deviation counter clear signal
When this signal is ON, the position deviation counter is cleared continuously.
In position signal
This signal turns ON when the actuator has entered the positioning band after movement. If the
actuator has exceeded the positioning band, PEND does not turn OFF, but INP does. PEND and
INP can be swapped using a parameter.
ROBO
NET
Positioning complete signal
This signal is used to output the position number achieved at completion of positioning
(binary output)
ERC2
HEND
Home return completion signal
This signal turns ON upon completion of home return.
PCON
ZONE1
Zone signal
Turns ON if the actuator’s current position is within the range set by the parameter.
Position zone signal
This signal turns ON when the current actuator position has entered the range specified by
position data during position movement. PZONE can be used together with ZONE1, but PZONE
is valid only during movement to a specified position.
SCON
RMDS
Running mode status signal
This outputs the operation mode status.
PSEL
* ALM
Controller alarm status signal
Turns ON when the controller is in normal condition, and turns OFF when an alarm occurs.
MOVE
Moving signal
Turns ON while the actuator is moving (home return), including when there is push force.
CSTR
PC1 to PC256
Mini
Standard
Input
JISL
JOG+, JOG−
PWRT
ST0 to ST6
TL
PEND/INP
PM1 to PM256
Controllers
Integrated
Table/Arm
/FlatType
Gripper/
Rotary Type
Linear Servo
Type
Controllers
PMEC
/AMEC
PSEP
/ASEP
ACON
PZONE
SV
Output
ASEL
Servo ON status signal
SSEL
This signal turns ON when servo is ON.
This signal remains ON while the controller is not in the emergency stop mode, and turns OFF
once an emergency stop has been actuated.
With the absolute specifications for the controller, turns OFF when the absolute battery
voltage drops.
* EMGS
Emergency stop status signal
* BALM
Absolute battery voltage drop warning signal
MODES
Mode status signal
The mode signal input turns it ON when it goes into teaching mode.
It turns OFF when it goes into normal mode.
Writing complete signal
This signal remains OFF after the controller has switched to the teaching mode. It turns ON upon
completion of data write using the PWRT signal. If the PWRT signal is turned Off, this signal also
turns OFF.
Current position number signal
This signal turns ON after the controller has completed moving to the target position in the
solenoid valve mode.
PWR
System Ready Signal
Turns ON when it starts up normally after turning ON the controller. (Dedicated pulse train type)
TLR
Torque limiting signal
This signal turns ON once the motor torque has reached the specified value in a condition where
torque is being limited by the TL signal.
(Dedicated pulse train mode)
ALM1 to ALM8
Alarm Code Output Signal
During a controller alarm, the alarm details are output in code.
(Dedicated pulse train mode)
LSO to LS2
Limit switch output signal
Each signal turns ON when the current actuator position has entered the positioning band before
or after the target position. If the actuator has already completed home return, these signals are
output even before a movement command is issued or while the servo is OFF.
WEND
PE0 to PE6
(Note) Signals with asterisks (*) are normally ON and OFF during operation.
SCON
550
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
Table/Arm
/FlatType
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Controllers
SCON
Controller
I/O wiring drawing
Positioning mode / teaching mode / solenoid valve mode
Pin Number Classification
1A
2A
3A
4A
5A
6A
7A
8A
9A
10A
11A
12A
13A
14A
15A
16A
17A
18A
19A
20A
1B
2B
3B
4B
5B
6B
7B
8B
9B
10B
11B
12B
13B
14B
15B
16B
17B
18B
19B
20B
Power Supply
Input
Output
Power Supply
PULSE connector
Pin Number Classification
Signal
1
2
3
4
5
6
7
8
9
10
11
12
13
14
Shell
24V
24V
Not used
Not used
IN0
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
IN9
IN10
IN11
IN12
IN13
IN14
IN15
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
OUT8
OUT9
OUT10
OUT11
OUT12
OUT13
OUT14
OUT15
Not used
Not used
0V
0V
PCON
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Output
Ground
Shield
Pin Number Classification
1A
2A
3A
4A
5A
6A
7A
8A
9A
10A
11A
12A
13A~20A
1B
2B
3B
4B
5B
6B
7B
8B
9B
10B
11B
12B
13B
14B
15B
16B
17B~18B
19B
20B
DC24V±10%
Twist pair
Shield
Power Supply
Input
Output
Power Supply
Signal
24V
24V
Not used
Not used
SON
RES
HOME
TL
CSTP
DCLR
BKRL
RMOD
Not used
PWR
SV
INP
HEND
TLR
*ALM
*EMGS
RMDS
ALM1
ALM2
ALM4
ALM8
ZONE1
ZONE2
Not used
0V
0V
DC24V±10%
* The shield on the twisted pair cable connected to the pulse connector must be
connected to the shell.
