PCON-CCG-Controller Manual v4 PDF

PCON-C/CG/CF
Controller
Positioner Type
Operation Manual
Forth Edition
CAUTION
1. 24-V Power Supplies Required for UL Certification
PCON controllers (PCON-C/CG, CY, SE, PL/PO) are UL-certified, where one condition for the
certification is to use Class 2 24-V power supplies.
Accordingly, you must use Class 2 power supplies for both the input power supply and I/O power
supply for your equipment incorporating the PCON, if the equipment as a whole must be UL-certified.
2. Use Environment
PCON controllers can be used in an environment of pollution degree 2 or equivalent.
3. PC Software and Teaching Pendant Models
New functions have been added to the entire PCON controller series.
To support these new features, the communication protocol has been changed to the general
Modbus (Modbus-compliant) mode. As a result, the existing PC software programs and teaching
pendants compatible with RCP2 controllers can no longer be used.
If you are using this controller, use a compatible PC software program and/or teaching pendant
selected from the following models.
Model Versions to be supported Remarks

PC software RCM-101-*** V6.0.0.0
Teaching pendant RCM-T V2.00 All are compatible with
Simple teaching pendant RCM-E V2.00 existing RCP2 controllers
Data setting unit RCM-P V2.00
.
4. Recommendation for Backing up Latest Data
This product uses nonvolatile memory to store the position table and parameters. Normally the
memory will retain the stored data even after the power is disconnected. However, the data may be
lost if the nonvolatile memory becomes faulty.
(We strongly recommend that the latest position table and parameter data be backed up so that the
data can be restored quickly in the event of power failure, or when the controller must be replaced for
a given reason.)
The data can be backed up using the following methods:
[1] Save to a CD or FD from the PC software.
[2] Hand write the position table and parameter table on paper.
CAUTION
5. Initial Parameter Settings at Startup
After applying power, at least the three parameters specified below must be set in accordance with
the specific application.
Inappropriate settings of these parameters will prevent the controller from operating properly, so
exercise due caution.
For details on how to set the parameters, refer to “Parameter Settings” in the operation manual for
the PC or teaching pendant.
[1] Selecting the PIO pattern

This controller provides six PIO pattern types to meet the needs of various applications.
To select a desired type, set a corresponding value from 0 to 5 in parameter No. 25 (PIO pattern
selection).
The factory setting is “0 [Standard type].”
Parameter No.
Feature of PIO pattern
25 setting
0 Standard type
A basic type supporting 64 positioning points and two zone outputs.
* How to set zone boundaries within which to output a zone signal:
Zone boundaries are set using parameter Nos. 1 and 2 for one zone output, and in
the position table for another zone output.
1 Teaching type
In this type, 64 positioning points and one zone output (boundaries are set in the
position table) are supported.
In addition to the normal positioning mode, the user can also select the teaching
mode in which the actuator can be jogged via commands from a PLC and the
current actuator position can be written to a specified position.
(Note 1) Jog commands from a PLC are also accepted in the positioning mode.
(Note 2) Positions can be rewritten by approximately 100,000 times.
2 256-point positioning type
The number of positioning points is increased to 256, so only one zone output is
available (boundaries are set in the position table).
3 512-point positioning type
The number of positioning points is increased to 512, so no zone output is available.
4 7-point type
The number of positioning points is limited to seven to offer separate direct
command inputs and position complete outputs for respective positions.
PLC ladder sequence circuits can be designed easily.
5 3-point type
Use of the controller as an air cylinder is assumed in this type.
Position complete output signals function differently in this type, compared to the 7-
point type.
Specifically, the signal functions not only to “indicate position complete,” but also to
“detect a position” in the same manner as auto-switches of an air cylinder.
CAUTION
[2] Enabling/disabling the servo ON input signal (SON)
The servo ON input signal has been added to allow for servo ON/OFF control on the PLC side.
Depending on the needs, therefore, the user must enable/disable this signal.
To select a desired setting, set “0” or “1” in parameter No. 21 (Servo ON input disable selection).
Setting
Enable (use) 0
Disable (do not use) 1
The factory setting is “0 [Enable].”
[3] Enabling/disabling the pause signal (*STP)

The pause signal uses the contact b logic to provide a failsafe function.
Therefore, this signal must remain ON in normal conditions of use.
Since there are applications where this signal is not used, a parameter is provided to disable the
pause signal so it doesn’t have to be turned ON.
To select a desired setting, set “0” or “1” in parameter No. 15 (Pause input disable selection).
Setting
Enable (use) 0
Safety Precautions (Please read before using the product.)
Before installing, operating, maintaining or inspecting this product, please peruse this operating manual as
well as the operating manuals and other related documentations for all equipment and peripheral devices
connected to this product in order to ensure the correct use of this product and connected
equipment/devices. Those performing installation, operation, maintenance and inspection of the product
must have sufficient knowledge of the relevant equipment and their safety. The precautions provided
below are designed to help you use the product safely and avoid bodily injury and/or property damage.
In this operating manual, safety precautions are classified as “Danger,” “Warning,” “Caution” and
“Note,” according to the degree of risk.
Failure to observe the instruction will result in an imminent danger leading to

Danger death or serious injury.
Warning Failure to observe the instruction may result in death or serious injury.
Caution Failure to observe the instruction may result in injury or property damage.
The user should take heed of this information to ensure the proper use of the
Note product, although failure to do so will not result in injury.
It should be noted that the instructions under the Caution and Note headings may also lead to
serious consequences, if unheeded, depending on the situation.
All instructions contained herein provide vital information for ensuring safety. Please read the contents
carefully and handle the product with due caution.
Please keep this operating manual in a convenient place for quick reference whenever needed, and also
make sure that the manual will get to the end-user.
Danger
[General]
z Do not use this product for 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
3. Important safety parts of machinery
This product has not been planned or designed for applications requiring high levels of safety. Use of
this product in such applications may jeopardize the safety of human life. The warranty covers only the
product as it is delivered.
[Installation]
z Do not use this product in a place exposed to ignitable, inflammable or explosive substances. The
product may ignite, burn or explode.
z Avoid using the product in a place where the main unit or controller may come in contact with water or
oil droplets.
z Never cut and/or reconnect the cables supplied with the product for the purpose of extending or
shortening the cable length. Doing so may result in fire.
[Operation]
z Do not allow the product to come in contact with water. If the product contacts water or is washed with
water, it may operate abnormally and cause injury, electric shock, fire, etc.
[Maintenance, Inspection, Repair]

z Never modify the product. Unauthorized modification may cause the product to malfunction, resulting in
injury, electric shock, fire, etc.
z Do not disassemble and reassemble the product. Doing so may result in injury, electric shock, fire, etc.
Warning
[General]
z Do not use the product outside the specifications. Using the product outside the specifications may
cause it to fail, stop functioning or sustain damage. It may also significantly reduce the service life of
the product. In particular, observe the maximum loading capacity and speed.
[Installation]
z If the machine will stop in the case of system problem such as emergency stop or power failure, design
a safety circuit or other device that will prevent equipment damage or injury.
z Be sure to provide Class D grounding for the controller and actuator (formerly Class 3 grounding:
Grounding resistance at 100 Ω or less). Leakage current may cause electric shock or malfunction.
z Before supplying power to and operating the product, always check the operation area of the
equipment to ensure safety. Supplying power to the product carelessly may cause electric shock or
injury due to contact with the moving parts.
z Wire the product correctly by referring to the operation manual. Securely connect the cables and
connectors so that they will not be disconnected or come loose. Failure to do so may cause the
product to malfunction or cause fire.
[Operation]
z Do not touch the terminal block or various switches while the power is supplied to the product. Failure
to observe this instruction may result in electric shock or malfunction.
z Before operating the moving parts of the product by hand (for the purpose of manual positioning, etc.),
confirm that the servo is turned off (using the teaching pendant). Failure to observe this instruction may
result in injury.
z Do not scratch the cables. Scratching, forcibly bending, pulling, winding, crushing with heavy object or
pinching a cable may cause it to leak current or lose continuity, resulting in fire, electric shock,
malfunction, etc.
z If the product is generating heat, smoke or a strange smell, turn off the power immediately. Continuing
to use the product may result in product damage or fire.
z If any of the internal protective devices (alarms) of the product has actuated, turn off the power
immediately. Continuing to use the product may result in product damage or injury due to malfunction.
Once the power supply is cut off, investigate and remove the cause and then turn on the power again.
z If the LEDs on the product do not illuminate after turning on the power, turn off the power immediately.
The protective device (fuse, etc.) on the live side may remain active. Request repair to the IAI sales
office from which you purchased the product.

z Before conducting maintenance/inspection, parts replacement or other operations on the product,
completely shut down the power supply. At this time, take the following measures:
1. Display a sign that reads, “WORK IN PROGRESS. DO NOT TURN ON POWER” at a conspicuous
place, in order to prevent a person other than the operator from accidentally turning on the power.
2. When two or more operators are to perform maintenance/inspection together, always call out every
time the power is turned on/off or an axis is moved in order to ensure safety.
[Disposal]
z Do not throw the product into fire. The product may burst or generate toxic gases.
Caution
[Installation]
z Do not use the product under direct sunlight (UV ray), in a place exposed to dust, salt or iron powder,
in a humid place, or in an atmosphere of organic solvent, phosphate-ester machine oil, etc. The
product may lose its function over a short period of time, or exhibit a sudden drop in performance or its
service life may be significantly reduced. The product may also malfunction.
z Do not use the product in an atmosphere of corrosive gases (sulfuric acid or hydrochloric acid), etc.
Rust may form and reduce the structural strength.
z When using the product in any of the places specified below, provide a sufficient shield. Failure to do
so may result in malfunction:
1. Place where large current or high magnetic field is present
2. Place where welding or other operations are performed that cause arc discharge
3. Place subject to electrostatic noise
4. Place with potential exposure to radiation
z Do not install the product in a place subject to large vibration or impact. Doing so may result in the
malfunctioning of the product.
z Provide an emergency-stop device in a readily accessible position so the device can be actuated
immediately upon occurrence of a dangerous situation during operation. Lack of such device in an
appropriate position may result in injury.
z Provide sufficient maintenance space when installing the product. Routine inspection and maintenance
cannot be performed without sufficient space, which will eventually cause the equipment to stop or the
product to sustain damage.
z Always use IAI’s genuine cables for connection between the controller and the actuator. Also use IAI’s
genuine products for the key component units such as the actuator, controller and teaching pendant.
z Before installing or adjusting the product or performing other operations on the product, display a sign
that reads, “WORK IN PROGRESS. DO NOT TURN ON POWER.” If the power is turned on
inadvertently, injury may result due to electric shock or sudden activation of an actuator.
[Operation]
z Turn on the power to individual equipment one by one, starting from the equipment at the highest level
in the system hierarchy. Failure to do so may cause the product to start suddenly, resulting in injury or
product damage.
z Do not insert a finger or object in the openings in the product. It may cause fire, electric shock or injury.

z Do not touch the terminals when performing an insulation resistance test. Electric shock may result.
(Do not perform any withstand voltage test, since the product uses DC voltage.)
Note
[Installation]
z Do not place objects around the controller that will block airflows. Insufficient ventilation may damage
the controller.
z Do not configure a control circuit that will cause the load to drop in case of power failure. Configure a
control circuit that will prevent the table or load from dropping when the power to the machine is cut off
or an emergency stop is actuated.
[Installation, Operation, Maintenance]

z When handling the product, wear protective gloves, protective goggles, safety shoes or other
necessary gear to ensure safety.
[Disposal]
z When the product becomes no longer usable or necessary, dispose of it properly as an industrial
waste.
Others
IAI shall not be liable whatsoever for any loss or damage arising from a failure to observe the
items specified in “Safety Precautions.”
Table of Contents
1. Overview ................................................................................................................... 1
1.1 Introduction .................................................................................................................................. 1
1.2 How to Read the Model Specification.......................................................................................... 2
1.3 System Configuration .................................................................................................................. 3
1.3.1 Internal Drive-Power Cutoff Relay Type (PCON-C/CF) .......................................... 3
1.3.2 External Drive-Power Cutoff Relay Type (PCON-CG) ............................................ 4
1.4 Procedure from Unpacking to Test Operation and Adjustment ................................................... 5
1.5 Warranty Period and Scope of Warranty..................................................................................... 7
2. Specifications ............................................................................................................ 8
2.1 Basic Specifications..................................................................................................................... 8
2.2 Name and Function of Each Part of the Controller ..................................................................... 9
2.3 External Dimensions...................................................................................................................11
3. Installation and Noise Elimination............................................................................ 12

3.1 Installation Environment ............................................................................................................ 12
3.2 Power Supply ............................................................................................................................ 12
3.3 Noise Elimination and Grounding.............................................................................................. 12
3.4 Heat Radiation and Installation.................................................................................................. 14
4. Wiring ...................................................................................................................... 15
4.1 Internal Drive-Power Cutoff Relay Type (PCON-C/CF)............................................................. 15
4.1.1 External Connection Diagram............................................................................... 15
4.1.2 Wiring the Power Supply/Emergency-Stop Switch ............................................... 16
4.2 External Drive-Power Cutoff Relay Type (PCON-CG) .............................................................. 23
4.2.1 External Connection Diagram............................................................................... 23
4.2.2 Wiring the Power Supply/Emergency-Stop Switch ............................................... 24
4.3 Connecting the I/O Cables ........................................................................................................ 27
• PIO pattern 0 [Standard Type] ............................................................................................. 27
• PIO pattern 1 [Teaching Type] ............................................................................................. 28
• PIO pattern 2 [256-piont mode] ............................................................................................ 29
• PIO pattern 3 [512-piont mode] ............................................................................................ 30
• PIO pattern 4 [Solenoid valve mode 1] ................................................................................ 31
• PIO pattern 5 [Solenoid valve mode 2] ................................................................................ 32
4.4 Connecting the Actuator ............................................................................................................ 34
4.4.1 Motor Relay Cable ................................................................................................ 34
4.4.2 Encoder Relay Cable............................................................................................ 35
4.4.3 Encoder Relay Cable [Large-capacity 6-A Type Controller] .................................. 36
4.5 Connecting the Communication Cable...................................................................................... 37
5. I/O Signal Control and Signal Functions.................................................................. 38
5.1 Interface Circuit ......................................................................................................................... 38
5.1.1 External Input Specifications................................................................................. 38
5.1.2 External Output Specifications.............................................................................. 39
5.2 PIO Patterns and Signal Assignments ...................................................................................... 40
5.2.1 Explanation of Signal Names................................................................................ 41
• PIO pattern = 0: Positioning mode [Standard type].............................................................. 41
• PIO pattern = 1: Teaching mode [Teaching type] ................................................................ 42
• PIO pattern = 2: 256-point mode [256-point type]................................................................ 43
• PIO pattern = 3: 512-point mode [512-point type]................................................................ 44
• PIO pattern = 4: Solenoid valve mode 1 [7- point type] ....................................................... 45
• PIO pattern = 5 Solenoid valve mode 2 [3-point type] ......................................................... 46
5.2.2 Signal Assignment Table for Respective PIO Patterns ......................................... 47
5.3 Details of I/O Signal Functions .................................................................................................. 48
5.3.1. Details of Each Input Signal.................................................................................. 48
• Operating mode (RMOD) ..................................................................................................... 48
• Start (CSTR) ............................................................................................................... 48
• Command position number (PC1 to PC256)........................................................................ 48
• Pause (*STP)........................................................................................................................ 49
• Home return (HOME) ........................................................................................................... 49
• Servo ON (SON)................................................................................................................... 49
• Alarm reset (RES) ................................................................................................................ 49
• Brake release (BKRL) .......................................................................................................... 50
• Operation mode (MODE) ..................................................................................................... 50
• Current-position write (PWRT) ............................................................................................. 50
• Manual operation switching (JISL) ....................................................................................... 50
• Jog (JOG+, JOG-) ................................................................................................................ 51
• Direct position command (ST0 to ST6) [7-point type] .......................................................... 51
• Movement to each position (ST0 to ST2) [3-point type]....................................................... 52
5.3.2 Details of Each Output Signal............................................................................... 53
• Operating mode status (RMDS) ........................................................................................... 53
• Completed position number (PM1 to PM256) ...................................................................... 53
• Moving (MOVE) .................................................................................................................... 53
• Position complete (PEND).................................................................................................... 53
• Home return completion (HEND) ......................................................................................... 54
• Zone (ZONE1, ZONE2)........................................................................................................ 54
• Current operation mode (MODES)....................................................................................... 54
• Write completion (WEND) .................................................................................................... 54
• Movement complete at each position (PE0 to PE6) [7-point type]....................................... 55
• Position detection output at each position (LS0 to LS2) [3-point type] ................................ 55
• Ready (SV) ........................................................................................................................... 55
• Alarm (*ALM) ........................................................................................................................ 55
• Emergency stop (*EMGS) .................................................................................................... 56
• Load output judgment status (LOAD) .................................................................................. 56
• Torque level status (TRQS) ................................................................................................ 56
• Output Signal Changes in Each Mode ................................................................................. 56
6. Data Entry <Basics>................................................................................................ 57

6.1 Description of Position Table ..................................................................................................... 57
6.1.1 Relationship of Push Force at Standstill and Current-Limiting Value .................... 61
z Slider type................................................................................................................ 61
(1) SA5C/SA6C/SS7C type ................................................................................... 61
(2) SA7C type........................................................................................................ 61
(3) SS8C type........................................................................................................ 62
z Rod type .................................................................................................................. 63
(1) RA2C type........................................................................................................ 63
(2) RA3C type........................................................................................................ 63
(3) RA4C type........................................................................................................ 64
(4) RA6C type........................................................................................................ 64
(5) RA10C/W-RA10C type .................................................................................... 65
6.2 Explanation of Modes ................................................................................................................ 66
6.2.1 Positioning Mode Push = 0.................................................................................... 66
6.2.2 Push & Hold Mode Push = Other than 0 ................................................................ 66
6.2.3 Torque Check Function in Push & Hold Operation ............................................... 68
6.2.4 Speed Change during Movement ......................................................................... 70
6.2.5 Operation at Different Acceleration and Deceleration Settings ............................. 70
6.2.6 Pause ................................................................................................................... 71
6.2.7 Zone Signal Output............................................................................................... 71
6.2.8 Home Return ........................................................................................................ 72
6.2.9 Overview of Teaching Type................................................................................... 73
6.2.10 Overview of 7-point Type ...................................................................................... 74
6.2.11 Overview of 3-point Type ...................................................................................... 76
6.3 Notes on the ROBO Gripper...................................................................................................... 78
6.4 Power-saving Modes at Standby Positions ............................................................................... 80
7. Operation <Practical Steps>.................................................................................... 83