Also, the cable length must not be longer than 10m.
* Connect 24V between pins 1A and 2A, and 0V between pins 19B and 20B.
* Connect 24V between pins 1A and 2A, and 0V between pins 19B and 20B.
I/O Signal Table *Choose from 7 types of signal allocation.
Parameter Selections (PIO Patterns)
Pin
Number
Classification Number of Positions
1A
2A
3A
4A
5A
6A
7A
8A
9A
10A
11A
12A
13A
14A
15A
16A
17A
18A
19A
20A
1B
2B
3B
4B
5B
6B
7B
8B
9B
10B
11B
12B
13B
14B
15B
16B
17B
18B
19B
20B
0
1
2
3
Positioning Mode
64 points
Teaching Mode
64 points
256-point Mode
256 points
512-point Mode
512 points
Pulse Train Mode
4
5
0
Solenoid Valve Mode 1 Solenoid Valve Mode 2 Pulse Train Mode
7 points
3 points
Zone Signal
P-zone Signal
ROBO
NET
ERC2
Input
Signal
Not used
Not used
PP
/PP
NP
/NP
AFB
/AFB
BFB
/BFB
ZFB
/ZFB
GND
GND
Shield
PIO connector (NPN)
PMEC
/AMEC
PSEP
/ASEP
Pulse train mode (differential output)
PIO connector (NPN)
P24
P24
NC
NC
24V
24V
Input
Output
IN0
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
IN9
IN10
IN11
IN12
IN13
IN14
IN15
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
OUT8
OUT9
OUT10
OUT11
OUT12
OUT13
OUT14
OUT15
PC1
PC2
PC4
PC8
PC16
PC32
BKRL
RMOD
HOME
* STP
CSTR
RES
SON
PM1
PM2
PM4
PM8
PM16
PM32
MOVE
ZONE1
PZONE
RMDS
HEND
PEND
SV
* EMGS
* ALM
* BALM
PC1
PC2
PC4
PC8
PC16
PC32
MODE
JISL
JOG+
JOG−
RMOD
HOME
* STP
CSTR/PWRT
RES
SON
PM1
PM2
PM4
PM8
PM16
PM32
MOVE
MODES
PZONE
RMDS
HEND
PEND/WEND
SV
* EMGS
* ALM
* BALM
0V
0V
* The names of signals above, the values enclosed in ( ) are functions before homing is performed.
* The signals with an asterisk are normally ON, and OFF during operation.
551
SCON
PC1
PC2
PC4
PC8
PC16
PC32
PC64
PC128
−
BKRL
RMOD
HOME
* STP
CSTR
RES
SON
PM1
PM2
PM4
PM8
PM16
PM32
PM64
PM128
PZONE
RMDS
HEND
PEND
SV
* EMGS
* ALM
* BALM
PC1
PC2
PC4
PC8
PC16
PC32
PC64
PC128
PC256
BKRL
RMOD
HOME
* STP
CSTR
RES
SON
PM1
PM2
PM4
PM8
PM16
PM32
PM64
PM128
PM256
RMDS
HEND
PEND
SV
* EMGS
* ALM
* BALM
N
N
ST0
ST1
ST2
ST3
ST4
ST5
ST6
ST0
ST1 (JOG+)
ST2 (-)
BKRL
RMOD
HOME
* STP
BKRL
RMOD
RES
SON
PE0
PE1
PE2
PE3
PE4
PE5
PE6
ZONE1
PZONE
RMDS
HEND
PEND
SV
* EMGS
* ALM
* BALM
RES
SON
LSO
LS1 (TRQS)
LS2
ZONE1
PZONE
RMDS
HEND
SV
* EMGS
* ALM
* BALM
P24
P24
NC
NC
SON
RES
HOME
TL
CSTP
DCLR
BKRL
RMOD
PWR
SV
INP
HEND
TLR
* ALM
* EMGS
RMDS
ALM1
ALM2
ALM4
ALM8
ZONE1
ZONE2
N
N
SCON
Controller
Pulse Train Type I/O Specifications (differential line driver specifications)
Input Section
Slider
Type
Mini
Output Section
Standard
Max. No. of
Input Pulses
: Line-driver interface: 500kpps
Open collector interface: 200kpps (AK-04 required)
Isolation method
: Photocoupler
Output method : Line-driver output
Controllers
Integrated
: Not isolated
Isolation
Rod
Type
SCON
SCON
26C32 or equivalent
Mini
7. AFB
Internal
circuit
8. /AFB
26C31 or equivalent
3. PP
Controllers
Integrated
9. BFB
Internal
circuit
180Ω
4. /PP
Internal
circuit
10. /BFB
11. ZFB
Internal
circuit
12. /ZFB
5. NP
GND
14. GND
Table/Arm
/FlatType
Mini
Standard
13. GND
Internal
circuit
180Ω
6. /NP
Standard
Gripper/
Rotary Type
GND
Linear Servo
Type
Pulse Train Ttype I/O Specifications (open collector specifications)
N24
(0V)
P24
(+DC24V)
Upper-level controller
Cleanroom
Type
SCON
Pulse converter
AK-04
Splash-Proof
1‫ޓ‬24V
PP‫ޓ‬1
3‫ޓ‬PP
2‫ޓ‬GND
/PP‫ޓ‬2
4 /PP
3‫ޓ‬PP
NP‫ޓ‬3
5‫ޓ‬NP
4‫ޓ‬NP
/NP‫ޓ‬4
6 /NP
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
N24(0V)
* Use the DC24V power supply connected to AK-04 to also supply power to the PIO interface.
* Make sure the cable between the pulse output unit (PLC) and AK-04 is as short as possible.
Also, the cable between AK-04 and the pulse connector should be 2m or shorter.
PCON
ACON
SCON
Command Pulse Input State
PSEL
Negative Logic
Command Pulse Train Shapes
Input terminals
Forward pulse train
PP, /PP
Reverse pulse train
NP, /NP
Forward
Reverse
SSEL
The forward pulse train controls the amount of forward motor rotation; the reverse pulse train controls the same in reverse direction.
Pulse train
PP, /PP
Sign
NP, /NP
Low
XSEL
High
The command pulse controls the amount of motor rotation, and the command sign controls the direction of rotation.
A/B phase pulse train
PP, /PP
Pulse Motor
NP, /NP
A (frequency-quadrupled) A/B phase pulse with a 90° phase difference is used to control the amount and direction of rotation.