7.1 How to Start ............................................................................................................................... 83
7.1.1 Timings after Power On ........................................................................................ 83
Procedure after initial startup until actuator adjustment .................................................... 83
Procedure of Normal Operation......................................................................................... 85
7.1.2 Position Table and Parameter Settings Required for Operation ........................... 88
Startup adjustment............................................................................................................. 88
• Safety speed during manual feed .............................................................................. 88
• Speed override for movement commands from the PLC........................................... 88
Full-scale operation ........................................................................................................... 89
• Saving energy when the actuator stands by for a long time after the power has been
turned on.................................................................................................................. 89
• Saving energy when the actuator stands by after completing the home return
operation effected by the HOME input signal.......................................................... 89
• Saving energy when the actuator stands by for a long time at the target position .... 89
• Output mode of complete signal ................................................................................ 89
7.2 Home Return Operation ............................................................................................................ 90
7.2.1 Method Using the HOME Input Signal (PIO Pattern = 0 to 4) ............................... 90
7.2.2 Method Used When No HOME Input Signal Is Available (PIO Pattern = 5).......... 92
7.3 Positioning Mode (Back and Forth Movement between Two Points)........................................ 93
7.4 Push & Hold Mode..................................................................................................................... 95
7.4.1 Return Action after Push & Hold by Relative Coordinate Specification ................. 97
7.5 Speed Change during Movement.............................................................................................. 98
7.6 Operation at Different Acceleration and Deceleration Settings ............................................... 100
7.7 Pause....................................................................................................................................... 102
7.8 Zone Signal Output.................................................................................................................. 104
7.9 Incremental Moves .................................................................................................................. 107
7.9.1 Judgment Method of End Position...................................................................... 109
7.9.2 Notes on Incremental Mode.................................................................................110
7.10 Jogging/Teaching Using PIO ....................................................................................................113
7.11 Operation in 7-point Type .........................................................................................................115
7.12 Operation in 3-point Type .........................................................................................................119
8. Parameters............................................................................................................ 123
8.1 Parameter Table ...................................................................................................................... 123
8.2 Detail Explanation of Parameters ............................................................................................ 125
8.2.1 Parameters Relating to the Actuator Stroke Range ............................................ 125
z Soft limit (No.3/4 LIMM/LIML)................................................................................ 125
z Zone boundary (1: No.1/2 ZONM/ZONL 2: No.23/24 ZNM2/ZNL2)...................... 125
z Home return direction (No.5 ORG)........................................................................ 126
z Home return offset (No.22 OFST) ......................................................................... 126
8.2.2 Parameters Relating to the Actuator Operating Characteristics.......................... 126
z PIO jog speed (No.26 IOJV).................................................................................. 126
z PIO inching distance (No.48 IOID) ........................................................................ 126
z Default speed (No.8 VCMD).................................................................................. 126
z Default acceleration/deceleration (No.9 ACMD) ................................................... 127
z Default positioning band (in-position) (No.10 INP) ................................................ 127
z Current-limiting value at standstill during positioning (No.12 SPOW) ................... 127
z Current-limiting value during home return (No.13 ODPW).................................... 127
z Home sensor input polarity (No. 18, LS) ............................................................... 127
z Speed override (No.46 OVRD).............................................................................. 127
z Default direction of excited-phase signal detection (No.28 PHSP) ....................... 128
z Excited-phase signal detection time (No.29 PHSP) .............................................. 128
z Safety speed (No.35 SAFV) .................................................................................. 128
z Automatic servo-off delay time (No.36 ASO1/No.37 ASO2/No.38 ASO3)............ 129
z Default standstill mode (No.35 CTLF) ................................................................... 129
z Push speed (No.34 PSHV).................................................................................... 130
z Push completion judgment time (No.6 PSWT)...................................................... 130
z Enable function (No.42 FDIO4) ............................................................................. 131
z Polarity of home check sensor input (No.43 AIOF) ............................................... 131
z Load output judgment time (No.50 LDWT)............................................................ 131
z Torque check range (No.51 TRQZ)....................................................................... 132
z Ball screw lead length (No.77 LEAD) .................................................................... 132
z Axis operation type (No.78 ATYP) ........................................................................ 132
z Rotational axis mode selection (No.79 ATYP) ...................................................... 132
z Shortcut selection for rotational axis (No.80 ATYP) .............................................. 132
z Absolute unit (No.83 ETYP) .................................................................................. 133
8.2.3 Parameters Relating to the External Interface .................................................... 134
z PIO pattern selection (No.25 IOPN) ...................................................................... 134
z Movement command type (No.27 FPIO)............................................................... 135
z Pause input disable selection (No.15 FPIO) ......................................................... 136
z Servo ON input disable selection (No.21 FPIO).................................................... 136
z Home-return input disable selection (No.40 FPIO) ............................................... 136
z Operating-mode input disable selection (No.41 FPIO) ......................................... 136
z Output mode of position complete signal (No.39 FPIO)........................................ 137
z SIO communication speed (No.16 BRSL)............................................................. 137
z Minimum delay time for slave transmitter activation (No.17 RTIM)....................... 137
z Silent interval multiplier (No.45 SIVM)................................................................... 138
8.2.4 Servo Gain Adjustment ....................................................................................... 139
z Servo gain number (No.7 PLG0)........................................................................... 139
z Speed loop proportional gain (No.31 VLPG)......................................................... 139
z Speed loop integral gain (No.32 VLPT)................................................................. 140
z Torque filter time constant (No.33 TRQF) ............................................................. 140
9. PC/Teaching Pendant Connection Method in Multi-axis Configurations................ 141

9.1 Connection Example ............................................................................................................... 141
9.2 Name and Function of Each Part of the SIO Converter .......................................................... 142
9.3 Address Switch........................................................................................................................ 144
9.4 Connection Cables .................................................................................................................. 144
9.5 Detail Connection Diagram...................................................................................................... 145
10. Troubleshooting..................................................................................................... 146

10.1 Action to Be Taken upon Occurrence of Problem ................................................................... 146
10.2 Alarm Level Classification ....................................................................................................... 147
10.3 Alarm Description Output Using PIO....................................................................................... 148
10.4 Alarm Description and Cause/Action....................................................................................... 149
(1) Message level alarms......................................................................................................... 149
(2) Cold-start level alarms........................................................................................................ 153
10.5 Messages Displayed during Operation Using the Teaching Pendant ..................................... 156
10.6 Specific Problems .................................................................................................................... 159
z I/O signals cannot be exchanged with the PLC. ................................................................ 159
z The ALM lamp illuminates when the power is input. .......................................................... 159
z The SV lamp does not illuminate when the servo ON signal is input after the power was
input.................................................................................................................................... 159
z Home return ends in the middle in a vertical application. .................................................. 160
z Noise occurs during downward movements in a vertical application................................. 160
z Vibration occurs when the actuator is stopped. ................................................................. 160
z The actuator overshoots when decelerated to a stop. ....................................................... 160
z The home and target positions sometimes shift................................................................. 160
z The speed is slow during push & hold operation. .............................................................. 160
z The actuator moves only a half of, or twice as much as, the specified movement............ 160
z A servo error occurred while the actuator was moving (ROBO Gripper). .......................... 161
z Abnormal operation results when the servo is turned ON after the power ON.................. 162
z The SV lamp blinks. ........................................................................................................... 162
* Appendix ................................................................................................................... 163
List of Supported Actuator Specifications .......................................................................................... 163
Example of Basic PCON Positioning Sequence................................................................................ 174
Recording of Parameters................................................................................................................... 177
1. Overview
1.1 Introduction
This product is a dedicated RCP2 actuator controller that provides the same functions of the RCP2
controller as well as a set of new functions designed to achieve greater convenience and safety.
The product also provides a power-saving function in response to growing energy-saving needs.
The key features and functions are listed below.
z More positioning points

The standard type supports up to 64 points, while the extended types can handle up to 512 points.
Availability of more positioning points is ideal for production lines where many types of products are
produced in small volumes.
z Setting of zone output boundaries for each position in the position table
Before, zone output boundaries were set by parameters and therefore fixed. To add flexibility, new
fields have been added to the position table so that different boundaries can be set for each position.
This feature is useful in preventing contact with surrounding equipment and reducing the tact time,
among others.
z Separate acceleration/deceleration settings
Acceleration and deceleration are now set in separate fields of the position table.
Depending on the material or shape of the load, it is desirable to reduce shock and vibration when the
actuator stops.
Since acceleration and deceleration can be set differently, only the deceleration value can be reduced
to make the deceleration curve more gradual.
z Limitation of feed speed in test operation and adjustment
The feed speed to be used in test operation and adjustment can be limited for added safety.
z Power-saving measures
In general, pulse motors consume more holding current in standstill state than AC servo motors. This
product provides a power-saving means to support situations where the actuator must stand by for a
long period.
When actually starting up your system or if you have encountered any problem, also refer to the operation
manuals for the actuator, teaching pendant, PC software and other components used with the system, in
addition to this manual.
This manual does not cover all possible operations other than normal operations, or unexpected events
such as complex signal changes resulting from use of critical timings.
Accordingly, you should consider items not specifically explained in this manual as “prohibited.”
* We have made every effort to ensure accuracy of the information provided in this manual. Should you
find an error, however, or if you have any comment, please contact IAI.
Keep this manual in a convenient place so it can be referenced readily when necessary.
1
1.2 How to Read the Model Specification
<Series> Specified for connecting the

simple absolute unit
<Type> <Power-supply voltage>
C: Positioner type with internal drive-
power cutoff relay 0: 24 VDC
CG: Positioner type with external drive-
power cutoff relay
CF: High-output positioner type with internal
drive-power cutoff relay
<Actuator type> <I/O flat cable length>
[Motor flange size] 0: No cable
20P: 20, square 2: 2 m
28P: 28, square 3: 3 m
28SP: 28, square (RA3 type only) 5: 5 m
42P: 42, square
56P: 56, square
86P: 86 square
[Encoder type] <Input/output signal pattern>
I: Incremental NP: NPN (Sink type)
PN: PNP (Source type)
2
1.3 System Configuration
1.3.1 Internal Drive-Power Cutoff Relay Type (PCON-C/CF)
Host system <PLC>

Standard teaching
pendant
<RCM-T>
Supplied flat
cable
24-VDC I/O
power supply
PC
PC software
PERSONAL
(optional)
COMPUTER
RS232C type <RCM-101-MW> RCP2 actuator
USB type <RCM 101-USB>
External EMG switch
S1
S2
MPI
MPO
Input power
24 V 24V
supply 24
VDC 0V 0V
EMG-
Caution: Connect one end of the EMG switch to the 24-V output of the input power supply and the
other end to the S1 terminal. Also short the S2 and EMG terminals using a jumper wire.
3
1.3.2 External Drive-Power Cutoff Relay Type (PCON-CG)
Host system <PLC>

Standard teaching
pendant
<RCM-T>
Supplied flat
cable
24-VDC I/O
power supply
PC
PC software PERSONAL
(optional) COMPUTER
RS232C type <RCM-101-MW> RCP2 actuator
USB type <RCM 101-USB>
Motor drive-
power cutoff S1
circuit S2
Safety relay MPI
Contactor MPO
Input power
24 V 24V
supply 24
0V 0V
VDC
EMG-
4
1.4 Procedure from Unpacking to Test Operation and Adjustment
If you are using this product for the first time, carry out each step by referring to the procedure below to
ensure that all necessary items are checked and all wires are connected correctly.
1 Check the content in the package

If you found any missing part or part specified for a different model, please contact your dealer.
z Controller z Actuator z I/O flat cable z Motor cable z Encoder cable
PCON-C CB-PAC PIO* * * CB-RCP2-MA* * * CB-RCP2-PA* * *
PCON-CG
PCON-CF
z Operation manual
<Options>
z Teaching pendant z PC software
RCM-T (standard) RC232C type <RCM-101-MW>
RCM-E (simple) RC232 type <RCM-101-USB>
RCM-P (data setting unit) (Software comes with connection cables.)
2 Installation
[1] Affix the actuator first, and then install the robot hand. → Refer to the operation manual for the
applicable actuator.
[2] Install the controller. → Chapter 3, “Installation”
3 Wiring/connection
• Wire the 24-V power supply.
• Connect the grounding wire to ground.
• Wire the emergency stop circuit and motor drive power supply.
• Connect the motor cable and encoder cable.
• Connect the I/O flat cable.
4 Turn on the power and check for alarms

Supply the 24-V power after confirming that the emergency stop circuit is not actuated.
If the monitor LED [SV/ALM] on the front face of the controller illuminates for two seconds and then turns
off, the controller is functioning properly. If [SV/ALM] illuminates in red, it means an alarm has generated.
Connect a PC or teaching pendant to check the nature of the alarm, and remove the cause by referring to
Chapter 10, “Troubleshooting.”
5 Set the PIO pattern/safety speed

Set the mode selector switch on the front face of the controller to the “MANU” side.
On the PC screen or teaching pendant, set the MANU operating mode to [Teaching mode: Enable safety
speed/Inhibit PIOs].
In this condition, set appropriate values in parameter No. 25 (PIO pattern selection) and parameter No. 35
(Safety speed).
* The factory-set PIO pattern and safety speed are “standard type” and “100 mm/s or less,” respectively.
→ Chapter 8, “Parameter Settings”
5
6 Turn on the servo
Confirm that the slider or rod is not contacting a mechanical end.
If the slider/rod is contacting a mechanical end, move it away from the mechanical end.
If the actuator is equipped with a brake, turn on the brake forced-release switch to forcibly release the
brake before moving the actuator.
The load may suddenly drop when the brake is released, so exercise due caution not to pinch your hand
or damage the robot hand by the falling load.
Turn on the servo from the PC or teaching pendant.

If the actuator enters a servo lock mode and the monitor LED [SV/ALM] on the front face of the controller
illuminates in green, the controller is functioning properly.
7 Check the operation of the safety circuit

Confirm that the emergency stop circuit (or motor drive-power cutoff circuit) operates properly.
→ Chapter 4, “Wiring”
8 Set a target position

Perform home return first, and then set a target position in the “Position” field for each position in the
position table. Determine a desired position by finely adjusting the load or robot hand.
* Once a target position is set, all other fields (speed, acceleration/deceleration, positioning band, etc.)
will be automatically populated with their default values. → Chapter 6, “Position Table Settings”
* To ensure safety, it is recommended that the safety speed be enabled during initial movements.
To move the actuator at the actual speed set in the “Speed” field of the position table, change the
MANU operating mode to [Teaching mode 2: Disable safety speed/Inhibit PIOs].
9 Trial operation and adjustment

Set the mode selector switch on the front panel of the controller to the “AUTO” side.
Input a movement command from the PLC to perform positioning.
If necessary, perform fine adjustments including the items specified below:
• Vibration or noise may generate depending on the weight, material or shape of the load. If vibration or
noise is observed, lower the speed, acceleration and/or deceleration.
• To prevent contact with surrounding equipment or reduce the tact time, adjust the boundaries for each
zone output signal and also adjust the positioning band.
• Adjust the current-limiting value, judgment time and push speed to be used in push & hold operation.
Caution: Before changing any parameter, set the mode selector switch to the “MANU” side. Or,
keep the mode selector switch on the “AUTO” side and turn on the MODE input signal.
6
1.5 Warranty Period and Scope of Warranty
The controller you have purchased passed IAI’s shipping inspection implemented under the strictest
standards. The unit is covered by the following warranty:
1. Warranty Period
The warranty period shall be one of the following periods, whichever ends first:
• 18 months after shipment from our factory
• 12 months after delivery to a specified location
2. Scope of Warranty
If an obvious manufacturing defect is found during the above period under an appropriate condition of
use, IAI will repair the defect free of charge. Note, however, that the following items are excluded from
the scope of warranty:
• Aging such as natural discoloration of coating

• Wear of a consumable part due to use
• Noise or other sensory deviation that doesn’t affect the mechanical function
• Defect caused by inappropriate handling or use by the user
• Defect caused by inappropriate or erroneous maintenance/inspection
• Defect caused by use of a part other than IAI’s genuine part
• Defect caused by an alteration or other change not approved by IAI or its agent
• Defect caused by an act of God, accident, fire, etc.
The warranty covers only the product as it has been delivered and shall not cover any losses arising in
connection with the delivered product. The defective product must be brought to our factory for repair.
Please read carefully the above conditions of warranty.
7
2. Specifications
2.1 Basic Specifications
Internal Drive-Power Cutoff External Drive-Power Cutoff

Specification item
Relay Type Relay Type
Model PCON-C PCON-CF PCON-CG
Power-source capacity 2 A max. 6 A max. 2 A max.
Number of controlled axes 1 axis/unit
Supply voltage 24 VDC +10% / -10%
Control method Weak field-magnet vector control
Encoder resolution 800 P/rev
Position number commands (64 points (standard), extendable
Positioning command
up to 512 points), numerical specification
Position number data and parameters are saved in nonvolatile
Backup memory memory.
Serial EEPROM can be rewritten 100,000 times.
24-VDC, insulated
PIO interface
Dedicated 16 input points/16 output points
LED indicators SV (green) --- Servo on, ALM (red) --- Alarm present
Serial communication RS485, 1 channel (conforming to the Modbus protocol)
Encoder interface Incremental specification conforming to EIA RS-422A/423A
Forced release of electromagnetic
Switch on the front face of the enclosure
brake
Actuator cable: 20 m or less
Cable length
I/O flat cable: 5 m or less
Insulation strength 500 VDC, 10 MΩ
Environment Operating temperature 0 to 40°C
Operating humidity 85%RH or less (non-condensing)
Operating environment Not subject to corrosive gases.
Storage temperature -10 to 65°C
Storage humidity 90%RH or less (non-condensing)
10 to 57 Hz in XYZ directions / Pulsating amplitude: 0.035 mm
Vibration resistance
(continuous), 0.075 mm (intermittent)
Protection class IP20
Automatic switching between natural cooling and forced air
Cooling
cooling at high temperature (CF type only)
Weight 300 g or less 320 g or less 300 g or less
External dimensions 35 W x 175.5 H x 68.1 D mm
8
2.2 Name and Function of Each Part of the Controller
Status indicator LEDs
SV (green) --- The servo is on
A blinking green light indicates
that the automatic servo-off
mode is active.
PIO connector ALM (red) --- An alarm is present.
Connects the PLC and PIOs. The motor drive-power cutoff
circuit is indicated here.
The PIO pattern number is specified here.
The input/output signal pattern is indicated
here.
Mode selector switch
Address switch
SIO connector
Connects the teaching
pendant/PC. Encoder connector
Connects the encoder cable.
The model name of the actuator to
be connected is indicated here.
Motor connector Brake release switch
Connects the motor cable.
Power-supply
terminal block
Indication of PIO pattern number

If you have multiple systems and a different PIO pattern is used for each system, it is recommended
that you specify an applicable PIO pattern number on each controller to prevent confusion.
Explanation of input/output signal pattern

NPN --- Sink type
PNP --- Source type
Explanation of motor drive-power cutoff circuit

INT --- PCON-C/CF [Internal drive-power cutoff relay type]
EXT --- PCON-CG [External drive-power cutoff relay type]
Indication of model name of actuator to be connected

The type name, ball screw lead length and stroke of the applicable actuator are indicated. When
connecting the cables, check this information to confirm that they are connected to the correct actuator.
Example of indication:
RA4C ← The actuator type is RA4C.

L: 5 mm ← The ball screw lead length is 5 mm.
ST: 200 ← The stroke is 200 mm.
9
Explanation of each switch
[1] Address switch
If multiple axes are used, the PC/teaching pendant must be plugged into/out of different connectors
to communicate with different axes.
To save the hassle, you can use link cables to connect all axes via SIO converters.
Under this method, however, the PC/teaching pendant must be able to identify each axis by the
number assigned to the axis.
This switch is used to set this number.
For details, refer to Chapter 9, “How to Connect a PC/Teaching Pendant to Multiple Axes.”
[2] Mode selector switch

This interlock switch is used to prevent unexpected movement or data rewrite as a result of duplicate
operation in which a movement command is input from the PLC and operation using the PC/teaching
pendant is performed at the same time.
AUTO: Always set to the “AUTO” side during auto operation using PIO signals from the PLC.
MANU: Always set to the “MANU” side during operation using the PC/teaching pendant.
[3] Brake release switch

When the actuator is equipped with a brake, this switch is used to forcibly release the brake.
RLS: Forcibly release the brake
NOR: Normal setting (The brake is released by the controller.)
U Warning: The load may suddenly drop when the brake is forcibly released, so exercise due caution
not to pinch your hand or damage the robot hand by the falling load.
Explanation of power-supply terminal block

[1] PCON-C/CF [Internal drive-power cutoff relay type]
Provide a contact output for the emergency-stop button on the teaching pendant.
S1, S2 * Whether or not a teaching pendant is connected is determined by an internal
circuit. If no teaching pendant is connected, the S1 and S2 terminals are closed.
Provide a contact for cutting off the motor drive power. MPI and MPO represent the
input side and output side of the motor power supply, respectively. (Short these
MPI, MPO
terminals using a jumper wire if not used. The controller is shipped with MPI and MPO
shorted.)
24V Positive side of the 24-VDC input power supply
0V Negative side of the 24-VDC input power supply
EMG- Emergency-stop input
[2] PCON-CG [External driver-power cutoff relay type]

Provide a contact output for the emergency-stop button on the teaching pendant.
S1, S2 * Whether or not a teaching pendant is connected is determined by an internal
circuit. If no teaching pendant is connected, the S1 and S2 terminals are closed.
Motor drive-power cutoff contacts conforming to safety category 1
MPI, MPO MPI and MPO represent the input side and output side of the motor power supply,
respectively. (Connect an external safety circuit.)
24V Positive side of the 24-VDC input power supply
0V Negative side of the 24-VDC input power supply
EMG- Emergency stop signal detection
10
2.3 External Dimensions
An external view and dimensions of the product are shown below.
(Mounting dimension)
11
3. Installation and Noise Elimination
Pay due attention to the installation environment of the controller.
3.1 Installation Environment

(1) When installing and wiring the controller, do not block the cooling ventilation holes. (Insufficient
ventilation will not only prevent the controller from demonstrating its full performance, but it may also
cause breakdown.)
(2) Prevent foreign matter from entering the controller through the ventilation holes. Since the enclosure
of the controller is not dustproof or waterproof (oilproof), avoid using the controller in a place subject
to significant dust, oil mist or splashes of cutting fluid.
(3) Do not expose the controller to direct sunlight or radiating heat from a large heat source such as a
heat treatment furnace.
(4) Use the controller in an environment free from corrosive or inflammable gases, under a temperature
of 0 to 40°C and humidity of 85% or less (non-condensing).
(5) Use the controller in an environment where it will not receive any external vibration or shock.
(6) Prevent electrical noise from entering the controller or its cables.
3.2 Power Supply
The power supply specification is 24 VDC ± 10%.