Positive Logic
ASEL
Forward pulse train
PP, /PP
Reverse pulse train
NP, /NP
Pulse train
PP, /PP
Sign
NP, /NP
A/B phase pulse train
Servo Motor
(24V)
Servo Motor
(200V)
High
Low
Linear
Servo Motor
PP, /PP
NP, /NP
SCON
552
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
Table/Arm
/FlatType
Mini
Standard
Gripper/
Rotary Type
SCON
Controller
Table of specifications
Item
Motor Capacity
Connected actuator
Number of control axes
Operating method
Positioning Points
Backup memory
I/O connector
Number of I/O
I/O power
Serial Communication
Field Network
Peripheral device communication cable
Command pulse train input method
Max. input pulse frequency
Position detection method
Emergency stop function
Electromagnetic brake forced release
Input Voltage
Power Supply Capacity
Specifications
Less than 400W
400W or more
RCS2 series actuator / single axis robot / linear servo actuator
1-axis
Positioner type / pulse train type
512 points
EEPROM
40 pin connector
16 input points / 16 output points
External supply DC24V±10%
RS485 1ch
Device Net, CC-Link, ProfiBus
CB-PAC-PIO □□□
Differential line driver method / open collector method (converted to differential with the pulse converter *1)
Differential line driver method: up to 500 kpps / open collector method (using pulse converter): up to 200kpps
Incremental encoder / Absolute encoder
Y (integrated relay)
Brake release switch ON/OFF
Single-phase AC90V to AC126.5V
Single-phase AC180V to AC253V
Single-phase AC180V to AC253V
20W / 74VA
60W / 186VA
150W / 376VA
Cleanroom
Type
Splash-Proof
Controllers
Vibration resistance
Ambient operating temperature
Ambient operating humidity
Ambient operating atmosphere
Protection class
Weight
External dimension
400W / 844VA
600W / 1212VA
750W / 1569VA
DC500V 100MΩ or more
Dielectric strength voltage
Linear Servo
Type
30W / 94VA
100W / 282VA
200W / 469VA
XYZ directions
10 to 57Hz, One side amplitude: 0.035mm (continuous), 0.075mm (intermittent)
58 to 150 Hz 4.9 m/s2 (continuous), 9.8 m/s2 (intermittent)
0~40ºC
10 - 95% (non-condensing)
Without corrosive gases
IP20
Approximately 800g (plus 25g for the absolute specifications)
Approximately 1.1kg (plus 25g for absolute specifications)
58mm (W)×194mm (H)×121mm (D)
72mm(W)×194mm (H)×121mm (D)
(Note 1) For the command-pulse input method, use the differential line driver method offering higher noise resistance.
If the open collector method must be used, convert the pulse to differential using the optional pulse converter (AK-04).
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
553
SCON
SCON
Controller
External dimensions
Less than 400W
29
58
Mini
400W or more
(80)
.2
ø4
121
43
72
Slider
Type
(80)
.2
ø4
121
Standard
Controllers
Integrated
Rod
Type
184
194
(200.5)
184
194
(200.5)
Mini
Standard
Controllers
Integrated
5
5
Table/Arm
/FlatType
4.2
4.2
Mini
With the absolute battery installed
With the absolute battery installed
Standard
Name of Each Part
1
2
Gripper/
Rotary Type
9
10
3
4
5
11
12
13
6
7
8
1 LED display
9 Pulse train control connector
These LED colors indicate the condition of the controller.
14
Name Color
Explanation
PWR
Green
Lit when the system is ready (after power is ON, CPU
normal functions)
SV
Green
Lit when servo is ON
ALM
Orange
Lit during an alarm
EMG
Red
Lit during an emergency stop
2 Rotary switch
This is the address setting switch for identifying each
controller when they are linked.
15
3 Piano switch
16
Controller system switch.
Name
Explanation
Operating mode switch
1
17
2
OFF: positioner mode ON: pulse train control mode
This connector is used during pulse train control mode
operations. It is disconnected during operations in
positioner mode.
10 PIO connector
Splash-Proof
11 Operating mode switch
Controllers
Name
Explanation
MANU
Do not receive PIO commands
AUTO
Accept PIO commands
*The emergency stop switch on the teaching pendant becomes
effective when the line is connected, regardless of whether this
switch is set to AUTO or MANU. Take note that an emergency stop
will be actuated momentarily when the teaching-pendant or SIO
communication cable is disconnected. This is a normal
phenomenon and does not indicate an error.
12 SIO connector
Connector for the teaching pendant or PC communications
cable.
Remote update switch (normally set to OFF)
OFF: normal operating mode ON: update mode
*Enabled when power is ON or during soft reset.
13 Brake release switch
Connector for the emergency stop switch etc.
5 Regeneration unit connector
Connector for resistance unit that absorbs regeneration
current produced when the actuator decelerates to a stop.
6 Motor connector (X-SEL, ECON,
RCS compatible)
Actuator motor cable connector.
7 Power supply connector
AC power connector. Divided into the control power input
and motor power input.
8 Grounding screw
Cleanroom
Type
Connector for the cable for parallel communications
with the PLC and other peripheral devices.
*Enabled at power ON.
4 System I/O connector
Linear Servo
Type
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
SCON
This is the electromagnetic brake forced release switch,
integrated with the actuator.
*It is necessary to connect the DC 24V power for the brake
drive.
PSEL
ASEL
14 Brake power connector
SSEL
Brake power DC 24V supply connector (only required when
the brake equipped actuator is connected)
XSEL
15 Encoder sensor connector
(X-SEL-P/Q compatible)
Encoder sensor cable connector
Pulse Motor
16 Absolute battery connector
Connector for the absolute data backup battery. (Required
only for absolute encoder specifications)
17 Absolute battery holder
Battery holder for installing the absolute data backup
battery
Protective grounding screw. Always ground this screw.
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
SCON
554
Option
Mini
Note:
Configuration
89.6
CON-PT-M-ENG
Item
Actuator motion
Ambient operating
temp/humidity
Table/Arm
/FlatType
5m
21
39.0
46.9
7
(34)
72.5
CON-T-ENG
RCM-E-ENG
Temp: 0~40ºC; Humidity: 85% RH or below
Ambient operating
atmosphere
Mini
No corrosive gases. Especially no dust.
IP40
IP54
Approx. 750g
Approx. 400g
Protection class
Gripper/
Rotary Type
15.1 26.2 6.3
Data input
Controllers
Integrated
Standard
(113.5)
Specifications
The version of RCM-E-ENG that can be
used with ROBONET is 2.08 or later.
Standard
RCM-E-ENG
66.6
110.0
43
panel
CON-PT-M-ENG (Touch
teaching pendant)
CON-T-ENG (Standard type)
RCM-E-ENG (Simple teaching pendant)
Model
CON-T-ENG
92.1
132
This is a teaching device that provides
information on functions such as position
input, test runs, and monitoring.
Features
Controllers
Integrated
Rod
Type
CON-PT-M-ENG
23.5
Teaching Pendant
148.5
Standard
Controller
218.3
Mini
SCON
180
Slider
Type
CON-T Options
• Wall-mounting hook
Model HK-1
Weight
• Strap
Model STR-1
Approx. 400g
5m
Cable length
3-color LED touch
panel with backlight
Display
20 char × 4 lines
LCD .display
16 char. × 2 lines
LCD display
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Controllers
PC Software (Windows Only)
Features A startup support software for inputting positions, performing test runs, and monitoring.
With enhancements for adjustment functions, the startup time is shortened.
Model
RCM-101-MW
(External device communications cable + RS232 conversion unit)
PMEC
/AMEC
PSEP
/ASEP
Configuration
RS232 adapter
RCB-CV-MW
ROBO
NET
ERC2
5m
0.3m
External device
communications cable
CB-RCA-SIO050
PC Software (CD)
PCON
Model
RCM-101-USB
(External device communications cable + USB adapter + USB cable)
ACON
Configuration
USB adapter
RCB-CV-USB
PSEL
3m
ASEL
PC Software (CD)
SSEL
Servo Motor
(200V)
Linear
Servo Motor
■ Battery for retaining absolute data
A unit that returns the regenerative current, generated during the
acceleration/deceleration of the motor, into heat.
In the tables below, check the total power output of the actuator to see
if a regenerative resistor is needed.
REU-2 (for SCON/SSEL)
Model
Specifications
Actuator weight
0.9kg
Internal regenerative resistance
220Ω‫ޓ‬80W
Actuator-Controller
Connection Cable (included)
CB-SC-REU010 (for SSEL)
Required Number of Units
Exterior Dimensions
Required Number of Units (RCS2-RA13R only)
Horizontal
Vertical
2.5 lead
1.25 lead
0 units
~100W
~100W
Horizontal
1 unit
0 units
1 unit
~400W
~400W
Vertical
1 unit
1 unit
2 units
~750W
~750W
* Depending on the operating conditions,
‫ޓ‬more regenerative resistor may be needed.
* Depending on the operating conditions,
‫ޓ‬more regenerative resistor may be needed.