(Supply current: 2 A max.)
3.3 Noise Elimination and Grounding

This section explains how to eliminate noise in the use of the controller.
(1) Wiring and power supply

[1] Provide a dedicated class D grounding using a wire with a size of 2.0 to 5.5 mm2 or larger.
Controller Other Other

equipment Controller equipment
Use a cable of a
maximum possible
size and keep the
wiring length at a
minimum.
Metal frame
Class D grounding Good Avoid this grounding method.
12
[2] Precautions regarding wiring method
Use a twisted cable for connection to the 24-VDC external power supply.
Separate the controller cables from high-power lines such as a cable connecting to a power circuit. (Do
not bundle together the controller cables with high-power lines or place them in the same cable duct.)
When extending the supplied motor cable or encoder cable, consult IAI’s Technical Support.
(2) Noise sources and elimination

Among the numerous noise sources, solenoid valves, magnet switches and relays are of particular
concern when building a system. Noise from these sources can be eliminated by implementing the
measures specified below.
[1] AC solenoid valves, magnet switches and relays
Measure: Install a surge absorber in parallel with the coil.
Å Point
Install a surge absorber to each coil over a minimum wiring
length.
Installing a surge absorber to the terminal block or other part will
be less effective because of a longer distance from the coil.
[2] DC solenoid valves, magnet switches and relays
Measure: Install a diode in parallel with the coil. Determine the diode capacity in accordance with the
load capacity.
In a DC circuit, connecting a diode in reverse polarity will damage

the diode, internal parts of the controller and/or DC power supply,
so exercise due caution.
13
3.4 Heat Radiation and Installation
Design the control panel size, controller layout and cooling method in such a way that the temperature
around the controller will not exceed 40°C.
Install the controller vertically on a wall, as shown below. Since cooling is provided by way of natural
convection, always observe this installation direction and provide a minimum clearance of 50 mm above
and below the controller to ensure sufficient natural airflows.
When installing multiple controllers side by side, providing a ventilation fan or fans above the controllers
will help maintain a uniform temperature around the controllers.
Keep the front panel of the controller away from the wall (enclosure) by at least 95 mm.
Fan
50 mm or more 95 mm
or more
50 mm or more
Airflow
Regardless of whether your system consists of a single controller or multiple controllers, provide sufficient
clearances around each controller so that it can be installed/removed easily.
14
4. Wiring
4.1 Internal Drive-Power Cutoff Relay Type (PCON-C/CF)
4.1.1 External Connection Diagram

An example of standard wiring is shown below.
(Note) The encoder cable shown in the example is the standard cable for the controller with the
maximum current of 2 A.
As for the robot cable or the cable for the dedicated controller for the high-thrust type, refer to
4.4.2, “Encoder Relay Cable.”
Controller
SID PCON-C
Connection
1 (SGA) detection circuit
2 (SGB)
3 (+5V)
Connected to teaching 4 (ENB)
pendant or PC 5 (EMGA)
6 (+24V)
7 (GND)
8 (EMGB)
External EMG switch
Terminal block
S1 Motor relay cable
S2 CB-RCP2-MA*** Actuator
MPI Orange
MPO
Input power 24V Gray
24V
supply 24 0V White
0V
VDC FG
EMG- Yellow M
Pink Motor
I/O flat cable
Yellow (Green)
CB-PAC-PIO***
1A P24 Encoder relay cable
2A CB-RCP2-PA***
0 V (NPN
5A
specification)
24 V (PNP
Input
specification)
Yellow
20A
24 V (NPN
Load 1B Blue
specification)
0 V (PNP Orange
specification)
Output
Pink
PG
Load 16B Purple
19B Green
OV Encoder
20B
24-VDC power for
input/output signals Brown
For details on I/O signal connection, refer Gray

to 4.3, “Connecting the I/O Cables.”
Red
Holding
brake
Brake release switch
Tighten together with the

mounting screw.
FG
15
4.1.2 Wiring the Power Supply/Emergency-Stop Switch
(1) Wiring the power supply
S1
S2
MPI
Input power supply MPO
24 VDC 24V 24V
0V
(2 A max. per controller) QV
FG EMG-
To connect multiple controllers, provide a relay terminal block.

Use a power cable satisfying the following specifications:
Item Specification
Applicable wire length Single wire: ∅1.0 / Stranded: 0.8 mm2, AWG size 18, (copper wire)
Stripped wire length 10 mm
Temperature rating of
60°C or above
insulated sheath
* Use a flathead screwdriver with a blade tip of approx. 2.6 mm to push in the wire.
16
(2) Wiring the emergency-stop switch
In many cases multiple controllers are used in a single system.
To provide an emergency-stop function for the entire system, the controller circuit is designed in such a
way that a single EMG switch is able to actuate an emergency stop in all connected controllers.
[Internal emergency-stop circuit] Teaching pendant
PCON-C controller
EMG signal
Connection detection circuit
S1
S2 Relay
MPI

(2 A max.)
24V Motor power
24V supply
Controller power
0V 0V supply
EMG-
0V
(Note) The current consumption of the internal relay is 10 mA or less.
(Reference) Cutoff voltage Cutoff current

EMG switch on teaching pendant 30 VDC 3A
[Example of recommended circuit] PCON-C controller
24V 0V
EMG switch on
teaching pendant
External EMG
reset switch External EMG circuit
S1 S2
CR
(3A)
Coil current:
CR 0.1 A or less
Connection detection circuit
MP1
MPO
24V 0V
CR
EMG-
Relay
(Note) To cut off the motor drive power supply in conformance with safety category 2, connect 24V to the
EMG terminal and a contactor or other contact device to the MPI/MPO terminals. (Refer to 4.2.3;
rush current: 8 A.)
17
Representative connection examples are explained below.
z Connecting the teaching pendant directly to the controller
[1] Connecting multiple controllers (8 units or less) using a single power supply
• Short the MPI and MPO terminals using a jumper wire. (The controller is shipped with these terminals
shorted.)
• Connect one end of the EMG signal to the 24-V output of the input power supply and the other end to
the S1 terminal.
Then, provide connections by sequentially connecting the S2 terminal of controller 1 to the S1 terminal of
controller 2, the S2 terminal of controller 2 to the S1 terminal of controller 3, and so on, and connect the
S2 terminal on the last controller to the EMG terminals on all controllers.
Use a relay terminal block for connection to the EMG terminals.
(Note) Do not connect two or more wires to one terminal.
18
[Controller 1]
Teaching pendant
24V EMG signal 0V
S1 S2
MPI Connection
detection circuit
MPO 0V
24V
Relay
EMG-
[Controller 2]
Teaching pendant
S1 S2
MPI Connection
detection circuit
MPO 0V
24V
Relay
EMG-
[Controller 3]
Teaching pendant
S1 S2
MPI Connection
detection circuit
MPO 0V
24V
Relay
EMG-
[Controller 4]
Teaching pendant
S1 S2
MPI Connection
detection circuit
MPO 0V
24V
Relay
EMG-
19
[2] Using a power supply other than the input power supply
(Note) Use an auxiliary relay with a coil current of 0.1 A or less and connect a diode for coil surge
absorption.
control
© 0V © 24V
[Controller 1]
Teaching pendant
EMG signal
S1 S2
MPI
MPO Connection
detection circuit
24V
0V
Relay
EMG-
[Controller 2]
Teaching pendant
S1 S2
MPI
Connection
MPO detection circuit
24V
0V
Relay
EMG-
[Controller 3]
Teaching pendant
S1 S2
CR
MPI Connection
detection circuit
MPO
24V
0V
Relay
EMG-
20
[3] Enabling the EMG switch on the teaching pendant for the connected axis or axes only
24V EMG signal 0V
CR
CR
[Controller 1]
Teaching pendant
CR
S1 S2
MPI Connection
detection circuit
MPO
0V
24V Relay
EMG-
[Controller 2]
Teaching pendant
S1 S2
MPI Connection
0V
24V
Relay
EMG-
[Controller 3]
Teaching pendant
S1 S2
MPI Connection
0V
24V
Relay
EMG-
21
z Connecting the teaching pendant to a SIO converter
Configure the contact circuit for the EMG switch on the teaching pendant using EMG1/EMG2 on the
power/emergency-stop terminal block on the SIO converter.
(S1/S2 on the controller’s terminal block are not used.)
24V 0V
SIO converter
Teaching pendant
EMG signal
EMG2 EMG1
CR
ON
OFF
Port switch
[Controller 1]
MPI
MPO
0V
24V
Relay
CR EMG-
[Controller 2]
MPI
MPO
0V
24V
Relay
EMG-
[Controller 3]
MPI
MPO
0V
24V
Relay
EMG-
22
4.2 External Drive-Power Cutoff Relay Type (PCON-CG)
4.2.1 External Connection Diagram

An example of standard wiring is shown below.
(Note) The encoder cable shown in the example is the standard cable for the controller with the
maximum current of 2 A.
As for the robot cable or the cable for the dedicated controller for the high-thrust type, refer to
4.4.2, “Encoder Relay Cable.”
Controller
SIO PCON-CG
1 (SGA) Connection
detection circuit
2 (SGB)
3 (+5V)
Connected to teaching 4 (ENB)
pendant or PC 5 (EMGA)
6 (+24V)
7 (GND)
8 (EMGB)
Terminal block
Motor drive- S1
power cutoff S2
circuit MPI
MPO
Input power 24V 24V Motor relay cable Actuator
supply 24 0V 0V
VDC FG CB-RCP2-MA ***
EMG - MOT
Orange
Gray
White
Yellow M
Pink Motor
I/O flat cable Yellow (Green)
CB-PAC-PIO *** PIO
1A P24 Encoder relay cable
PG
2A CB-RCP-PA ***
0 V (NPN 5A
specification)
24 V (PNP
Input
specification)
Yellow
20A
24 V (NPN Blue
specification) 1B
0 V (PNP Orange
Output
specification)
Pink
Purple
16B
19B 0V Green Encoder
20B
24-VDC power for Brown
input/output signals
Gray
For details on I/O signal connection, refer to
4.3, “Connecting the I/O Cables.” Red
Holding brake
GND
Brake release switch
24V
23
4.2.2 Wiring the Power Supply/Emergency-Stop Switch
(1) Wiring the power supply
S1
S2
MPI
24 VDC 24V 24V
0V
(2 A max. per controller) 0V
FG EMG-
To connect multiple controllers, provide a relay terminal block.

Use a power cable satisfying the following specifications:
Item Specification
Applicable wire length Single wire: ∅1.0 / Stranded: 0.8 mm2, AWG size 18, (copper wire)
Temperature rating of
60°C or above
insulated sheath
* Use a flathead screwdriver with a blade tip of approx. 2.6 mm to push in the wire.
24
(2) Wiring the motor power cutoff relay
Explained below is a safety circuit conforming to safety category 2.
The user is responsible for implementing additional safety measures in the actual circuit configuration,
such as providing double contactor contacts to prevent fusing.
The circuit illustrated below is for reference purposes only.

• The input side of the motor drive power supply is connected to the MPI terminal, while the output side
is connected to the MPO terminal. Connect a contactor or other contact device to these terminals.
(Note) The rush current must be 8 A or less. The rated current is 2 A.
• The contact for the EMG switch on the teaching pendant is provided by the S1/S2 terminals.
(Note) When connecting the teaching pendant to a SIO converter, the contact for the EMG switch on the
teaching pendant is provided by the EMG1/EMG2 terminals on the SIO converter.
[Example of basic circuit]
Teaching pendant
EMG switch
(3A)
0V 24V
External EMG External EMG
reset switch circuit
S1 Connection
detection circuit
MC
Coil current: 0.1 A or less

S2
MC
MC
MPI
(Rush-in current: 8 A,
rated current: 2 A) MPO
(MAX. 2A) Motor power

24V
supply
Controller power
0V supply
EMG-
PCON-CG controller
25
[Connection example of a multiple-axis configuration]
Input power supply
24V Connect to 24-V terminal

0V Connect to 0-V terminal
[Controller 1] [Controller 2] [Controller 3]
S1 S1 S1
S2 S2 S2
MPI MPI MPI
MPO MPO MPO
24V 24V 24V
0V 0V 0V
EMG- EMG- EMG-
Contactor
EMG signal
External reset switch
Safety relay unit

Phoenix contact (PSR-SCP-24UC-/ESA2/4X1/1X2/B)
26
4.3 Connecting the I/O Cables
z PIO pattern 0 [Standard Type]
Controller end
Host system <PLC> end
Upper PIO (signal abbreviation)
stage Brown 1
+24 [V]
Red 1
+24 [V]
Orange 1
Yellow 1
Green 1
Command position 1
Command position 2 Blue 1
Command position 4 Purple 1
Command position 8 Gray 1

White 1
Command position 16
Black 1
Command position 32
Brown 2
Output side
Red 2
Orange 2
Yellow 2
Brake release
Green 2
Operating mode
Blue 2
Home return
Purple 2
Pause
Gray 2
Start
White 2
Alarm reset
Black 2
Servo ON
Lower
Brown 3
Completed position 1 stage
Red 3
Completed position 2
Orange 3
Yellow 3
Green 3
Blue 3
Purple 3
Input side
Moving
Gray 3
Zone output
Position zone output White 3
Operating mode status Black 3
Home return completion

Brown 4
Position complete Red 4
Ready Orange 4
Emergency stop Yellow 4
Alarm Green 4
Blue 4
LOAD/TRQS
Purple 4
Gray 4
White 4
0 [V]
Black 4
0 [V]
(Note) *STP, *ALM and *EMGS are based on the negative logic.
27
z PIO pattern 1 [Teaching Type]
Host system <PLC> end Controller end
stage Brown 1
+24 [V]
+24 [V] Red 1
Orange 1
Yellow 1
Green 1
Command position 1
Blue 1
Command position 2
Purple 1
Command position 4
Gray 1
Command position 8
White 1
Command position 16
Black 1
Command position 32
Brown 2
Operation mode
Output side
Manual operation Red 2

switching
Orange 2
Jog+
Yellow 2
Jog-
Green 2
Operating mode
Blue 2
Home return
Purple 2
Pause
Start/current- Gray 2
position write
White 2
Alarm reset
Black 2
Servo ON Lower
stage Brown 3
Red 3
Orange 3
Yellow 3
Green 3
Blue 3
Moving Purple 3
Input side
Current operation mode Gray 3
Home return completion Brown 4
Position complete/write Red 4

completion
Orange 4
Ready
Yellow 4
Emergency stop
Green 4
Alarm
Blue 4
Purple 4
Gray 4
White 4
0 [V]
Black 4
0 [V]
28
z PIO pattern 2 [256-piont mode]
PIO (signal abbreviation)
Upper
stage Brown 1
+24 [V]
Red 1
+24 [V]
Orange 1
Yellow 1
Green 1
Command position 1
Blue 1
Command position 2
Purple 1
Command position 4
Gray 1
Command position 8
White 1
Command position 16
Black 1
Command position 32
Brown 2
Command position 64
Output side
Red 2
Command position 128
Orange 2
Yellow 2
Brake release
Green 2
Operating mode
Blue 2
Home return
Purple 2
Pause
Gray 2
Start
White 2
Alarm reset
Black 2
Servo ON Lower
stage Brown 3
Red 3
Orange 3
Yellow 3
Green 3
Blue 3
Purple 3
Input side
Gray 3
White 3
Position zone output
Black 3
Operating mode status
Ready Orange 4

Green 4
Alarm
Blue 4 LOAD/TRQS
Purple 4
Gray 4
White 4
0 [V]
Black 4
0 [V]
29
z PIO pattern 3 [512-piont mode]

stage Brown 1
Red 1
Orange 1
Yellow 1
Green 1
Command position 1
Blue 1
Command position 2
Purple 1
Command position 4
Gray 1
Command position 8
White 1
Command position 16
Black 1
Command position 32
Brown 2
Command position 64
Output side
Red 2
Orange 2
Yellow 2
Brake release
Green 2
Operating mode
Blue 2
Home return
Purple 2
Pause
Gray 2
Start
White 2
Alarm reset
Black 2
Servo ON Lower
stage Brown 3
Red 3
Orange 3
Yellow 3
Green 3
Blue 3
Purple 3
Input side
Gray 3

White 3
Ready Orange 4
Alarm Green 4
Blue 4 LOAD/TRQS
Purple 4
Gray 4
White 4
Black 4
30
z PIO pattern 4 [Solenoid valve mode 1]

stage Brown 1
Red 1
Orange 1
Yellow 1
Green 1
Direct position command 0
Blue 1
Purple 1
Gray 1
White 1
Black 1
Brown 2
Output side
Red 2
Orange 2
Brake release Yellow 2
Operating mode Green 2
Home return Blue 2

Purple 2
Pause
Gray 2
White 2
Alarm reset
Servo ON Black 2
Lower
stage Brown 3
Movement complete 0
Red 3
Movement complete 1
Orange 3
Movement complete 2
Yellow 3
Movement complete 3
Green 3
Movement complete 4
Movement complete 5 Blue 3
Movement complete 6 Purple 3

Input side
Zone output Gray 3
Ready Orange 4
Alarm Green 4
Blue 4 LOAD/TRQS
Purple 4
Gray 4
White 4
Black 4
31
z PIO pattern 5 [Solenoid valve mode 2]
stage Brown 1
Red 1
Orange 1
Yellow 1
Green 1
Rear end move
Blue 1
Front end move
Purple 1
Intermediate point move
Gray 1
White 1
Black 1
Brown 2
Output side
Red 2
Orange 2
Yellow 2
Brake release
Green 2
Operating mode
Blue 2
Purple 2
Gray 2
White 2
Alarm reset
Black 2
Servo ON Lower
stage Brown 3
Rear end detected
Front end detected Red 3
Intermediate point Orange 3

detected
Yellow 3
Green 3
Blue 3
Purple 3
Input side
Gray 3
Zone output
White 3
Position zone output
Black 3
Operating mode status
Brown 4
Red 4
Orange 4
Ready
Yellow 4
Emergency stop
Green 4
Alarm
Blue 4
Purple 4
Gray 4
White 4
Black 4
32
Caution: When performing a continuity check of the flat cable, pay due attention not to expand the female
pins in the connector. It may cause contact failure and disable normal operation of the controller.
Black 4
Lower stage 20A 20B
Brown 3
Black 2
1A 1B
Upper stage
Brown 1
33
4.4 Connecting the Actuator
4.4.1 Motor Relay Cable
• Connect the motor relay cable to the MOT connector.
Signal table for the controller-end connector (CN2)
Pin No. Signal Wire color Description

A1 A Orange Motor drive line (phase –A)
A2 VMM Gray Motor power line
A3 B White Motor drive line (phase –B)
B1 A Yellow Motor drive line (phase +A)
B2 VMM Pink Motor power line
Yellow
B3 B Motor drive line (phase +B)
(Green)
Controller end Actuator end

CN2 pin assignments CN1 pin assignments
1 2 3
4 6
A
CN1
CN2
1 3
B
CB-RCP2-MA***
CN2 CN1
Cable color Signal name Pin name Pin name Signal name Cable color
Orange A A1 1 A Yellow
Gray VMM A2 2 VMM Gray
White B A3 3 A Orange
Yellow A B1 4 B Yellow (Green)
Pink VMM B2 5 VMM Pink
Yellow (Green) B B3 6 B White
Housing: 1-1318119-3 (AMP) Housing: SLP-06V (J.S.T. Mfg.)
Receptacle contact: 1318107-1 Socket contact: BSF-21T-P1.4
34
4.4.2 Encoder Relay Cable
• Connect the encoder relay cable to the PG connector.
Pin No. Signal name Description
1 F.G Shielded wire
2 - (Not used)
3 - (Not used)
4 - (Not used)
5 GND Encoder power output
6 5V
7 VPS Encoder control signal output
8 - (Reserved)
9 EN B Encoder differential signal phase-B input
10 EN B
11 EN A Encoder differential signal phase-A input
12 EN A
13 BK - Negative side of the brake power supply
14 BK + Positive side of the brake power supply
15 LS - Home check sensor
16 LS +

1 2 1 10
CN1
CN2
Standard cable CB-RCP2-PA***

Robot cable CB-RCP2-PA***-RB
15 16 9 18
Cable color Signal Pin

Robot cable Standard cable name name
Pin Signal Cable color

name name Standard cable Robot cable
Purple Red Brown Blue
White (with purple) Gray Green White (with blue)
Blue Brown Purple Yellow
White (with blue) Green Pink White (with yellow)
Yellow Purple
White (with yellow) Pink
(Reserved)
Green Yellow
Red Orange Blue White (with red)
White (with red) Blue Orange Red
Yellow Green
Drain Drain
Housing: PHDR-16VS (J.S.T. Mfg.)