555
SCON
* If two regenerative units
are needed, acquire one
REU-2 and one REU-1
(See P596).
ø5
34
175
Servo Motor
(24V)
External device communications cable
CB-RCA-SIO050
■ Regenerative Resistance Unit
Features
Pulse Motor
USB cable
CB-SEL-USB030
186
XSEL
5m
195
SCON
5
16.6
126
Features Battery for saving absolute
data, when operating an
actuator with an absolute
encoder.
Model
AB-5
SCON
Controller
Slider
Type
Spare parts
When you need spare parts after purchasing the product, such as when replacing a cable, refer to the list of models below.
Mini
Motor cable/Motor robot cable
Standard
CB-RCC-MA □□□ / CB-RCC-MA □□□ -RB
* Enter the cable length (L) into □□□ . Compatible to a maximum of 30 meters.
Ex.: 080 = 8 m
Model (20)
L
Min. bend radius r = 50 mm or larger
(when movable type is used)
* Only the robot cable is to be used in a cable track.
(10)
(16)
(ø9)
(21)
Wire
1
4
(Front view)
Controller side
Color Signal Pin No.
Green PE
1
U
2
0.75sq Red
White
V
3
Black
W
4
1
(18)
(41)
4
(Front view)
Mechanical side
Rod
Type
Pin No. Signal Color
Wire
1
U
Red
2
V
White 0.75sq
3
W
Black (crimped)
4
PE Green
Encoder cable/Encoder robot cable
Model CB-RCS2-PA □□□ / CB-X3-PA □□□
* Enter the cable length (L) into □□□ . Compatible to a maximum of 30 meters.
Ex.: 080 = 8 m
Wire
(41)
(14)
L
(15)
1
26
13
(ø10)
14
1 10
(25)
(37)
(13)
9 18
(Front view)
Mechanical side (Front view)
Controller side
CB-RCS2-PLA □□□ / CB-X2-PLA □□□
Min. bend radius r = 50 mm or larger
(when movable type is used)
*Only the robot cable is to be used in a cable track.
L
(41)
Color
Pin No. Signal
A
1
Pink
2
Purple
A
B
3
White
4
Blue/red
B
Z
5
Orange/White
6
Green/White
Z
LS+ Brown/White
7
8
9
Ground
FG
10
Blue
SD
11
Orange
SD
12
Black
BAT+
13
Yellow
BAT−
14
Green
VCC
15
Brown
GND
LS16
Gray/White
17
Gray
BK−
18
Red
BK+
Wire
AWG26
(crimped)
LS side
13
(18)
(ø10)
26
1 6 10
(25)
(37)
1
(8)
1
9 18
(Front view)
Controller side
Mechanical side
(15)
Color
Signal
White/Orange
White/Green
Brown/Blue
Brown/Yellow
Brown/Red
Brown/Black
E24V
0V
LS
CREEP
OT
RSV
Ground wire and braided shield
(The wire color "White/Blue" indicates the colors of the band and insulation.)
Pin No.
1
2
3
4
5
6
Signal
E24V
0V
LS
CREEP
OT
RSV
Color
White/Orange
White/Green
Brown/Blue
Brown/Yellow
Brown/Red
Brown/Black
Pin No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
Signal
A
A
B
B
Z
Z
Color
White/Blue
White/Yellow
White/Red
White/Black
White/Purple
White/Gray
FG
SD
SD
BAT+
BAT−
VCC
GND
Ground
Orange
Green
Purple
Gray
Red
Black
BK−
BK+
Blue
Yellow
Wire
AWG26
(crimped)
Wire
AWG26
(crimped)
I/O Flat Cable
Model CB-PAC-PIO □□□
* Enter the cable length (L) into □□□ . Compatible to a maximum of 10 meters.