Red Purple
Contact: SPHD-001T-P0.5
Gray White (with purple)
Drain Drain
Housing: XMP-18V (J.S.T. Mfg.)
Contact: BXA-001T-P0.6
Retainer: XMS-09V
35
4.4.3 Encoder Relay Cable [Large-capacity 6-A Type Controller]
• Connect the encoder relay cable to the ENC connector.
Pin No. Signal name Description
1 F.G Shielded wire
2 - (Not used)
3 - (Not used)
4 5V Encoder power output
5 GND
6 - (Not used)
7 VPS Encoder control signal output
8 - (Reserved)
9 EN B Encoder differential signal phase-B input
10 EN B
11 EN A Encoder differential signal phase-A input
12 EN A
13 BK - Negative side of the brake power supply
14 BK + Positive side of the brake power supply
15 - (Reserved)
16 - (Reserved)

1 2 1 10
CN1
CN2
Standard cable CB-RFA-PA***

Robot cable CB-RFA-PA***-RB
15 16 9 18
Cable color Signal Pin

Robot cable Standard cable name name
(Reserved) Pin Signal Cable color
(Reserved) name name Standard cable Robot cable
Purple Red Brown Blue
White (with purple) Gray Green White (with blue)
Blue Brown Purple Yellow
White(with blue) Green Pink White (with yellow)
Yellow Purple
White (with yellow) Pink
(Reserved)
Green Yellow
Blue White (with red)
White (with red) Blue
Red Orange Yellow Green
Orange Red
Drain Drain
Housing: PHDR-16VS (J.S.T. Mfg.)

Red Purple
Contact: SPHD-001T-P0.5
Gray White (with purple)
Drain Drain
Housing: XMP-18V (J.S.T. Mfg.)

Contact: BXA-001T-P0.6
Retainer: XMS-09V
36
4.5 Connecting the Communication Cable
Connect the communication cable to the SIO connector.
Pin assignments of the

cable-end connector
RS485 conversion adapter end Controller end
CB-RCA-SIO*** 6 8
3 5
1 2
Cable color Signal name Pin No. Pin No. Signal name Cable color
Brown 5V 1 1 SGA Yellow
Yellow SGA 2 2 SGB Orange
Red GND 3 3 5V Brown/Green
Orange SGB 4 4 EMGS -
Blue GND 5 5 EMGA Black
Green 5V 6 6 24V -
7 GND Red/Blue
Shorting wire UL1004AWG28 (black) 8 EMGB Black
Shielded, not connected FG Shielded
37
5. I/O Signal Control and Signal Functions
5.1 Interface Circuit
The standard interface specification of the controller is NPN, but the PNP specification is also available as
an option.
To prevent confusion during wiring, the NPN and PNP specifications use the same power line
configuration. Accordingly, there is no need to reverse the power signal assignments for a PNP controller.
5.1.1 External Input Specifications
Item Specification
Number of input points 16 points
Input voltage 24 VDC ± 10%
Input current 5 mA/point
ON voltage: Min. 18 V (3.5 mA)
Operating voltage
OFF voltage: Max. 6 V (1 mA)
Leak current 1 mA or less/point
Insulation method Photocoupler
Internal circuit configuration

[NPN specification] Controller
P24V
Internal circuit
External power supply R=680 Ω

R =22 kΩ
+24V
C=0.1 µF
Each input R=5.6 kΩ
[PNP specification] Controller
N Internal circuit
External power supply R=68 Ω

R=22 kΩ
+24V
C=0.1 µF
Each input R=5.6 kΩ
38
5.1.2 External Output Specifications
Item Specification
Number of output points 16 points
Rated load voltage 24 VDC
Maximum current 50 mA/point
Residual voltage 2V or less
Insulation method Photocoupler
Internal circuit configuration

[NPN specification]
Controller
P24V
Load
Internal circuit
Each output
Load
External power
supply
+24V
N
[PNP specification]
Controller
Internal circuit P24V
External power
supply
+24V
Load
Each output
Load
39
5.2 PIO Patterns and Signal Assignments
This controller provides six PIO pattern types to meet the needs of various applications.
To select a desired type, set a corresponding value from 0 to 5 in parameter No. 25 (PIO pattern
selection).
The features of each PIO pattern are explained below:
Parameter No.
25 setting
0 Positioning mode (Standard type)
* How to set zone boundaries within which to output a zone signal:
Zone boundaries are set using parameter Nos. 1 and 2 for one zone output, and in the
position table for another zone output.
1 Teaching mode (Teaching type)
In addition to the normal positioning mode, the user can also select the teaching mode
in which the actuator can be jogged via I/Os and the current actuator position can be
written to a specified position.
(Note) Positions can be rewritten by approximately 100,000 times.
2 256-point mode (256-point positioning type)
The number of positioning points is increased to 256, so only one zone output is
3 512-point mod (512-point positioning)
4 Solenoid valve mode 1 (7-point type)
The number of positioning points is limited to seven to offer separate direct command
inputs and movement complete outputs.
5 Solenoid valve mode 2 (3-point type)
Movement complete output signals function differently in this type, compared to the 7-
point type.
Specifically, the signal functions not only to “indicate movement complete,” but also to
“detect a position” in the same manner as auto-switches of an air cylinder. Push & hold
operation cannot be performed.
Quick reference table for functions available under each PIO pattern ({: Available, X: Not available)
Input signals Output signals
Number of
Current-
No. 25 positioning Brake Home Position
Jog position Zone Ready
points release return zone
write
0 64 points { { x x { { {
1 64 points x { { { x { {
2 256 points { { x x x { x
3 512 points { { x x x x x
4 7 points { { x x { { x
5 3 points { x x x { { x
(Note) For “Zone” and “Position zone,” different methods are used to set boundaries defining the range
within which the zone signal will turn ON.
“Zone” is set by parameter Nos. 1 and 2, and thus its setting will become effective after home
return is completed.
“Position zone” is set in the “Zone+” and “Zone-“ fields for each position number in the position
table, and thus its setting will become effective after a movement command is input.
40
5.2.1 Explanation of Signal Names
The following explains the signal names, and gives a function overview of each signal.
In the explanation of operation timings provided in a later section, each signal is referenced by its self-
explanatory name for clarity. If necessary, however, such as when marker tubes are inserted as a
termination of the flat cable, use the signal abbreviations.
z PIO pattern = 0: Positioning mode [Standard type]

Signal
Category Signal name Function overview
abbreviation
PC1
PC2
The target position number is input.
Command position PC4
A command position number must be specified by 6 ms before the
number PC8 start signal (CSTR) turns ON.
PC16
PC32
This signal is used on an actuator equipped with a brake to forcibly
Input Brake release BKRL
release the brake.
Operating mode RMDO This signal switches the operating mode between AUTO and MANU.
Home return HOME Home return operation is started at a rise edge of this signal.
*Pause *STP ON: Actuator can be moved, OFF: Actuator decelerates to a stop
Start CSTR The actuator will start moving at a rise edge of this signal.
Alarm reset RES An alarm is reset at a rise edge of this signal.
The servo remains ON while this signal is ON.
Servo ON SON
The servo remains OFF while this signal is OFF.
PM1
PM2 The relevant position number is output when positioning has
completed.
Completed position PM4
The signal will turn OFF when the next start signal is received.
number PM8 It is used by the PLC to check if the commanded position has
PM16 definitively been reached, and also to provide a position interlock, etc.
PM32
This signal will remain ON while the actuator is moving, and OFF
Moving MOVE while the actuator is standing still.
It is used to determine whether the actuator is moving or paused.
This signal becomes effective after home return. It will turn ON when
Zone ZONE1 the current actuator position enters the range set by the parameters
and remain ON until the actuator exits the range.
This signal becomes effective after a position movement command is
input. It will turn ON when the current actuator position enters the
Position zone PZONE
range specified in the position table and remain ON until the actuator
exits the range.
This signal will remain OFF during the AUTO mode, and ON during
Output Operating mode status RMDS
the MANU mode.
Home return This signal is OFF immediately after the power is input, and turns ON
HEND
completion when home return has completed.
This signal turns ON when the target position was reached and the
Position complete PEND actuator has entered the specified in-position range.
It is used to determine whether positioning has completed.
This signal is always output once the servo is turned ON and the
Ready SV
controller is ready to operate.
When this signal is OFF, it means that an emergency stop is being
*Emergency stop *EMGS
actuated.
This signal remains ON in normal conditions of use and turns OFF
*Alarm *ALM
when an alarm generates.
This signal will turn ON when the command torque exceeds the
Load output judgment
LOAD threshold while the actuator is inside the check range.
status Note) Dedicated output signal for the PCON-CF
This signal will turn ON when the motor current reaches the
Torque level status TRQS threshold.
Note) Dedicated output signal for the PCON-CF
41
z PIO pattern = 1: Teaching mode [Teaching type]
Signal
abbreviation
PC1
PC2
A command position number must be specified by 6 ms before
number PC8
the start signal (CSTR) turns ON.
PC16
PC32
Operation mode MODE Mode selection (ON: Teaching mode, OFF: Normal mode)
Jog/inching switching JISL OFF: Jog, ON: Inching
The actuator will start jogging or inching in the positive
+jog/inching movement JOG+
direction at an ON edge of this signal.
The actuator will start jogging or inching in the negative
-jog/inching movement JOG-
direction at an ON edge of this signal.
Input
Operating mode RMDO This signal switches the operating mode between AUTO
and MANU.
ON: Actuator can be moved, OFF: Actuator decelerates to a
*Pause *STP
stop
When this signal has remained ON for 20 msec or longer, the
Current-position write PWRT current position will be stored under the position number
selected by PC1 to PC32.
Servo ON SON
PM2 completed.
Completed position PM4 The signal will turn OFF when the next start signal is received.
PM16 definitively been reached, and also to provide a position
PM32 interlock, etc.
This signal will remain ON while the actuator is moving, and
OFF while the actuator is standing still.
Moving MOVE
It is used to determine whether the actuator is moving or
paused.
Mode status MODES ON: Teaching mode, OFF: Normal mode
This signal becomes effective after a position movement
command is input. It will turn ON when the current actuator
Position zone PZONE
position enters the range specified in the position table and
remain ON until the actuator exits the range.
Output
This signal will remain OFF during the AUTO mode, and ON
Operating mode status RMDS
during the MANU mode.
Home return This signal is OFF immediately after the power is input, and
HEND
completion turns ON when home return has completed.
This signal turns ON when the target position was reached
Position complete PEND and the actuator has entered the specified in-position range.
This signal is output upon completion of writing to the
Write completion WEND nonvolatile memory in response to a current-position write
command (PWRT).
This signal is always output once the servo is turned ON and
Ready SV
the controller is ready to operate.
*Emergency stop *EMGS OFF: Emergency stop has been actuated
This signal remains ON in normal conditions of use and turns
*Alarm *ALM
OFF when an alarm generates.
42
z PIO pattern = 2: 256-point mode [256-point type]
Signal
abbreviation
PC1
PC2
PC4
A command position number must be specified by 6 ms before
number PC16
the start signal (CSTR) turns ON.
PC32
PC64
PC128
This signal is used on an actuator equipped with a brake to
Brake release BKRL
Input forcibly release the brake.
This signal switches the operating mode between AUTO and
Operating mode RMDO
MANU.
*Pause *STP
stop
Servo ON SON
PM1
PM4 completed.
Completed position PM8 The signal will turn OFF when the next start signal is received.
PM128
Position zone PZONE
Output Home return This signal is OFF immediately after the power is input, and
HEND
This signal turns ON when the target position was reached
Ready SV
*Alarm *ALM
This signal will turn ON when the command torque exceeds
LOAD the threshold while the actuator is inside the check range.
status
43
z PIO pattern = 3: 512-point mode [512-point type]
Signal
abbreviation
PC1
PC2
PC4
PC8 The target position number is input.
Command position
PC16 A command position number must be specified by 6 ms before
number
PC32 the start signal (CSTR) turns ON.
PC64
PC128
PC256
Input This signal is used on an actuator equipped with a brake to
Brake release BKRL
forcibly release the brake.
Operating mode RMDO
MANU.
*Pause *STP
stop
Servo ON SON
PM1
PM2
completed.
PM8
Completed position The signal will turn OFF when the next start signal is received.
PM16
number It is used by the PLC to check if the commanded position has
PM128
PC256
HEND
Output This signal turns ON when the target position was reached
Ready SV
*Alarm *ALM
status
44
z PIO pattern = 4: Solenoid valve mode 1 [7- point type]
Signal
abbreviation
Direct position The actuator will start moving to position No. 0 at a rise edge of this
ST0 signal.
command 0
ST1 signal.
command 1
ST2 signal.
command 2
ST3 signal.
command 3
ST4 signal.
command 4
ST5 signal.
Input command 5
ST6 signal.
command 6
This signal is used on an actuator equipped with a brake to forcibly
Brake release BKRL release the brake.
Operating mode RMDO This signal switches the operating mode between AUTO and MANU.
*Pause *STP ON: Actuator can be moved, OFF: Actuator decelerates to a stop
Start CSTR Movement is started at a rise edge of this signal.
Servo ON SON The servo remains OFF while this signal is OFF.
This signal will turn ON when the actuator completes moving to
Movement complete 0 PE0 position No. 0.
This signal becomes effective after home return. It will turn ON when
Zone ZONE1 the current actuator position enters the range set by the parameters
and remain ON until the actuator exits the range.
This signal becomes effective after a position movement command is
input. It will turn ON when the current actuator position enters the
Position zone PZONE range specified in the position table and remain ON until the actuator
Output exits the range.
This signal will remain OFF during the AUTO mode, and ON during
Operating mode status RMDS the MANU mode.
This signal is OFF immediately after the power is input, and turns ON
Home return completion HEND when home return has completed.
This signal is used to determine if the controller is ready following the
power on.
Position complete PEND The controller is ready to perform operation if an emergency stop is
not actuated, motor drive power is not cut off (= the servo is on) and
the pause signal is input.
This signal is always output once the servo is turned ON and the
Ready SV controller is ready to operate.
This signal remains ON in normal conditions of use and turns OFF
*Alarm *ALM when an alarm generates.
This signal will turn ON when the command torque exceeds the
LOAD threshold while the actuator is inside the check range.
status Note) Dedicated output signal for the PCON-CF
This signal will turn ON when the motor current reaches the threshold.
Torque level status TRQS
45
z PIO pattern = 5 Solenoid valve mode 2 [3-point type]
Signal
abbreviation
Rear end move The actuator will move toward the rear end while this signal
ST0
command remains at ON level.
Front end move The actuator will move toward the front end while this signal
ST1
command remains at ON level.
Intermediate point The actuator will move toward the intermediate point while this
ST2
move command signal remains at ON level.
Input This signal is used on an actuator equipped with a brake to
Brake release BKRL
forcibly release the brake.
Operating mode RMDO
MANU.
Servo ON SON
Rear end detected LS0 This signal will remain ON while the rear end is recognized.
(This signal is not output during push & hold operation.)
Front end detected LS1 This signal will remain ON while the front end is recognized.
(This signal is not output during push & hold operation.)
Intermediate point LS2 This signal will remain ON while the intermediate point is
detected recognized. (This signal is not output during push & hold
operation.)
This signal becomes effective after home return. It will turn ON
Zone ZONE1 when the current actuator position enters the range set by the
parameters and remain ON until the actuator exits the range.
Position zone PZONE
Output This signal will remain OFF during the AUTO mode, and ON
HEND
Ready SV
*Alarm *ALM
status
46
5.2.2 Signal Assignment Table for Respective PIO Patterns
When creating a PLC sequence or wiring signals, assign each pin correctly by referring to the assignment
table below.
When “1 [Teaching type]” is selected, the meaning of each pin number will vary depending on the mode.
Accordingly, also pay due attention to the mode switch timings.
Pin Parameter No. 25 setting
Category Wire color
No. 0 1 2 3 4 5
Upper stage
1A +24V Brown - 1 P24
2A Red - 1
3A Orange - 1 (Not used)
4A Yellow - 1 (Not used)
5A Green - 1 PC1 PC1 PC1 PC1 ST0 ST0
6A Blue - 1 PC2 PC2 PC2 PC2 ST1 ST1 (JOG+)
7A Purple - 1 PC4 PC4 PC4 PC4 ST2 ST2 (-)
8A Gray - 1 PC8 PC8 PC8 PC8 ST3 -
9A White - 1 PC16 PC16 PC16 PC16 ST4 -
10A Black - 1 PC32 PC32 PC32 PC32 ST5 -
11A Brown - 2 - MODE PC64 PC64 ST6 -
12A Red - 2 - JISE PC128 PC128 - -
Input
13A Orange - 2 - JOG+ - PC256 - -
14A Yellow - 2 BKRL JOG- BKRL BKRL BKRL BKRL
15A Green - 2 RMOD
16A Blue - 2 HOME -
17A Purple - 2 *STP -
18A Gray - 2 CSTR CSTR/PWRT CSTR CSTR - -
19A White - 2 RES
20A Black - 2 SON
Lower stage
PM1 PM1 PM1 PM1 PE0 LS0
1B Brown - 3
2B Red - 3 PM2 PM2 PM2 PM2 PE1 LS1 (TRQS)
3B Orange - 3 PM4 PM4 PM4 PM4 PE2 LS2 (-)
4B Yellow - 3 PM8 PM8 PM8 PM8 PE3 -
5B Green - 3 PM16 PM16 PM16 PM16 PE4 -
6B Blue - 3 PM32 PM32 PM32 PM32 PE5 -
7B Purple - 3 MOVE MOVE PM64 PM64 PE6 -
8B Gray - 3 ZONE1 MODES PM128 PM128 ZONE1 ZONE1
Output
9B White - 3 PZONE PZONE PZONE PM256 PZONE PZONE
10B Black - 3 RMDS
11B Brown - 4 HEND
12B Red - 4 PEND PEND/WND PEND PEND PEND -
13B Orange - 4 SV
14B Yellow - 4 *EMGS
15B Green - 4 *ALM
16B Blue - 4 LOAD/TRQS - LOAD/TRQS LOAD/TRQS LOAD/TRQS -
17B Purple -4 (Not used)
18B Gray - 4 (Not used)
19B White - 4
0V 0V
20B Black - 4
Caution: [1] The signals indicated by * in the table (*ALM, *STP and *EMGS) are based on the
negative logic, meaning that they remain ON in normal conditions of use.
[2] Do not connect pins denoted by “Not used” (orange-1, yellow-1, blue-4, purple-4, gray-
4), but insulate them instead.
[3] The NPN and PNP specifications use the same power line configuration, so there is no
need to reverse the power signal assignments for a PNP controller.
[4] The LOAD/TRQS signal is available only with the PCON-CF controller.
47
5.3 Details of I/O Signal Functions
An input time constant is provided for the input signals of this controller, in order to prevent malfunction
due to chattering, noise, etc.
Except for certain signals, switching of each input signal will be effected when the signal has been
received continuously for at least 6 msec. For example, when an input is switched from OFF to ON, the
controller will only recognize that the input signal is ON after 6 msec. The same applies to switching of
input signals from ON to OFF (Fig. 1).
Input signal
Not recognized Not recognized
Recognition by controller
6 [msec] 6 [msec]
Fig. 1 Recognition of Input Signal
5.3.1. Details of Each Input Signal
Operating mode (RMOD)

This controller has a mode selector switch on the front panel of the controller to prevent malfunction and
data loss due to duplicate operations.
Normally this switch should be set to the “AUTO” position when the actuator is operated in the auto mode
using I/O signals exchanged with a PLC, or to the “MANU” position when the actuator is operated
manually using a PC or teaching pendant.
If the controller is mounted in a control panel, however, this switch is not readily accessible. Accordingly, a
function has been added to allow the setting of this switch to be changed from a PLC for added
convenience.
Specifically, the internal operating mode of the controller will become “AUTO” when this signal is turned
OFF, or “MANU” when this signal is turned ON, if the mode selector switch is set to the “AUTO” position.
If the mode selector switch is set to the “MANU” position, the internal operating mode of the controller will
remain “MANU” regardless of the status of this signal.
Use this signal in applications where the operation mode must be switched frequently between auto and
manual and the selector switch is provided on the equipment side.
Start (CSTR)
Upon detecting an OFF Æ ON rise edge of this signal, the controller will read, as a binary code, the target
position number consisting of six bits from PC1 to PC32 (or eight bits from PC1 to PC128 when the PIO
pattern is “256-point type,” or nine bits from PC1 to PC256 when the PIO pattern is “512-point type”),
and execute positioning to the target position of the corresponding position data.
Before executing this command, the target position, speed and other operation data must be set in the
position table using a PC/teaching pendant.
If a start command is issued when home return operation has not been performed yet after the power was
input (the HEND output signal is OFF), the controller will automatically perform home return operation
before positioning to the target position.
Command position number (PC1 to PC256)

When a movement command is effected upon OFF → ON of the start signal, the nine-bit binary code
consisting of signals PC1 to PC256 will be read as the command position number.
In the standard or teaching type, six bits of PC1 through PC32 are used. In the 256-point type, eight bits of
PC1 to PC128 are used. In the 512-point type, nine bits of PC1 through PC256 are used.
The weight of each bit is as follows: 20 for PC1, 21 for PC2, 22 for PC4, …, and 29 for PC256. A desired
position number between 0 and 511 (maximum) can be specified.
48
Pause (*STP)
When this signal turns OFF while the actuator is moving, the actuator will decelerate to a stop.
The remaining movement is retained and will be resumed when the signal is turned ON again.
To abort the movement command, turn ON the alarm reset signal while this signal is OFF to cancel the
remaining movement.
The *STP signal can be used for the following purposes:
[1] Provide a low-level safety measure to stop the axis while the servo is ON, such as a sensor that
detects a person approaching the system
[2] Prevent contact with other equipment
[3] Perform positioning based on sensor or LS detection
(Note) If the *STP signal is input while the actuator is performing home return, the movement command
will be retained if the actuator is yet to contact a mechanical end. If the signal is input after the
actuator has reversed upon contacting a mechanical end, home return will be performed again
from the beginning.
Home return (HOME)

The controller will start home return operation upon detection of an OFF → ON edge of this signal.
When the home return is complete, the HEND signal will be output. The HOME signal can be input as
many times as required.
Servo ON (SON)
When the power is turned on, make sure this signal will turn ON after the safety of the entire equipment is
ensured, i.e., after a confirmation that the actuator will not contact surrounding equipment.
If the SON signal need not be used in view of the nature of the equipment, you can disable the signal
using parameter No. 21.
When this signal is disabled, the servo will turn on automatically after the power is turned on.
The factory setting is to enable the SON signal.
Alarm reset (RES)

This signal provides two functions.
[1] Reset the alarm output signal (*ALM) that turned OFF due to an alarm
If an alarm has generated, turn ON this signal after confirming the nature of the alarm.
The controller will reset the alarm upon detection of a rise edge of the RES signal.
(Note) Certain alarms cannot be reset by the RES signal. For details, refer to 10, “Troubleshooting.”
[2] Cancel the remaining movement when the pause signal is OFF
This function is used when the remaining movement must be cancelled to allow for incremental
moves (movements at a constant increment) from the position where the actuator stopped following a
sensor detection.
49
Brake release (BKRL)
When the actuator is equipped with a brake, you may want to forcibly release the brake in certain
situations such as when starting up the system for the first time. Normally the brake release switch on the
front panel of the controller is set to the “RLS” side to release the brake. For added convenience, the
brake can now be released from the PLC.
If this signal is ON while the servo is off, the brake is released.
Use this signal to provide a release switch near the actuator when the actuator is located away from the
controller.
Operation mode (MODE)

This signal is effective when the teaching type is selected.
When this signal is turned ON while the actuator is standing still, the normal operation mode will change to
the teaching mode.
The controller will turn ON the MODES output signal upon receiving this signal.
Program the PLC so that it will accept a current-position write command after confirming that the MODES
output signal is ON.
When this signal is turned OFF, the controller will return to the normal operation mode.
Current-position write (PWRT)

This signal is enabled when the aforementioned MODES output signal is ON.
When this signal has remained ON for 20 msec or longer, the controller will read the position number
specified by a binary code consisting of PC1 through PC32 as currently detected, and write the current
position data in the “Position” field of the corresponding position number.
If data of other items (speed, acceleration/deceleration, positioning band, etc.) are yet to be defined, the
default settings of the corresponding parameters will be written.
When the writing completes successfully, the WEND output signal will turn ON.
Configure the system in such a way that the PLC will turn OFF the PWRT signal when WEND turns ON.
The controller will turn OFF WEND once the PWRT signal turns OFF.
(Note) An alarm will generate if a write command is issued when home return has not been performed
yet or while the actuator is moving.
Manual operation switching (JISL)

This signal is enabled when the teaching type is selected.
The JISL signal is used to switch operations in the manual mode. Specifically, the actuator will jog when
this signal is OFF, or inch when this signal is ON.
If this signal is turned ON while the actuator is jogging, the actuator will decelerate to a stop.
If this signal is turned OFF while the actuator is inching, the actuator will continue with its inching
movement.
50
Jog (JOG+, JOG-)
When the actuator is jogging (i.e., the JISL signal is OFF), it will jog toward the +/- software stroke limit
upon detection of an OFF Æ ON rise edge of this signal.
If an ON Æ OFF fall edge of this signal is detected while the actuator is moving, the actuator will
decelerate to a stop.
The jogging speed is defined by parameter No. 26, “PIO jog speed.”
* If any of the following input signal changes occurs while the actuator is jogging, the actuator will
decelerate to a stop:
[1] Both the JOG+ and JOG- signals have turned ON.
[2] The JISL signal has turned ON (i.e., the operation mode has changed to inching).
[3] The CSTR signal has turned ON (i.e., a positioning command has been input).
Upon detection of an OFF Æ ON rise edge of this signal while the actuator is inching (i.e., the JISL signal
is ON), the actuator will travel the distance defined in parameter No. 48, “PIO inching distance.”
The actuator will continue with its inching movement if this signal is switched while the actuator is inching.
Caution: If jogging or inching is performed before a home return is completed, the actuator may
collide with a mechanical end because the software stroke limits are not yet effective.
Exercise due caution.
Direct position command (ST0 to ST6) [7-point type]

These signals are effective when “4” is set in parameter No. 25.
Upon detection of an OFF Æ ON rise edge of this signal or detection of the ON level of the signal, the
actuator will move to the target position set in the corresponding position data.
Before executing this command, the target position, speed and other operation data must be set in the
position table using a PC/teaching pendant.
If ON edges of two or more signals are detected at the same time, priority will be given to the position
command of the smallest number among all detected command signals. (Example: If ON edges of ST0
and ST1 signals are detected at the same time, the actuator will start moving to position 0.)
Although commands are executed upon detection of an ON signal edge, priority is given to the command
that was specified the earliest. In other words, a signal input will not be accepted while the actuator is
moving. Even if a different position signal is turned ON while the actuator is moving, the actuator will not
commence moving to the new position after reaching the target position.
Correspondence table of input signals and command positions

Input signal Command position
ST0 Position No. 0
ST1 Position No. 1
ST2 Position No. 2
ST3 Position No. 3
ST4 Position No. 4
ST5 Position No. 5
ST6 Position No. 6
If a movement command is issued when the first home return is not yet completed after the power was
input, home return will be performed automatically to establish the coordinates first, after which the
actuator will move to the target position.
51
Movement to each position (ST0 to ST2) [3-point type]
Since the number of positioning points is limited to three, the actuator can be controlled just like an air
cylinder.
While this signal is ON, the actuator will move toward the target position.
If the signal turns OFF while the actuator is moving, the actuator will decelerate to a stop.
Before executing this command, enter a target position in the “Position” field for position No. 0, 1 or 2 in
the position table.
Input signal Target position Remarks
ST0 Rear end The target position is defined in the “Position” field for position No. 0.
ST1 Front end The target position is defined in the “Position” field for position No. 1.
ST2 Intermediate point The target position is defined in the “Position” field for position No. 2.
52
5.3.2 Details of Each Output Signal
Operating mode status (RMDS)

The internal operating mode of the controller is output based on the AUTO/MANU selector switch on the
controller and the RMOD signal received by the input port. If the selector switch is set to “AUTO” and the
RMOD signal is OFF (AUTO), the controller is in the AUTO (OFF) mode. If the selector switch is set to
“MANU” and/or the RMOD signal is ON (MANU), the controller is in the MANU (ON) mode.
Completed position number (PM1 to PM256)

These signals can be used to check the completed position number when the PEND signal turns ON.
The signals are output as a binary code.
Immediately after the power is input, all of the PM1 to PM256 signals are OFF.
In the standard or teaching type, six bits of PM1 through PM32 are used. In the 256-point type, eight bits
of PM1 through PM128 are used. In the 512-point type, nine bits of PM1 through PM256 are used.
All of these signals are OFF also when the actuator is moving.
As described above, this signal is output only when positioning is completed.
(Note) All of these signals will turn OFF when the servo is turned OFF or an emergency stop is actuated.
They will return to the ON status when the servo is turned ON again, provided that the current
position is inside the in-position range with respect to the target position. If the current position is
outside the range, the signals will remain OFF.
When the power is input, the PEND signal will turn ON. These signals are all OFF, this condition is
the same as one achieved after positioning to position “0” is completed.
Check the position of position 0 after the movement command has completed.
If an alarm is present, the corresponding alarm code (abbreviated form) consisting of four bits from PM1 to
PM8 will be output.
The meanings of these signals vary between the normal condition and the alarm condition, so be careful
not to use them wrongly in the sequence.
Moving (MOVE)
This signal is output while the servo is ON and the actuator is moving (also during home return, push &
hold operation or jogging).
Use the MOVE signal together with the PEND signal to allow the PLC to determine the actuator status.
The MOVE signal will turn OFF after positioning or home return is completed or a judgment is made
during push & hold operation that the load is being contacted.
Position complete (PEND)

This signal indicates that the target position was reached and positioning has completed.
Use the PEND signal together with the MOVE signal to allow the PLC to determine the positioning status.
When the controller becomes ready after the power was input and the servo has turned ON, this signal will
turn ON if the position deviation is within the in-position range.
Then, when a movement command is issued by turning ON the start signal, the PEND signal will turn
OFF. It will turn ON again when the deviation from the target position falls within the in-position range.
Once turned ON, the PEND signal will not turn OFF even when the position deviation subsequently
exceeds the in-position range.
(Note) If the start signal remains ON, the PEND signal will not turn OFF even when the deviation from the
target position falls within the in-position range: it will turn ON when the start signal turns OFF.
Even when the motor is stopped, the PEND signal will remain OFF if the pause signal is input or
the servo is OFF.
53
Home return completion (HEND)
This signal is OFF immediately after the power is input, and turns ON in either of the following two
conditions:
[1] Home return operation has completed with respect to the first movement command issued with the
start signal.
[2] Home return operation has completed following an input of the home return signal.
Once turned ON, the HEND signal will not turn OFF unless the input power supply is cut off, a soft reset is
executed, or the home return signal is input again.
The HEND signal can be used for the following purposes:
[1] Check prior to establishing the home if movement toward the home direction is permitted, in cases
where an obstacle is located in the direction of the home
[2] Use as a condition for writing the current position in the teaching mode
[3] Use as a condition for enabling the zone output signal
Zone (ZONE1, ZONE2)

[1] ZONE1
This signal will remain ON while the current actuator position is inside the zone specified by Parameter
No. 1, “Zone boundary+” and Parameter No. 2, “Zone boundary-,” or OFF while the actuator is outside this
range. This signal is always effective once home return has been completed and is not affected by the
servo status or presence of an alarm.
(Note) This signal becomes effective only after the coordinate system has been established following a
completion of home return. It will not be output immediately after the power is turned on.
[2] PZONE
This signal will turn ON when the current actuator position enters the area between the zone boundaries
set in the position table. After the current position movement command is completed, the signal will remain
effective until the next position movement command is received.
Current operation mode (MODES)

The MODES signal will turn ON when the teaching mode is enabled upon selection of the teaching mode
via the operation mode input signal (MODE signal ON).
Thereafter, the MODES signal will remain ON until the MODE signal turns OFF.
Configure the system in such a way that the PLC will start teaching operation after confirming that the
MODES signal has turned ON.
Write completion (WEND)

This signal is enabled only when the teaching type is selected.
The WEND signal is OFF immediately after the controller has switched to the teaching mode. It will turn
ON when the writing of position data in response to the current-position write signal is completed.
When the current-position write signal turns OFF, this signal will also turn OFF.
Configure the system in such a way that the PLC will acknowledge completion of writing when the WEND
signal turns OFF.
54
Movement complete at each position (PE0 to PE6) [7-point type]
When PIO pattern is “4,” a position number (0 through 6) corresponding to each movement command will
be output upon completion of positioning. Simple alarm-code output function is not provided for these
signals. If an alarm generates, only the *ALM signal will turn OFF. Check the details of the alarm code
using each tool.
Correspondence table of output signals and positions completed

Output signal Position completed
PE0 Position No. 0
PE1 Position No. 1
PE2 Position No. 2
PE3 Position No. 3
PE4 Position No. 4
PE5 Position No. 5
PE6 Position No. 6
Note) These signals turn OFF when the servo is turned OFF or an emergency stop is actuated. They will
return to the ON status when the servo is turned ON again, provided that the current position is
inside the in-position range with respect to the target position. If the current position is outside the
range, the signals will remain OFF.
Position detection output at each position (LS0 to LS2) [3-point type]

These signals have the same meanings as the LS signals of an air cylinder. Each signal will turn ON when
the current position enters the positioning band of the target position.
(Note) Even if the servo turns off or an emergency stop is actuated while the actuator is stopped at the
target position, the signal will remain ON as long as the actuator is inside the positioning band.
Output signal Position detected Remarks
The detection position is defined in the “Position” and “Positioning
ST0 Rear end
band” fields for position No. 0.
ST1 Front end
ST2 Intermediate point
Ready (SV)
This is a monitor signal indicating that the servo is ON and the motor is ready.
Use this signal as a condition for starting a movement command on the PLC side.
Alarm (*ALM)
This signal remains ON while the controller is operating properly, and turns OFF when an alarm has
generated.
Provide an appropriate safety measure for the entire system by allowing the PLC to monitor the OFF
status of this signal.
For details of alarms, refer to 10, “Troubleshooting.”
55
Emergency stop (*EMGS)
This signal remains ON while the controller is normal, and will turn OFF if the emergency stop circuit is cut
off.
Program the PLC so that it will monitor this signal and implement appropriate safety measures for the
entire system if the signal turns OFF.
Load output judgment status (LOAD) * This is a dedicated signal available only with the PCON-CF.
If used in a press-fitting application, the controller must be able to know if the specified load threshold was
reached during push & hold operation.
A desired load threshold and check band range are set in the position table, and this signal will turn ON
when the command torque exceeds the threshold while the actuator is inside the check band range.
With the LOAD signal, judgment is made based on whether the total duration of periods in which the
command torque has exceeded the threshold corresponds at least to a specified time. The specific
processing procedure is the same as the one used when determining a completion of push action. The
time used for judgment of load output can be changed freely using user parameter No. 50, “Load output
judgment time.”
Torque level status (TRQS) * This is a dedicated signal available only with the PCON-CF.
If a load threshold is set, this signal will turn ON when the motor current reaches the load threshold while
the actuator is moving.
Since the level of current is monitored, the ON/OFF status of this signal will change when the current
changes.
In the weak field-magnet vector control used for stepping motors, the balance of current and torque will be
lost once a specific speed is exceeded. To use the command current to determine if the threshold has
been reached, therefore, the push speed must be limited. Note, however, that the range of permissible
push speeds varies depending on the motor and lead, which means that the push speed set in user
parameter No. 34 must also be adjusted according to the applicable motor and lead.
Output Signal Changes in Each Mode

PM1 ~
Mode classification MOVE PEND SV HEND
PM256
Actuator is stopped with the servo ON after the power
OFF ON ON OFF OFF
was input
Home return is in progress following an input of the
ON OFF ON OFF OFF
home return signal
Home return has completed following an input of the
OFF ON ON ON OFF
home return signal
Actuator is moving in the positioning/push & hold mode ON OFF ON ON OFF
Actuator is paused in the positioning/push & hold mode OFF OFF ON ON OFF
Positioning has completed in the positioning mode OFF ON ON ON ON
Actuator has stopped after contacting the load in the
OFF ON ON ON ON
push & hold mode
Actuator has stopped after missing the load (no load) in
OFF OFF ON ON ON
the push & hold mode
Actuator is stopped with the servo ON in the teaching
OFF ON ON
mode
Actuator is jogging in the teaching mode ON ON ON
Actuator is being moved by hand with the servo OFF in
OFF OFF ON
the teaching mode
Servo is OFF after home return OFF OFF OFF ON OFF
Emergency stop has been actuated after home return OFF OFF OFF ON
(Note) Determine whether the actuator has stopped after contacting the load or missing the load from the
signal statuses of MOVE, PEND and PM1 to PM256.
56
6. Data Entry <Basics>
To move the actuator to a specified position, a target position must be entered in the “Position” field.
A target position can be specified in the absolute mode where a distance from the home is entered, or in
the incremental mode where a relative travel from the current position is entered.
Once a target position is entered, all other fields will be automatically populated with their default values
set by the applicable parameters.
The default values vary depending on the characteristics of the actuator.
6.1 Description of Position Table

The position table is explained using an example on the PC software screen.
(The items displayed on the teaching pendant are different.)
Position Speed Acceleration Deceleration Push Threshold Positioning

No.
[mm] [mm/s] [G] [G] [%] [%] band [mm]
0 5.00 300.00 0.30 0.30 0 0 0.10
1 380.00 300.00 0.30 0.10 0 0 0.10
2 200.00 300.00 0.30 0.10 0 0 0.10
Acceleration/
Zone+ Zone- Command Standstill
deceleration Incremental Comment
[mm] [mm] mode mode
mode
Standby
100.00 0.00 0 0 0 4
position
400.00 300.00 0 0 0 0
250.00 150.00 0 0 0 0
(1) No. • Indicate the position data number.
(2) Position • Enter the target position to move the actuator to, in [mm].
Absolute mode: Enter a distance from the actuator home.
Incremental mode: Enter a relative travel from the current position based
on constant-pitch feed.
No Position
[mm]
0 30.00 Absolute mode The target position is 30 mm from
the home.
1 = 10.00 Incremental mode +10 mm from the current position
2 = -10.00 Incremental mode -10 mm from the current position
* On the teaching pendant, this sign indicates that
the position is set in the incremental mode.
(3) Speed • Enter the speed at which the actuator will be moved, in [mm/sec].
The default value varies depending on the actuator type.
57
(4) Acceleration/deceleration • Enter the acceleration/deceleration at which to move the actuator, in
[G].
Basically, the acceleration and deceleration should be inside the rated
acceleration/deceleration range specified in the catalog.
The input range is greater than the rated range in the catalog to
accommodate situations where you want to “reduce the tact time when
the load mass is significantly smaller than the rated load capacity.”
If vibration of the load causes problem during acceleration/deceleration,
decrease the set value.
Speed
Acceleration Deceleration
Time
Starting Target
position position
Increasing the set value makes the acceleration/deceleration

quicker while decreasing the value makes it more gradual.
Caution: Refer to the attached list of supported actuator specifications and set appropriate speed
and acceleration/deceleration so that the actuator will not receive excessive impact or
vibration under the applicable installation condition and for the load of the specific shape.
Increasing the speed and acceleration/deceleration may significantly impact the actuator
depending on the load mass, and the actuator characteristics also vary from one model to
another. Contact IAI for the maximum limits that can be entered in your specific
application.
(5) Push • Select “positioning operation” or “push & hold operation.”