Ex.: 080 = 8 m
HIF6-40D-1. 27R
Pin No. Signal
L
B
No connector
No connector
A
20A
1A
20B
1B
Half-pitch MIL socket:
HIF6-40D-1. 27R (Hirose)
Flat cable (20-core) × 2
1A
2A
3A
4A
5A
6A
7A
8A
9A
10A
11A
12A
13A
14A
15A
16A
17A
18A
19A
20A
24V
24V
Table/Arm
/FlatType
Mini
IN0
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
IN9
IN10
IN11
IN12
IN13
IN14
IN15
Gripper/
Rotary Type
Linear Servo
Type
Splash-Proof
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
SCON
Color
Brown-1
Red-1
Orange-1
Yellow-1
Green-1
Blue-1
Purple-1
Gray-1
White-1
Black-1
Brown-2
Red-2
Orange-2
Yellow-2
Green-2
Blue-2
Purple-2
Gray-2
White-2
Black-2
Wire
Pin No. Signal
1B
2B
3B
4B
5B
6B
7B
8B
9B
10B
11B
12B
13B
14B
15B
16B
17B
18B
19B
20B
Flat cable A
(crimped)
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
OUT8
OUT9
OUT10
OUT11
OUT12
OUT13
OUT14
OUT15
0V
0V
Color
Brown-3
Red-3
Orange-3
Yellow-3
Green-3
Blue-3
Purple-3
Gray-3
White-3
Black-3
Brown-4
Red-4
Orange-4
Yellow-4
Green-4
Blue-4
Purple-4
Gray-4
White-4
Black-4
Wire
PSEL
ASEL
Flat cable B
(crimped)
AWG28
SSEL
XSEL
Pulse Motor
SCON Pulse Train Control Cable
Model Controllers
Integrated
Cleanroom
Type
* Enter the cable length (L) into □□□ . Compatible to a maximum of 30 meters.
Ex.: 080 = 8 m
Pin No.
10
11
12
13
26
25
24
23
9
18
19
A+
1
White/Blue
A−
2
AWG26 White/Yellow
B+
3
(soldered) White/Red
B−
4
White/Black
Z+
5
White/Purple
Z−
6
White/Gray
SRD+
7
Orange
SRD−
8
Green
BAT+
14
Purple
BAT−
15
Gray
VCC
16
Red
GND
17
Black
BKR−
20
Blue
BKR+
21
Yellow
22
The shield is connected to the hood by a clamp.
(14)
(13)
14
Wire
Standard
Standard
Encoder cable/Encoder robot cable for RCS2-RT6/RT6R/RT7/RA13R
Model Mini
Color
Signal Pin No.
10
11
12
E24V
Gray/White
13
0V
26
LS
Brown/White
25
CREEP
24
OT
23
RSV
9
Note 4
Note 1
AWG26
18
(soldered)
19
1
Pink
A+
2
Purple
A−
3
White
B+
4
Blue/red
B−
5
Orange/White
Z+
6
Green/White
Z−
7
Blue
SRD+
8
Orange
SRD14
Black
BAT+
15
Yellow
BAT−
16
Green
VCC
17
Brown
GND
20
Gray
BKR21
Red
BKR+
22
The shield is connected to the hood by a clamp.
Note 3
Ground wire and braided shield Note 2
Min. bend radius r = 50 mm or larger
(when movable type is used)
* Only robot cable is to be used in a cable track.
Controllers
Integrated
CB-SC-PIOS □□□
* Enter the cable length (L) into □□□ . Compatible to a maximum of 10 meters.
Ex.: 080 = 8 m
(ø9)
L
No
connector
Plug: 10114-3000PE (Sumitomo 3M)
Shell: 10314-52F0-008 (Sumitomo 3M)
Black
White/Black
Red
White/Red
Green
White/Green
Yellow
White/Yellow
Brown
White/Brown
Blue
White/Blue
Gray
White/Gray
Shield
Wire
Shield
Color
Signal Pin No.
Black Not used 1
White/Black Not used 2
PP
3
Red
4
White/Red /PP
NP
5
Green
6
White/Green /NP
0. 2sq
AFB
7
Yellow
soldered White/Yellow /AFB
8
BFB
9
Brown
10
White/Brown /BFB
ZFB
11
Blue
12
White/Blue /ZFB
GND
13
Gray
14
White/Gray GND
The shield is connected to a cable clamp.
SCON
556
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
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