The factory setting is “0.”
0: Normal positioning operation
Other than 0: Push & hold operation, where the entry indicates a
current-limiting value.
(6) Threshold • This field sets the threshold for motor current. The factory setting is “0.”
* This field is available only with the PCON-CF controller.
(7) Positioning band • The meaning of this field varies

between “positioning operation”
and “push & hold operation.”
“Positioning operation” The position

This field defines how much before complete signal
the target position the completion turns ON here.
signal will turn ON.
Increasing the positioning band
allows the next operation in the
sequence to be started early, and
consequently the tact time can be Positioning band
reduced. Set an optimal value by
checking the overall balance of the Target
system. position
58
“Push & hold operation”
This field defines the maximum push distance after reaching the target
position in push & hold operation.
Consider possible mechanical variation of the load and set an appropriate
positioning band that will prevent the positioning from completing before
the load is contacted.
The position complete signal turns ON here, as completion of
push action is recognized after the load has been contacted.
Load
Positioning band (maximum push distance)

Target position
(8) Zone +/- • This field defines the zone within which the position zone output signal
(PZONE) will turn ON. To add flexibility, a different zone can now be set
for each target position.
[Setting example]
Position Zone+ Zone-
No.
[mm] [mm] [mm]
0 5.00 100.00 0.00
1 380.00 400.00 300.00
2 200.00 250.00 150.00
Movement command to position No. 0

position
Target
Home
Position zone output signal ON
OFF
0 mm 5 mm 100 mm
position

Target
+ limit
Position zone output signal ON
OFF
300 mm 380 mm 400 mm
position
Target
ON
Position zone output signal
OFF
150 mm 200 mm 250 mm
59
(9) Acceleration/deceleration • This field is not used for this controller.
mode The factory setting is “0.”
(10) Incremental • This field defines whether the position is specified in the absolute mode
or incremental mode.
0: Absolute mode
1: Incremental mode
(11) Command mode • This field is not used for this controller.
(12) Standstill mode • This field defines the power-saving mode to be applied while the
actuator is standing by after completing its movement to the target
position set in the “Position” field for the applicable position number.
0: Disable all power-saving modes * The factory setting is “0”
(Disable).
1: Automatic servo-off mode, with the delay time defined by parameter
No. 36
No. 37
No. 38
4: Full servo control mode
Full servo control mode

Holding current can be reduced by servo-controlling the pulse motor.
Although the exact level of current reduction varies depending on the actuator model, load condition,
etc., the holding current will decrease by approx. 1/2 to 1/4.
Since the servo remains on, position deviation will not occur.
The actual holding current can be checked in the current monitor screen of the PC software.
Automatic servo-off mode

After positioning is completed, the servo will turn off automatically upon elapse of a specified time.
(Since no holding current generates, power consumption will decrease.)
When the next movement command is received from the PLC, the servo will turn on and the actuator
will start moving.
Movement
command

Servo status (Green LED blinks.)
Servo on
Actuator
movement
Target position T: Delay time (seconds) after positioning

is completed until the servo turns off
T is set by a parameter.
60
6.1.1 Relationship of Push Force at Standstill and Current-Limiting Value
When performing operation in the push & hold mode, enter the current-limiting value (%) in the push
column of the position-data table.
Determine the current-limiting value (%) from the push force to be applied to the load at standstill.
The graphs below illustrate the relationship of push force at standstill and current-limiting value for each
actuator type:
z Slider type
(1) SA5C/SA6C/SS7C type (2) SA7C type
Low-speed type Low-speed type
(Lead: 3 mm) (Lead: 4 mm)
Push force (N)
Push force (N)
Current-limiting value (%) Current-limiting value (%)
Medium-speed type Medium-speed type

Push force (N)
Push force (N)
High-speed type High-speed type

Push force (N)
Push force (N)
Caution: The accuracy of push force at standstill is not guaranteed. The above graphs are provided
for reference purposes only. If the push force is too small, malfunction may occur during
push & hold operation due to slide resistance, etc., so exercise caution.
The maximum current-limiting value is shown in the above graphs. The minimum value is
20%.
61
(3) SS8C type
Low-speed type
(Lead: 5 mm)
Push force (N)
Current-limiting value (%)
Medium-speed type
(Lead: 10 mm)
Push force (N)
High-speed type
(Lead: 20 mm)
Push force (N)
Push force (N)
20%.
62
z Rod type
(1) RA2C type (2) RA3C type
Low-speed type
(Lead: 2.5 mm)
Push force (N)
Push force (N)

Current-limiting value %
Medium-speed type
(Lead: 5 mm)
Push force (N)
20%.
63
(3) RA4C type (4) RA6C type
Low-speed type Low-speed type
(Lead: 2.5 mm) (Lead: 4 mm)
Push force (N)

Push force (N)
Medium-speed type Medium-speed type

(Lead: 5 mm)
Push force (N) (Lead: 8 mm)
Push force (N)
High-speed type High-speed type

Push force (N)
Push force (N)

20%.
64
(5) RA10C/W-RA10C type
Low-speed type
(Lead: 2.5 mm)
Push force (N)
Medium-speed type
(Lead: 5 mm)
Push force (N)
High-speed type
(Lead: 10 mm)
Push force (N)
20%.
65
6.2 Explanation of Modes
6.2.1 Positioning Mode Push = 0
The actuator moves to the target position set in the “Position” field of the position table.
Speed The position complete
signal turns ON here.
Target position
Moving distance
Time
Positioning band
6.2.2 Push & Hold Mode Push = Other than 0

(1) Load was contacted successfully
Upon reaching the target position set in the “Position” field of the position table, the actuator moves at the
push speed for the distance set in the “Positioning band” field.
If the actuator contacts the load while moving and the controller recognizes that “push action has
completed,” the position complete signal will turn ON.
The position complete signal turns ON here,
Speed
as completion of push action is recognized
after the load has been contacted.
Moving distance
Positioning band
(maximum push distance)
Target position
The push speed is set by parameter No. 34.

The factory setting varies with each actuator in accordance with the actuator’s characteristics.
Set an appropriate speed by considering the material and shape of the load, among others.
Since the maximum speed is 20 mm/s, operate the actuator at a speed not exceeding this value.
Set a positioning band slightly longer than the last position, in order to absorb possible mechanical
variation of the load.
“Completion of push action” is determined based on a combination of the current-limiting value set in
the “Push” field of the position table and the push completion judgment time set by parameter No. 6.
Set an appropriate condition by considering the material and shape of the load, among others.
For details, refer to Chapter 8, “Parameter Settings.”
• If the actuator contacts the load before reaching the target position, a servo error alarm
will generate. Pay due attention to the relationship of the target position and the load
position.
Warning
• The actuator continues to push the load at the push force at standstill determined by
the current-limiting value. Since the actuator is not inactive, exercise due caution when
handling the machine in this condition.
66
(2) Load was not contacted (missed)
If the actuator does not still contact the load after having moved the distance specified in the “Positioning
band” field, the position complete signal will not turn ON.
Therefore, include timeout check processing in the sequence circuit on the PLC side.
• It is recommended that a zone signal be also used as a “simple ruler” to supplement the judgment of
missed load.
Speed
The position complete signal will not turn

ON if the load has not been contacted.
Moving distance
Positioning band
Target position
(3) Load moves during push & hold operation

[1] Load moves in the pushed direction
If the load moves in the pushed direction after completion of push action, the actuator will chase the
load within the positioning band.
If the current drops to below the current-limiting value set in the “Push” field of the position table while
the actuator is moving, the position complete signal will turn OFF. The position complete signal will
turn ON when the current-limiting value increases to the specified level again.
Speed
Completion of push action If the load moves in the pushed
is recognized here. direction, the actuator will chase
it within the positioning band.
Moving distance
Positioning band
Target position (maximum push distance)
[2] Load moves in the opposite direction

(Actuator is pushed back by the strong reactive force of the load)
If the actuator is pushed back after completion of push action because the reactive force of the load
is greater than the thrust force of the actuator, the actuator will be pushed back until its push force
balances out with the reactive force of the load.
The position complete signal will remain ON.
Speed
Completion of push action
is recognized here.
Moving distance
Positioning band
Target position (maximum push distance)
(Note) If the actuator is pushed back to the target position, an alarm will generate.
67
(4) Positioning band was entered with a wrong sign
Take note that if a value with a wrong sign is set in the “Positioning band” field of the position table, the
operation will deviate by a distance corresponding to “positioning band x 2,” as shown below.
Speed
Moving
distance
Positioning Positioning Positioning

band band band
Actual position Target position
reached (the load
was missed)
6.2.3 Torque Check Function in Push & Hold Operation

(1) Torque check function when a check band is set (Available only with the PCON-CF)
The load output turns ON here when the

command torque has exceeded the
threshold inside the torque check range.
Speed
Check band
Moving
distance
Positioning band
Target position
After reaching the target position set in the “Position” field of the position table, the actuator moves at the
push speed by the distance set in the “Positioning band” field. If the command torque reaches the
threshold before the specified distance is traveled and while the actuator is inside the threshold check
band, the load output will turn ON.
The push speed is set by parameter No. 34, “Push speed.”

The factory setting varies with each actuator in accordance with the characteristics of the actuator.
Take note, however, that the maximum speed is limited to 10 mm/s.
Set parameter No. 51, “Torque check range” to “0 [Enable].”
Set a threshold check band in the "zone + or zone -" filed of the position table.
Set a desired threshold in the “Threshold” field of the position table.
Set a desired positioning band in the “Positioning band” field of the position table.
68
• This function is available only with the PCON-CF controller.
(It cannot be used with the PCON-C or PCON-CG controller.)
Warning
position.
handling the equipment in this condition.
(2) Torque check function when a check band is not used (Available only with the PCON-CF)

Speed
Moving The load output turns ON inside this range.

distance
Positioning band
Target position
After reaching the target position set in the “Position” field of the position table, the actuator moves at the
push speed by the distance set in the “Positioning band” field. If the command torque reaches the
threshold before the end of the positioning band is reached, the load output will turn ON. The load output
will turn OFF once the command torque drops to below the threshold.
The push speed is set by parameter No. 34, “Push speed.”

The factory setting varies with each actuator in accordance with the characteristics of the actuator.
Take note, however, that the maximum speed is limited to 10 mm/s.
Set parameter No. 51, “Torque check range” to “1 [Disable].”
Set a desired threshold in the “Threshold” field of the position table.
Set a desired positioning band in the “Positioning band” field of the position table.
• This function is available only with the PCON-CF controller.

(It cannot be used with the PCON-C or PCON-CG controller.)
Warning
position.
handling the equipment in this condition.
69
6.2.4 Speed Change during Movement
Speed control involving multiple speed levels is possible in a single operation. The actuator speed can be
decreased or increased at a certain point during movement.
However, the position at which to implement each speed change must be set.
Position 1 Position 2 Position 1 Position 2 Position 1 Position 2 Position 3
6.2.5 Operation at Different Acceleration and Deceleration Settings

If the load is a CCD camera or other precision equipment, the deceleration curb at stop must be made as
gradual as possible.
To accommodate these sensitive applications, the position table has separate fields for “acceleration” and
“deceleration.”
For example, you can set the deceleration differently from the acceleration, such as setting 0.3 G (rated
acceleration) in “Acceleration” and 0.1 G in “Deceleration.”
Speed
Acceleration: Deceleration:
0.3 G 0.1 G
Time
Starting Target
position position
Caution: Basically, the acceleration and deceleration should be inside the rated
acceleration/deceleration range specified in the catalog.
The input range is greater than the rated range in the catalog, but this is only to
accommodate situations where you want to “reduce the tact time when the load mass is
significantly smaller than the rated load capacity.”
If you want to use acceleration/deceleration settings greater than the rating, consult IAI
beforehand because it may affect the life of the actuator.
70
6.2.6 Pause
The actuator can be paused during movement using an external input signal (*STP).
The pause signal uses the contact b logic (always ON) to ensure safety.
Turning the *STP signal OFF causes the actuator to decelerate to a stop. When *STP is turned ON
subsequently, the actuator will resume the remaining movement.
ON ON
*STP OFF
Actuator operation
Target position
(Note) The deceleration corresponds to the value set in the “Deceleration” field for the current position
number in the position table.
6.2.7 Zone Signal Output

The zone output is suitable for the following applications, because a signal can be output when the
actuator enters a specified zone during movement:
[1] Issue a trigger signal to surrounding equipment to reduce the tact time
[2] Prevent contact with surrounding equipment
[3] Use as a “simple ruler” in push & hold operation
A different method is used for the zone output signal, and for the position zone output signal, to set the
zone within which the signal will turn ON.
Zone output signal (ZONE1)
Set the signal ON zone using parameters.
Parameter No. 1 = Zone boundary+, Parameter No. 2 = Zone boundary-
Zone output (ZONE1)
Actuator operation
+ direction
Home
Value set in Value set in
parameter No. 2 parameter No. 1
Position zone output signal (PZONE)

Set the signal ON zone using the “Zone boundary-“ and “Zone boundary+” fields of the position table.
Zone output (PZONE)
Actuator operation
+ direction
Home
Value set in Value set in
“Zone boundary-” “Zone boundary+”
71
6.2.8 Home Return
After the power is turned on, home return must be performed to establish the home position.
The method of home return varies depending on the PIO pattern.

z When a dedicated input is used [PIO pattern ≠ 5]
Home return is performed using the home return (HOME) input.
The actuator will return home regardless of whether or not home return has been completed once
before.
When home return is completed, the home return complete (HEND) output signal will turn ON.
z When a dedicated input is not used [PIO pattern = 5]

When a rear end move command is input while home return is not yet completed, the actuator will
perform home return first and then move to the rear end.
For details, refer to 7.2, “How to Execute Home Return.”
72
6.2.9 Overview of Teaching Type
Depending on your system, it may be desirable to be able to use a touch panel, etc., to perform jogging
operation or write the current position to the “Position” field of the position table, without using a PC or
teaching pendant.
The teaching type is provided to support these applications.
The features of the teaching type are summarized below:
[1] The actuator can be jogged using I/O signals input from the PLC.
Continuous jog feed or inching feed can be selected by the manual switching signal to facilitate fine
position adjustment.
* This function is effective regardless of the ON/OFF state of the operation mode input (MODE)
signal.
[2] The current position can be written to the “Position” field of the position table using I/O signals input
from the PLC.
* This function is effective only when the operation mode input (MODE) signal is ON.
(Note) The number of I/O points is limited, so some I/O ports are used in both the teaching type and the
normal positioning type. Remember this when creating a sequence circuit for the PLC.
Operation mode input (MODE)

ON (teaching mode) OFF (positioning mode)
* Signal for switching to the teaching mode
Current operation mode output (MODES)
* Monitor output indicating the internal ON (teaching mode) OFF (positioning mode)
mode of the controller
Current-position write
Meaning of I/O connector pin 18A Start input (CSTR)
input (PWRT)
Write completion output Position complete output
Meaning of I/O connector pin 12B
(WEND) (PEND)
Warning: Jog commands are effective even before home return is completed, but the soft stroke
checks are not performed prior to home return. Accordingly, the actuator may move all
the way to the mechanical end if the jog command (JOG+/JOG-) signal remains ON.
Exercise caution not to let the actuator hit the mechanical end.
73
6.2.10 Overview of 7-point Type
The number of positioning points is kept small, or specifically to seven or less. This type assumes simple
applications where the PLC ladder sequence only requires a simple circuit configuration.
I/O signals provide separate command inputs and movement complete outputs for respective position
numbers.
Accordingly, the signal pattern is different from the one in the 64-point positioning type (PIO pattern = 0).
Example) The differences are explained by using an example of moving the actuator to the target
position for position No. 5.
[1] 7-point type
Direct position command

5 input (ST5) Combination of dedicated
movement command input
and complete output
Movement complete 5
output (PE5)
Position complete output

(PEND)
No more than 6 msec
Actuator movement
Starting position Target position

of movement
* In the 64-point type, a position command input (binary) signal and a start input signal must be turned
ON at staggered timings to initiate movement (refer to the next page). In this type, however, there is
only one input signal that needs to be turned ON.
Explanation of I/O signals

Signal name Category Function explanation
Direct position command 0 (ST0) Movement command to the target position for position No. 0
Direct position command 3 (ST3) Input Movement command to the target position for position No. 3
Indicates that the actuator reached the target position for
Movement complete 0 (PE0)
position No. 0.
position No. 1.
position No. 2.
Movement complete 3 (PE3) Output
position No. 3.
position No. 4.
position No. 5.
position No. 6.
74
[2] 64-point type
Command position 1
input (PC1)
Command position 2
input (PC2)
“5” is indicated by a binary code.
Command position 4
input (PC4)
* All other command position inputs (PC8, PC16 and PC32) turn OFF.
At least 6 msec of delay time is needed

(ensured by a timer setting on the PLC side).
Start input (CSTR)
output (PM1)
(Remains OFF) The PLC checks these 3 signals

to confirm that the completed
output (PM2)
position number is “5.”
output (PM4)
Position complete
output (PEND)
Not to exceed
6 msec
Actuator movement
Starting position Target position

of movement
75
6.2.11 Overview of 3-point Type
This type provides a control method adjusted to that of an air cylinder by assuming that the controller is
used as an air cylinder.
The key differences between this controller and an air cylinder are summarized in the table below.
Program appropriate controls by referring to this table.
* Do not use this mode for push & hold operation.
Item Air cylinder PCON

Drive method Air pressure supplied Ball-screw or timing-belt drive using a pulse motor
via electromagnetic
valve control
Target Mechanical stopper Desired coordinates are entered in the [Position] field of the
position (including shock position table.
setting absorber) Coordinates can be entered from the PC/teaching pendant
using the keyboard/keys, or the actuator can be moved to the
desired position to read the achieved coordinates directly.
Example) 400-mm stroke
Position No. Position
0 5 (mm) Rear end
1 400 (mm) Front end
2 200 (mm) Intermediate point
Target An external detection Determined based on the internal coordinates provided by the
position sensor, such as a reed position information from the position detector (encoder).
detection switch, is installed. Accordingly, external detection sensor is not required.
Speed setting Adjusted by a speed A desired feed speed is entered in the [Speed] field of the
controller. position table (unit: mm/sec).
Note that the rated speed is automatically set as the initial
value.
Acceleration/ Determined in Desired acceleration/deceleration are entered in the
deceleration accordance with the [Acceleration] and [Deceleration] fields of the position table
setting load, supplied air (minimum setting unit: 0.01 G).
volume, as well as the Reference: 1 G = Gravitational acceleration
performance of the Note that the rated acceleration/deceleration is automatically set
speed controller and as the initial value.
electromagnetic valve. Since the acceleration/deceleration can be set in fine steps, a
gradual acceleration/deceleration curve can be programmed.
Acceleration Deceleration
0.3G 0.1G
Starting position Ending position

of movement
Setting a larger value makes the curve steeper, while setting a

smaller value makes the curb more gradual.
76
Item Air cylinder RCP2
Position Determined by an Immediately after the power is turned on, the controller cannot
check upon external detection identify the current position because the mechanical coordinates
power ON sensor, such as a reed have been lost.
switch. Accordingly, a rear end command must always be executed
after the power is turned on, to establish the coordinates.
The actuator will perform home-return operation first, and then
move to the rear end. [1]
[2]
Power is turned on
here.
[3]
Home position
Rear and position
[1] The actuator moves at the home return speed toward the
mechanical end on the motor side.
[2] The actuator contacts the mechanical end and turns back,
and then stops temporarily at the home position.
[3] The actuator moves to the rear end at the speed set in the
[Speed] field of the position table.
(Note) Pay attention not to allow any obstacle in the travel path
of the actuator during home return.
The relationship of each movement command input/position detected and corresponding position number is
shown below.
The input/output signals are given easy-to-identify names by following the naming convention of air-cylinder
switches.
However, the target position is determined by the value set in the [Position] field for each position number.
Therefore, changing the magnitude relationships of settings under position Nos. 0, 1 and 2 will change the
meanings of input/output signals.
For this reason, it is recommended that you always use the signals under their names defined in this manual,
unless doing so presents problem, so that the signals have the same meanings at all time.
Input signal Output signal Target position
Rear end move (ST0) Rear end detected (LS0) Value set in the [Position] field for position No. 0 Example) 5 mm
Front end move (ST1) Front end detected (LS1) Value set in the [Position] field for position No. 1 Example) 390 mm
Intermediate point Intermediate point detected
Value set in the [Position] field for position No. 2 Example) 200 mm
move (ST2) (LS2)
z Positioning relationship on the ROBO Cylinder

An example of a slider type with a stroke of 400 mm is explained.
[Motor side] [Counter-motor side]
Home position (0 mm) Front end detected (390 mm)

Rear end detected (5 mm) Intermediate point detected (200mm)
z Position table (Enter in the fields indicated in bold)

Position Speed Acceleration Deceleration Push Positioning band
No.
[mm] [mm/s] [G] [G] [%] [mm]
0 5.00 500.00 0.30 0.30 0 0.10
1 390.00 500.00 0.30 0.30 0 0.10
2 200.00 500.00 0.30 0.30 0 0.10
77
6.3 Notes on the ROBO Gripper
(1) Finger operation
[1] Definition of position
The specified stroke of the 2-finger type indicates the sum of travel distances of both fingers. In
other words, the travel distance of one finger is one half the specified stroke.
A position you specify defines the distance traveled by one finger from the home position in the
closing direction.
Accordingly, the maximum command value is 5 mm for the GRS type and 7 mm for the GRM type.
[2] Definition of speed and acceleration
The command value applies to each finger.
The relative speed and acceleration of the 2-finger type are twice the command values.
[3] Operation mode in gripper applications
When the actuator is used to grip the load, be sure to select the “push & hold mode.”
(Note) In the “positioning mode,” a servo error may occur while the load is gripped.
[Diagrams of gripping force and current-limiting value]

Gripping force (N)
Gripping force (N)
Current-limiting value (ratio in %) Current-limiting value (ratio in %)

Gripping force P (N)

78
(2) Removing the gripped load
This gripper is designed to maintain the load-gripping force via a self-lock mechanism even when the
servo is turned OFF or the controller power is cut off.
If the gripped load must be removed while the power is cut off, do so by turning the open/close screw or
removing the finger attachment on one side.
[2-finger type]
Turn the open/close screw or remove the finger attachment on one side.
Finger attachment
Open/close screw
Turn the screw counterclockwise
using a flathead screwdriver.
(OPEN)
Opening
direction
Affixing bolt
[3-finger type]
Remove one finger attachment.
Finger attachment
Affixing bolt
79
6.4 Power-saving Modes at Standby Positions
One general feature of pulse motors is that their holding current in standstill state is greater than AC servo
motors.
Therefore, this product provides energy-saving modes to reduce power consumption in situations where
the actuator remains standstill for a long period at a standby position.
Use these modes after confirming that they will not present problems to any part of your system.
Each mode produces a different level of power-saving effect. Follow the instructions provided below and
select an optimal mode appropriate for the specific standstill condition of your actuator.
z PIO pattern = 5: Solenoid valve mode 2 [3-point type]

The actuator stands by with the servo on after the power has been turned on
In this condition, you can select full servo control using parameter No. 53 (Default standstill mode).
Automatic servo-off control cannot be selected. If you have set 1, 2 or 3 by mistake, the setting will be
ignored.
(This setting is not affected by the value in the “Standstill mode” field of the position table.)
The actuator stands by after completing the positioning to the target position set in the “Position” field
for the applicable position number
In this condition, you can select one of two modes based on the value in the “Standstill mode” field of the
position table.
(This setting is not affected by the value of parameter No. 53.)
[1] Full servo control
[2] Automatic servo-off control
● PIO pattern = Other than 5: Solenoid valve mode 2 [3-point type]

The actuator stands by after completing the home return operation effected by the HOME input signal
In this condition, you can select one of two modes based on the value of parameter No. 53 (Default
standstill mode).
(This setting is not affected by the value in the “Standstill mode” field of the position table.)
The actuator stands by after completing the positioning to the target position set in the “Position” field
for the applicable position number
position table.
(This setting is not affected by the value of parameter No. 53.)
2. Meanings of values set in the “Standstill mode” field of the position table and in parameter No. 53
Setting
All power-saving modes are disabled. (The actuator is completely stopped.) 0
Automatic servo-off mode. The delay time is defined by parameter No. 36. 1
Full servo control mode 4
80
The pulse motor is servo-controlled to reduce the holding current.
Although the exact degree of current reduction varies depending on the actuator model, load condition,
etc., the holding current decreases to approx. 1/2 to 1/4.
Take note that micro-vibration or noise may occur in certain conditions where external force is applied, or
depending on the position where the actuator has stopped.
If micro-vibration or noise presents problem, do not use this mode.

(Since no holding current flows, power consumption will decrease.)
When the next movement command is received from the PLC, the servo will turn on and the actuator will
start moving.
* Since the servo turns off once, some position deviation may occur. Do not use this function at standby
positions where position deviation will cause problem.
You should also note that the position complete (PEND), completed position number (PM1 to PM256) and
movement complete (PE0 to PE6) signals will turn OFF because the servo turns off. However, you can
keep the signals ON via a parameter in situations where the PLC sequence circuit is designed in such a
way that problems will occur if complete signals turn OFF.
Setting of parameter No. 39 [1] PIO pattern = 0 to 3

(Output mode of position Position complete (PEND) signal status, completed position number (PM1
complete signal) to PM256) signal status
[2] PIO pattern = 4
Position complete (PEND) signal status, movement complete (PE0 to
PE6) signal status
0 [PEND] The signal will turn OFF unconditionally when the servo turns off.
Even when the next movement command is issued and the servo turns on
again, the actuator has already started moving to the next target position,
so the signal still remains OFF.
1 [INP] Even when the servo is off, the signal turns ON if the current position is
within the range set by the “Positioning band” field of the position table,
with respect to the target position, and turns OFF if the current position is
outside this range.
(Note) The factory setting is “0.”
81
Movement
command

(A green LED blinks.)
Servo status
Servo on
Actuator
movement
Target position
T: Delay time (seconds) after positioning is
T completed until the servo turns off
Position complete signal

(parameter No. 39 = 0)
Position complete signal

(parameter No. 39 = 1)
Warning: If the next movement command is specified in the incremental mode (based on constant
pitch feed), never use the automatic servo-off mode. The current position may deviate
slightly as the servo turns off and then on again.
Caution: In push & hold operation, both the full servo control mode and automatic servo-off mode
become ineffective once the operation has completed successfully.
If the actuator has missed the load, the specified mode becomes effective.
Basically, you should not use either the full servo control mode or automatic servo-off
mode in push & hold operation.
82
7. Operation <Practical Steps>
7.1 How to Start
7.1.1 Timings after Power On
Procedure after initial startup until actuator adjustment

[1] Connect the motor relay cable to the MOT connector and encoder relay connector to the PG
connector.
[2] Connect the supplied flat cable to the PIO connector (for connection between the host PLC and I/O
unit).
[3] Reset the emergency stop or enable the supply of motor drive power.
[4] Supply the 24-VDC I/O power (1A/2A pins (+24 V) and 19B/20B pins (0 V) in the PIO connector).
[5] Supply the 24-VDC controller power (24-V and 0-V terminals on the power-supply terminal block).
* If the monitor LED [SV/ALM] on the front panel illuminates for 2 seconds initially and then turns
off, the controller is normal. If [SV/ALM] illuminates in red, an alarm is present. In this case,
connect a PC or teaching pendant to check the nature of the alarm and remove the cause by
referring to Chapter 10, “Troubleshooting.”
[6] Set the minimum set of required parameters initially.
Set the mode selector switch on the front panel to the “MANU” side.
On the PC or teaching pendant, set the MANU operation mode to “Teaching mode: Enable safety
speed].
Change the necessary parameters in this condition.
(Example) • Use a PIO pattern other than “Standard type” → Parameter No. 25 (PIO pattern
selection)
• Reduce the safety jog speed → Parameter No. 35 (Safety speed)
[7] Check the actuator position.
If the slider/rod is contacting a mechanical end, move it away from the mechanical end. If the
slider/rod is not contacting a mechanical end but is closer to the home position, move the slider/rod
away from the home position.
The slider/rod may suddenly drop due to its dead weight when the brake is released, so exercise
caution not to damage the robot hand or load by the falling slider/rod.
If the actuator cannot be moved by hand because the screw lead is short, change the setting of
parameter No. 28 (Default direction of excited-phase signal detection) to the direction opposite to the
mechanical end.
If the servo is turned ON while the slider/rod is contacting the mechanical end, excitation
Warning phase detection may not be performed correctly and an abnormal operation or excitation
detection error may result.
[8] Turn on the servo.

Turn on the servo using the “servo ON function” of the PC software or teaching pendant.
If the actuator enters a servo lock mode and the monitor LED [SV/ALM] on the front panel illuminates
in green, the controller is functioning properly.
[9] Check the operation of the safety circuit.
Confirm that the emergency stop circuit (or motor drive-power cutoff circuit) operates properly.
83
[10] Perform home return.
z Overview of operation on the teaching pendant
• On the RCM-T, select the “Edit/Teach” screen, bring the cursor to “*Home” in the sub display
area, and then press the Return key.
• On the RCM-E, select the “Teach/Play” screen, scroll until “*Home Return” is displayed, and
then press the Return key.
[11] Set a target position in the “Position” field of the position table.
Set a target position in the “Position” field of each position table.
Determine a desired target position by fine-adjusting the load and hand via jogging or inching.
Also adjust the servo gain, if necessary.
* Once a target position has been set, other fields (speed, acceleration/deceleration, positioning
band, etc.) will be automatically populated by their default values. Set optimal values for the
speed, acceleration/deceleration, positioning band, etc.
* For safety reasons, it is recommended that the safety speed be enabled during the initial
movement.
To move the actuator at the actual speed set in the “Speed” field of the position table, change the
MANU operation mode to [Teaching mode: Disable safety speed].
Emergency stop not actuated (motor drive power supplied)

Safety circuit condition
Supply of
24-VDC I/O power
Supply of 24-VDC
controller power
Initial parameter
settings
Servo ON
operation
An orange light
comes on initially
for 2 seconds and
then turns off. Green
Monitor LED
[SV/ALM]
Ready (SV)
170 msec or less
Home return operation

Mechanical end
Home position
Power on position
Set a target position in the “Position” field

of the position table via PC or teaching
pendant operation
Also set optimal values for other items.
84
Procedure of Normal Operation
The operating procedure in normal condition is specified below:
[1] Reset the emergency stop or enable the supply of motor drive power.
[2] Supply the 24-VDC I/O power.
[3] Supply the 24-VDC controller power.
* If the monitor LED [SV/ALM] on the front panel illuminates for 2 seconds initially and then turns
off, the controller is normal. If [SV/ALM] illuminates in red, an alarm is present. In this case,
connect a PC or teaching pendant to check the nature of the alarm and remove the cause by
referring to Chapter 10, “Troubleshooting.”
[4] Check the actuator position.
If the slider/rod is contacting a mechanical end, move it away from the mechanical end. If the
slider/rod is not contacting a mechanical end but is closer to the home position, move the slider/rod
away from the home position.
The slider/rod may suddenly drop due to its dead weight when the brake is released, so exercise
caution not to damage the robot hand or load by the falling slider/rod.
If the actuator cannot be moved by hand because the screw lead is short, change the setting of
parameter No. 28 (Default direction of excited-phase signal detection) to the direction opposite to the
mechanical end.
If the servo is turned ON while the slider/rod is contacting the mechanical end, excitation
Warning phase detection may not be performed correctly and an abnormal operation or excitation
detection error may result.
[5] Set the mode selector switch on the front panel of the controller to the “AUTO” side.
[6] Input the servo ON signal/pause signal from the PLC.
[7] Input the home return signal from the PLC to perform home return operation.
[8] Start automatic operation.
Caution: When operating the actuator using the PLC and I/O signals, be sure to set the mode
selector switch on the front panel to the “AUTO” side.
85
Emergency stop not actuated (motor drive power supplied)
Safety circuit condition
Supply of 24-VDC I/O

power
Supply of 24-VDC
controller power
* Be sure to set the switch to the “AUTO” side.

Mode selector switch
* If this output signal is OFF, I/O signal communication with the PLC is enabled.
Operation mode status
output (RMDS)
Pause input
(HOME)
Servo ON input
(SON)
Monitor LED Green

[SV/ALM]
Ready output
(SV)
170 msec or less Input the home return signal after SV has turned ON
(If the home return signal is input while SV is OFF,
the signal input will be ignored.)
Home return input

(HOME)
Home return complete

output (HEND)

(PEND)
6 msec or less
Mechanical end
Home position
Power on position
Continuous
operation starts.
86
Warning: Since the drive motor uses a pulse motor, excited-phase detection is performed when
the servo is first turned on after the power on.
Therefore, the actuator must be able to move when the servo turns on.
If the slider or rod is contacting a mechanical end or the load is contacting any
surrounding equipment, excited-phase detection will not be performed correctly and an
abnormal operation or excited-phase detection error may occur.
In this case, move the actuator by hand to a position where it can move before the servo
turns on.
If the actuator is equipped with a brake, the brake must be forcibly released by turning
on the brake release switch. The slider/rod may suddenly drop due to its dead weight
when the brake is released, so exercise caution not to pinch your hand or damage the
robot hand or load by the falling slider/rod.
If the actuator cannot be moved by hand, one possible solution is to change the setting
of parameter No. 28 (Default direction of excited-phase signal detection). If you wish to
change this parameter, consult IAI beforehand.
87
7.1.2 Position Table and Parameter Settings Required for Operation
Startup adjustment
Immediately after the system has been started, the moving speed can be reduced by the methods
specified below to ensure safety of operators and prevent damage to jigs, etc.
Change the applicable parameters, if necessary.
→ For details on the setting-change operations, refer to the operation manual for your PC
software/teaching pendant.
Safety speed during manual feed

To move the actuator using the PC/teaching pendant, set the mode selector switch on the front panel of
the controller to the “MANU” side.
For safety reasons, it is recommended that the actuator be moved at the safety speed during manual feed.
To do this, change the MANU operation mode to [Teaching mode: Enable safety speed] on the
PC/teaching pendant.
The safety speed is defined by parameter No. 35. Change the parameter value, if necessary.
Take note that the maximum speed is limited to 250 mm/s or below.
The factory setting is “100 mm/s” or below.
Speed override for movement commands from the PLC

You can lower the feed speed to be applied when the actuator is moved by the movement commands
output from the PLC.
To lower the speed to below the level set in the “Speed” field of the position table, you can use parameter
No. 46 to override the “Speed” field.
Actual moving speed = [Speed set in the position table] x [Value of parameter No. 46] ÷ 100
Example) Value in the “Speed” field of the position table 500 (mm/s)
Value of parameter No. 46 20 (%)
Under the above settings, the actual moving speed becomes 100 mm/s.
The minimum setting unit is “1%,” while the input range is “1 to 100 %.” The factory setting is “100 %.”
88
Full-scale operation
This product provides energy-saving modes to reduce power consumption in situations where the actuator
remains standstill for a long period at a standby position.
You can also select the status of position complete signal to be applied if the servo turns off or “position
deviation” occurs while the actuator is standing still after completing positioning.
Use these functions after confirming that they will not present problems to any part of your system.
Saving energy when the actuator stands by for a long time after the power has been turned on
Applicable to PIO pattern = 5 (3-point type)
In this condition, you can select full servo control using parameter No. 53 (Default standstill mode). (This
setting is not affected by the value in the “Standstill mode” field of the position table.)
Saving energy when the actuator stands by after completing the home return operation effected by the
HOME input signal
Applicable to PIO pattern = 0 to 4
In this condition, you can select one of two modes based on the value in parameter No. 53 (Default
standstill mode). (This setting is not affected by the value in the “Standstill mode” field of the position
table.)
Saving energy when the actuator stands by for a long time at the target position
Common to all PIO patterns
position table. (This setting is not affected by the value in Parameter No. 53.)
→ For details, refer to 6.4, “Power-saving Modes at Standby Positions” and 8.2.2, “Parameters Relating to
the Actuator Operating Characteristics.”
Output mode of complete signal

Applicable to PIO pattern = 0 to 4
You can select the status of position complete signal to be applied if the servo turns off or “position
deviation” occurs while the actuator is standing still after completing positioning.
This setting uses parameter No. 39. Consider the characteristics of the control you need and select an
appropriate mode.
→ For details, refer to 8.2.3, “Parameters Relating to the External Interface.”
89
7.2 Home Return Operation
7.2.1 Method Using the HOME Input Signal (PIO Pattern = 0 to 4)

Since the home return signal (HOME) is provided in PIO patterns 0 to 4, perform home return using this
signal.
• When the home return signal (HOME) turns ON, the actuator starts moving toward the mechanical end
on the home side.
Once the mechanical end is contacted, the actuator reverses its direction and moves, and then stops
at the home position.
• At the start of movement, the position complete output (PEND) turns OFF while the moving output
(MOVE) turns ON.
• When the actuator stops at the home position, the position complete output (PEND) and home return
complete output (HEND) turn ON. On the other hand, the moving output (MOVE) turns OFF.
• On the PLC side, turn OFF the home return signal (HOME) after the home return complete output
(HEND) has turned ON.
Home return input

(HOME)
Home return complete

output (HEND)

(PEND)
Moving output
(MOVE) Effective in PIO pattern 0 or 1.
Actuator movement
Mechanical Stops at the

end home position.
Caution: When performing home return, pay attention to the following:

[1] Confirm that no obstacle is present in the home return direction.
[2] If any obstacle is present in the home return direction, review the PLC sequence
circuit and change the circuit so that home return will be executed only when there is
no obstacle.
90
(Note) If the home is not yet established immediately after the power has been turned on, directly
inputting the command position signal and start signal without inputting the home return signal
(HOME) first will cause the actuator to perform home return operation and then move to the target
position.
However, it is recommended that the PLC sequence circuit use the home return signal (HOME) to
prevent errors.
[1] PIO pattern = 0 to 3

Command position 1 to 256 input
(PC1 ~ PC256)
Start input
(CSTR)
Home return complete output

(HEND)
Completed position output

(PM1 ~ PM256)

(PEND)
Moving output
(MOVE)
Actuator movement
Mechanical Target position

end
Home position
[2] PIO pattern = 4
Direct position command input

(One of ST0 to ST6)

(HEND)
Movement complete output

(One of PE0 to PE6)

end
Home position
91
7.2.2 Method Used When No HOME Input Signal Is Available (PIO Pattern = 5)
Since no home return signal (HOME) is available in PIO pattern 5, input the rear end move command
(ST0) first to perform home return.
• When the rear end movement command (ST0) turns ON, the actuator starts moving toward the
mechanical end on the home side.
Once the mechanical end is contacted, the actuator reverses its direction and moves to the home
position, stops temporarily at the home position, and then moves to the rear end.
• Once the home position is reached, the home return complete output (HEND) turns ON.
Rear end move command input

(ST0)

(HEND)
Rear end detected output

(LS0)

end
Home position
Caution: When performing home return, pay attention to the following:

[1] Confirm that no obstacle is present in the rear end direction.
[2] If any obstacle is present in the rear end direction, move the actuator toward the front
end and remove the obstacle. Issuance of the front end move command is permitted
for this reason. In this case, the actuator moves forward at the home return speed
and when the actuator reaches the mechanical end, the front end position complete
output (LS1) turns ON.
[3] Do not input the intermediate point move command (even if the command is input, it
will be ignored).
92
7.3 Positioning Mode (Back and Forth Movement between Two Points)
Example of use in operation) The actuator moves back and forth between two positions. The position 250
mm from the home is set as position 1, and the position 100 mm from the
home is set as position 2. The travel speed to position 1 is set as 200
mm/sec, and to position 2 is set as 100 mm/sec.
Controller
PIO Reference flow
Signal name Category

[1] Select/enter command position 1.
[13] [10] [5] [2]
Start
[2] Start input ON
[1]
Command position 1
Movement to position 1 starts.
[9] Command position 2
Command position 4 Input Completed position OFF

P
Command position 8 [3] Position complete output OFF
L Command position 16 [4] Moving output ON
Command position 32 [5] Start input OFF

[8]
C Completed position 1
[6] Moving output OFF
[16]
[7] Position complete output ON
[8] Completed position 1 is output.
Completed position 8 Output
Completed position 32 Movement to position 1 completes.
[15] [11] [7] [3]

Position complete [10] Start input ON
[14] [12] [6] [4]
Moving Movement to position 2 starts.
Completed position OFF
[11] Position complete output OFF
[12] Moving output ON
[13] Start input OFF
Movement to position 2 completes.
93
Position table (Field(s) within thick line must be entered.)
Position Speed Acceleration Deceleration Push Positioning
No.
[mm] [mm/s] [G] [G] [%] band [mm]
0 * * * * * *
1 250.00 200.00 0.30 0.30 0 0.10
2 100.00 100.00 0.30 0.30 0 0.10
:
Command position Position 1 Position 2 Position 1
Start
Position complete
Moving
Completed position
Position 1 Position 2 Position 1
Speed
Actuator movement
T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON
(The scan time of the host controller must be considered.)
Each command position must be input after the position complete output has turned ON for the movement
to the previous position.
Caution: • When the start signal turns ON, the position complete output will turn OFF and the moving
output will turn ON.
Always turn OFF the start signal after confirming that the start signal is currently ON and
the position complete output has turned OFF.
If the start input remains ON as shown below, the position complete output will not turn ON
even when the actuator movement is completed.
Start
Position complete
Moving
Actuator
Movement is complete.
• If another movement command to the same position is issued, the position complete output
will turn OFF, but the moving output will not turn ON.
• If the position complete signal turns ON, the moving output will also turn OFF
simultaneously even when the actuator is moving.
This means that, if the positioning band in the position data is increased, there may be
cases where the actuator will continue to move after the moving output turns OFF
simultaneously when the position complete output turns ON.
• When a software stroke limit is reached after continuous incremental moves, the actuator
will stop immediately and a position complete signal will be output.
94
7.4 Push & Hold Mode
Example of use in operation) The actuator is caused to move back and forth in the push & hold mode and
positioning mode. The position 280 mm from the home is set as position 1, and
the position 40 mm from the home is set as position 2.
Movement to position 1 is performed in the push & hold mode (the actuator is
caused to contact the load and push it in the counter-motor direction). The
maximum push amount at position 1 is set as 15 mm, and the current-limiting
value during the push & hold operation by the stepper motor is set as 50%.
Movement to position 2 is performed in the positioning mode. The travel speed to
position 1 is set as 200 mm/sec, and that to position 2 is set as 100 mm/sec.
Controller
PIO Reference flow

[13] [10] [5] [2]
Start [2] Start input ON
[1]
Command position 1 Movement to position 1 starts.
[9]
Command position 2 Input Completed position OFF
Command position 8 [4] Moving output ON

P
Command position 32
L Move at slow speed after passing position 1.
[7]
Completed position 1 Load is pushed. Stepper motor current
[15] rises to the current-limiting value.
[14] [11] [6] [3] [10] Start input ON
Position complete
[16] [12] [8] [4] Movement to position 2 starts.
Moving
[14] Position complete output turns ON

0.1 mm before position 2.
95
No.
[mm] [mm/s] [G] [G] [%] band [mm]
0 * * * * * *
1 280.00 200.00 0.30 0.30 50 15.00
2 40.00 100.00 0.30 0.30 0 0.10
:
Start
Position complete
Moving Note Note Note
Completed position
Speed Position 1 Position 2 Position 1
Actuator movement
Each command position must be input after the position complete output has turned ON for the movement
to the previous position.
z Conditions for determining completion of push & hold operation

Push & hold operation is deemed to have completed upon elapse of the time set by parameter No. 6
(Push completion judgment time) after the motor current reached the current-limiting value set in the
“Push” field of the position table.
Set an appropriate value by considering the material and shape of the load, and so on.
The minimum setting unit is “1 msec,” while the maximum value is “9999 msec.” The factory setting is “255
msec.”
(Note) The chart below explains how completion of push & hold operation is determined if the load
shifted during the judgment and the current has changed as a result, based on a judgment time of
255 msec.
Push current
Starting position Target position Counting starts.

20 msec
The count increases to 200.
The count decreases to 180.

75 msec
Push & hold operation is

deemed to have completed.
If the motor current remains at or above the push current for 200 msec and then drops below this level for
20 msec, the count will decrease by 20. When the push current is reached again thereafter, counting will
start from 180. If the motor current remains at or above the push current for 75 msec, the count will
increase to 255 and thus push & hold operation will be deemed to have completed.
In total, 295 msec was required for the judgment.
96
7.4.1 Return Action after Push & Hold by Relative Coordinate Specification
z Positioning mode
The reference position is the target position for the position number used in the applicable push & hold
operation.
In the aforementioned example, the actuator moves to the 240-mm position if position No. 2 is set to -40
mm in the incremental mode (280 – 40 = 240 mm).
Speed Position where the push &
hold operation completed
Return action
Returned position Target position

240 mm 280 mm
z Push & hold mode
The reference position is the position where the push & hold operation completed.
In the aforementioned example, the actuator moves to the 250.34-mm position if position No. 2 is set to
-40 mm in the incremental mode and the push & hold operation completed at 290. 34 mm (290.34 – 40 =
250.34 mm).
(Note) In this case, the controller determines that the actuator has missed the load and thus does not
turn ON the position complete signal.
It is therefore recommended that the zone output signal be used to determine completion of push
& hold operation on the PLC side.
Position where the push &
Speed hold operation completed
290.34 mm
Return action
Returned position Target position

250.34 mm 280 mm
Caution: When the start signal turns ON, the position complete output will turn OFF and the moving
Always turn OFF the start signal after confirming that the start signal is currently ON and the
position complete output has turned OFF.
If the actuator has missed the load, the position complete output will not turn ON as shown
below. The completed position will be output and the moving output will turn OFF.
Start
Position complete
Moving
Completed position Position 1 Position 2 Position 1

Speed
Actuator movement
If the actuator has missed the load, the

position complete output will not turn ON.
97
7.5 Speed Change during Movement
Example of use in operation) The actuator speed is reduced at a certain point during movement.
The position 150 mm from the home is set as position 1, and the position 200
mm from the home is set as position 2. The actuator is initially located between
the home and position 1. The actuator is moved to position 2 being the target
position, at a travel speed of 200 mm/sec to position 1 and that of 100 mm/sec
from position 1 to position 2.
Method) In this example, the actuator is caused to move to position 1 and to position 2
successively. Before the actuator is stopped at position 1, command position 2
must be selected/entered and the start signal must be input. To do this, set a
wide positioning band at position 1 and cause the start signal for movement to
position 2 to be input immediately after the completion signal for movement to
position 1 is output. (Command position 2 should be entered while the actuator is
moving to position 1.)
Controller
PIO Reference flow
[11] [9] [5] [2] [2] Start input ON
Start
[1] Movement to position 1 starts at 200 mm/sec.
Command position 1
[6]
Command position 2 Completed position OFF
Input
Command position 8 [4] Moving output ON

P Command position 32 [6] Select/enter command position 2.
[8]
[7] Position complete output turns
L [13] ON 10 mm before position 1.
Completed position 4 [8] Completed position 1 is output.

C
Completed position 8 [9] Start input ON
Output
Completed position 16 Movement to position 2 starts at 100 mm/sec.
[12] [10] [7] [3]
Position complete
[14] [4]
Moving
Position complete output turns

[12] ON 0.1 mm before position 2.
98
No.
[mm] [mm/s] [G] [G] [%] band [mm]
0 * * * * * *
1 150.00 200.00 0.30 0.30 0 10.00
2 200.00 100.00 0.30 0.30 0 0.10
:
Command position Position 1 Position 2

T1 T1
Start Note Note
Position complete
Completed position Position 2

Position 1
Moving
Speed
Actuator movement
99
7.6 Operation at Different Acceleration and Deceleration Settings
Example of use in operation) Positioning is performed to the position 150 mm from the home (position 1)
at a speed of 200 mm/sec.
The acceleration is 0.3 G and the deceleration is 0.1 G.
Method) Set 0.3 [G] in the “Acceleration” field and 0.1 [G] in the “Deceleration” field
of the position table.
Controller
PIO Reference flow
Signal name Category [1] Select/enter command position 1.

[5] [2]
Start
[1] [2] Start input ON
Command position 1
Command position 2 Input Movement to position 1 starts at the

acceleration 0.3 G.
Command position 4
P Command position 8
Command position 16
L Command position 32 [3] Position complete output OFF
[7]
C [4] Moving output ON
[5] Start input OFF
Completed position 16 Moves at constant speed (200 mm/sec).
[6] [3]
Position complete Decelerates at 0.1 G.
[8] [4]
Moving
Position complete output turns
[6]
ON 0.1 mm before position 1.
100
No.
[mm] [mm/s] [G] [G] [%] band [mm]
0 * * * * * *
1 150.00 200.00 0.30 0.10 0 0.10
:
Command position Position 1

T1
Start
Position complete
Position 1
Completed position
Moving
Speed
Positioning band
Actuator movement
Acceleration 0.3 G Deceleration 0.1 G
If the start input remains ON as shown below, the position complete output will not turn ON
even when the actuator movement is completed.
Start
Position complete
Moving
Actuator
• If another movement command to the same position is issued, the position complete output
will turn OFF, but the moving output will not turn ON.
• If the position complete signal turns ON, the moving output will also turn OFF
simultaneously even when the actuator is moving.
This means that, if the positioning band in the position data is increased, there may be
cases where the actuator will continue to move after the moving output turns OFF
simultaneously when the position complete output turns ON.
• When a software stroke limit is reached after continuous incremental moves, the actuator
will stop immediately and a position complete signal will be output.
101
7.7 Pause
Example of use in operation) Pause the actuator during movement. [Effective in PIO pattern = 0 to 4]
Method) Use the pause input.
Controller
PIO Reference flow
Signal name Category [1] Select/enter a desired command position.

[5][2]
Start
[2] Start input ON
Command position 1
Command position 2 Movement to the selected position

starts.
Input
[1] Command position 4
Command position 8
Command position 16
Command position 32
[8][6]
*Pause [4] Moving output ON
[5] Start input OFF
[11] Completed position 4 Pause input OFF (Actuator

[6]
Output decelerates to a stop.)
Completed position 16 [7] Moving output OFF
[10][3] [8] Pause input ON (Movement starts.)
Position complete
[12][9] [7] [4]
Moving
[11] Completed position is output.
Movement to the selected position

completes.
102
Command position
Start Note
Position complete
Completed position
Pause
Moving
4 msec or less
Speed
Actuator movement
Deceleration to a stop Start of remaining movement
The remaining movement can be cancelled by turning ON the reset input during pause.
(The controller will detect a rise of the reset signal and cancel the remaining movement.)
Command position
Start
Position complete
Approx. 1 msec
Completed position
Pause
6 msec or more
Reset
Moving
Speed
Actuator movement
103
7.8 Zone Signal Output
Two types of zone output signals are available: zone output (ZONE1) and position zone output (PZONE).
The boundaries defining the signal ON range are set differently for each zone output.
[1] Zone output (ZONE1) --- Set by parameter No. 1/No. 2.
[2] Position zone output (PZONE) --- Set in the “Zone boundary-“ and “Zone boundary+” fields of the
position table.
Whether these signals are available or not varies depending on the PIO pattern, as shown below.
{: Available / x: Not available

PIO pattern
Signal classification
0 1 2 3 4 5
Zone output (ZONE1) { x x x { {
Position zone output (PZONE) { { { x { {
Example of use in operation) Move the actuator from the home to the 150-mm position (position 1) and
output a zone signal once the actuator enters the range between 40 mm
and 120 mm.
Method) • Zone output (ZONE1)
The signal ON range is set by the “Zone boundary+” and “Zone
boundary-” parameters.
Parameter No. 1 Zone boundary+ 120 (mm)
Parameter No. 2 Zone boundary– 40 (mm)
• Position zone output (PZONE)

The signal ON range is set in the “Zone boundary+” and “Zone
boundary-” fields of the position table.
Position Zone boundary+ Zone boundary-

No.
[mm] [mm] [mm]
0 * * *
1 150.00 120.00 40.00
104
Controller
PIO Reference flow
Signal name Category [1] Select/enter a desired command position.
[5] [2]
Start
[2] Start input ON
Command position 1
Input Movement to the selected position

[1] starts.

Command position 32
Completed position 1 [3] Position complete output OFF
[9]
Completed position 32 Output [5] Start input OFF

[8] [3]
Position complete
[6] Actuator enters the zone. Zone output ON
[7] [6] Zone
[10] [4]
Moving
Actuator exits the zone. Zone output
[7]
OFF
Position complete output ON

[8]
[9] Completed position is output.
Movement to the selected position

completes.
105
Command position
T1
Start Note
Position complete
Completed position
Zone
Moving
Speed
Actuator movement
0 mm 40 mm 120 mm 150 mm
Example of other zone output)
Zone output at 120 or more Zone output at 40 or less
Zone Zone
120 40
Zone boundary+ Maximum stroke length Zone boundary+ 40

Zone boundary– 120 Zone boundary– 0
106
7.9 Incremental Moves
Example of use in operation) Move the actuator from the home to the 30-mm position by issuing an
absolute position command (position No. 1), and thereafter move the
actuator continuously at a 10-mm pitch until the final position of 200 mm is
reached. (Pitch feed command: Position No. 2)
Controller
PIO Reference flow
[13][10][5][2] [2]
Start Start input ON
P
[1]
Command position 1 Input Movement to position 1 starts.
[9]
L Command position 2
[7]
[15] [3] Position complete output OFF
[14][11][6][3] Output [4] Moving output ON
Position complete
[16][11][8][4] [5] Start input OFF
Moving
[10] Start input ON
Movement to +10 mm from the current position starts.
Movement to the +10 mm position completes.
107
Position Speed Positioning Zone + Zone -

No. [mm/ss] band Incremental
[mm] [mm] [mm] [mm]
0 ½ ½ ½ ½ ½ ½
1 30.00 100.00 0.10 0 0 0
2 = 10.00 20.00 0.10 190.50 29.50 1 Incremental
feed
…
* On the teaching pendant screen, this sign indicates that the position is specified in
the incremental mode.
T1 T1
Start
Note 1
Position complete Note 2
Completed position
Position 1 Position 2 Position 2
Moving
Speed
Actuator movement
Time
30 40 50 60 70
Distance from home

Caution 1: • When the start signal turns ON, the position complete output will turn OFF and the moving output will turn ON.
Always turn OFF the start signal after confirming that the start signal is currently ON and the position complete
output has turned OFF.
If the start input remains ON as shown below, the position complete output will not turn ON even when the
actuator movement is completed.
Start
Position complete
Moving
Actuator
• If another movement command to the same position is issued, the position complete output will turn OFF, but the
moving output will not turn ON.
• If the position complete signal turns ON, the moving output will also turn OFF simultaneously even when the
actuator is moving.
This means that, if the positioning band in the position data is increased, there may be cases where the actuator
will continue to move after the moving output turns OFF simultaneously when the position complete output turns
ON.
• When a software stroke limit is reached after continuous incremental moves, the actuator will stop immediately
and a position complete signal will be output.
Caution 2: • When a soft limit is reached as a result of repeated incremental moves, the actuator will stop at that position and
the position complete output will be output.
108
7.9.1 Judgment Method of End Position
Although completion judgment is based on the applicable count managed by the PLC, the zone output
signal can be used additionally to double-check the completion of movement.
Program the PLC so that the ON/OFF status of the zone output signal is checked when positioning is
completed, and if the signal is OFF, the applicable position will be determined as the last load position.
If the count in the PLC does not match the zone output signal status, signal timings may not be
synchronized.
10-mm
pitch 200 mm
Position No. 1
Last load
29.5 mm 190.5 mm
Zone output signal
The coordinate immediately before the last

load is set as the positive-side boundary.
109
7.9.2 Notes on Incremental Mode
If an operation command is issued based on relative coordinate specification while the actuator is moving (in
the normal positioning mode or push & hold mode), how the actuator will operate varies depending on whether
or not push action is specified in the operation command by relative coordinate specification, as explained
below.
(1) When the relative coordinate operation command specifies an operation in the normal
positioning mode (without push action)
[1] When a relative coordinate operation command is specified while the actuator is moving in the normal
positioning mode
If any incremental position number is selected and input and then a start signal is input while positioning is
in progress, the actuator will move to the position corresponding to the target position of the initial
command plus the incremental distance.
(If the incremental distance is a negative value, the actuator will move to the position corresponding to the
target position minus the incremental distance.)
Example) If the start signal for movement to position 2 is input while the actuator is moving to position 1,
the actuator will move to the position 215 mm from the home.
Position Speed Positioning Push
No. band Incremental
[mm] [mm/ss] [%]
[mm]
0 ½ ½ ½ ½ ½
1 200.00 100.00 0.10 0 0 Positioning mode
Incremental
2 = 15.00 20.00 0.10 0 1 feed
…
* On the teaching pendant screen, this sign indicates that the position is specified
in the incremental mode.
Start
Position complete
Speed
Actuator movement
Distance
Position from home: 215 mm
If the start signal for movement to an incremental position number is input multiple times during
positioning, the actuator will move to the position corresponding to the initial position plus the “increment x
number of times the signal was input.”
Example) If the start signal for movement to position 2 is input twice while the actuator is moving to
position 1, the actuator will move to the position 230 mm from the home.
Start
Position complete
Speed
Actuator movement
Distance
Position from home: 230 mm
110
[2] When a relative coordinate operation command is specified while the actuator is moving in the push
& hold mode
The following explains how the actuator will move if an incremental position number is selected and
input and then a start signal is input while the actuator is moving in the push & hold mode.
Example) If the start signal for movement to position 2 is input while the actuator is moving to position 1,
the actuator will move to the position corresponding to the target position set in the position 1
data plus the incremental distance. Accordingly, the push & hold mode will be cancelled.
If the position table is set as follows, the actuator will move to the 215-mm position.

[mm] [mm/ss] [%]
[mm]
0 ½ ½ ½ ½ ½
1 200.00 100.00 30.00 50 0 Push & hold mode
= 15.00 20.00 Incremental

2 0.10 0 1
feed
…
* On the teaching pendant screen, this sign indicates that the position is
specified in the incremental mode.
Start
Position complete
Speed
Actuator movement
Distance
Initial target Stopped position:

position: 200 mm 215 mm
111
(2) When the relative coordinate operation command specifies an operation in the push & hold
mode
Example) If a position 2 command is input followed by a start signal while the actuator is moving to
position 1, a new target position will be set by adding the incremental distance to the current
position where the start input was received. Since the target position is indeterminable, never
use this method.

[mm] [mm/ss] [%]
[mm]
0 ½ ½ ½ ½ ½
1 200.00 100.00 30.00 50 0 Push & hold mode
15.00 20.00 Incremental

2 = 60.00 50 1
feed
…
* On the teaching pendant screen, this sign indicates that the position is
specified in the incremental mode.
Start
Position complete
Speed
Push speed
Actuator movement
Distance
Position where the

push & hold
operation completed
Position where the start input was received
New target position Initial target
position: 200 mm
The operation explained above also applies to cases where the operation mode of the position 1 data is
the normal positioning mode (without push action).
112
7.10 Jogging/Teaching Using PIO
If the teaching type is selected, you can jog the actuator via operation from the PLC.
You can also write the current actuator position to the “Position” field of the position table under a
specified position number via operation from the PLC.
If the actuator position is written to a blank “Position” field where no position has yet been defined, the
positioning band and other fields will be automatically populated by their default values set in the
applicable parameters.
Example of use in operation) Move the actuator to the target position by inputting a jog command from
the PLC and write the achieved position to position No. 1.
Controller
PIO Reference flow
Signal name Category [1] Operation mode input ON

[5]
Command position 1
P [1]
Operation mode [2] Current operation mode output ON
[3]
Manual operation switching
Input Manual operation switching input
L [4] Jog+
[3] ON, if manual feed operation is
Jog- inching feed
[6] [8]
C Current-position write
[2]
Current operation mode
[4]
Move the actuator to the target
Moving Output position using the Jog+ input or Jog-
[4] input.
[7]
Write completion Moving output ON
[5] Command position 1 input ON
[6] Current-position write input ON
[7] Write completion output ON
[8] Current-position write input OFF
113
Jogging/teaching timing
Operation mode
Current operation
mode
Manual operation
switching
+Jog
-Jog
Command position Position 1
Current-position
write
Write completion
T1: 20 msec or more; time after the current-position write input is turned ON until writing of the current
position is started
When the operation mode (MODE) input is turned ON, the current operation mode (MODES) output will
turn ON and the teaching mode permitting PIO teaching will become effective.
The teaching mode will not become effective unless the operation mode (MODE) input is turned ON while
the actuator is stopped.
To confirm that the teaching mode is effective, check if the current operation mode (MODES) output is
ON.
If both the Jog+ input and Jog- input turn ON at the same time, the actuator will stop. In this case, turn
both inputs OFF and then restart jogging.
The manual operation switching (JISL) input is ON during inching and OFF during jogging.
The inching distance is set by parameter No. 48, while the jog speed is set by parameter No. 26.
If the current-position write (PWRT) input has remained ON for 20 msec or longer, the current actuator
position will be written to the selected command position number.
When writing is completed, the write complete (WEND) output will turn ON.
When the current-position write (PWRT) input is subsequently turned OFF, the write complete (WEND)
output will turn OFF.
If a signal to be written is input from the PLC while the position table screen is open on the PC or
teaching pendant, the position data display will not be refreshed. Perform one of the following
operations to check the retrieved position data:
PC --- Click the button.
Teaching pendant --- Open the user adjustment screen and enter “4” as the adjustment number to
reset the software.
114
7.11 Operation in 7-point Type
Separate movement command inputs are provided for the target positions for position Nos. 0 to 6, so
simply turn ON the input signal corresponding to the position you wish to move the actuator to, and the
actuator will start moving.
Example of use in operation) Move the actuator to position No. 0 (5 mm), position No. 1 (200 mm) and
position No. 2 (390 mm) in sequence.
Controller
PIO Reference flow
Signal name Category Direct position command 2 input turns OFF.

[1] Direct position command 0 input turns ON.
[1] [4]
P [4] [7]
Direct position command 1 Input Starts moving to position No. 0 (5 mm).
[2] Movement complete 2 output turns
[7] [1]
OFF.
L Direct position command 2
[3] [5]
Movement complete 0
Reaches position No. 0 (5 mm).
C [6] [8] Output [3]
Movement complete 0 output turns ON.
Movement complete 1
[9] [2]
Movement complete 2
Direct position command 0 input turns
[4] OFF.
Direct position command 1 input turns ON.
Starts moving to position No. 1 (200

[5] mm).
Movement complete 0 output turns OFF.

[6]
Direct position command 1 input turns

[7] OFF.
Direct position command 2 input turns ON.
Starts moving to position No. 2 (390

[8] mm).
Movement complete 1 output turns OFF.

[9]
115
0 input (ST0)

1 input (ST1)

2 input (ST2)
Movement complete 0
output (PE0)
Movement complete 1
output (PE1)
Movement complete 2
output (PE2)
Actuator movement
Position No. 0 (5 mm) Position No. 2 (390 mm)
Position No. 1 (200 mm)
Caution: Movement commands are executed based on the rise edge, so input each signal
continuously for 6 msec or more.
If two or more movement commands are input simultaneously, they will be executed
according to the following priorities:
The priorities follow the command numbers in ascending order: [1] Direct position command
0, [2] Direct position command 1, …, [7] Direct position command 6.
The sequence circuit on the PLC side must ensure only one command is input at a time.
116
z The movement command input operates in two modes.
You can select the operation condition of the movement command input (ST0 to ST6) in parameter No.
27.
The factory setting is “0: [Level mode].”
Description of the movement command input Setting

Level mode:
The actuator starts moving when the input signal turns ON. When the signal turns
0
OFF during the movement, the actuator will decelerate to a stop and complete its
operation.
Edge mode:
The actuator starts moving when the rise edge of the input signal is detected. The
1
actuator will not stop even when the signal turns OFF during the movement, until the
target position is reached.
[Level mode]

input (ST0 to ST6)
Position complete
(PE0 to PE6)
Stopped
Actuator movement
Target position
(Note) Turn OFF the movement command input after confirming that the target position has been
reached.
[Edge mode]

input (ST0 to ST6)
Position complete
(PE0 to PE6)
Actuator movement
Target position
117
z Handling of the pause (*STP) signal
This signal is a contact B signal, meaning that it must remain ON while the actuator is moving.
If the pause signal turns OFF while the actuator is moving, the actuator will decelerate to a stop.
The actuator will start moving when the signal turns ON again.
Use this signal as an interlock that actuates when an operator entry prohibition sensor or contact
prevention sensor is activated.
If the pause signal is not to be used, set parameter No. 15 (Pause input disable selection) to “1,” and
the actuator will move even when this signal is OFF.
(Note) When the “edge mode” is selected as the movement command type, you can change the target
position while the actuator is stopped with this signal turned OFF, as follows:
[1] Input a reset signal (RES) for 6 msec or more to cancel the remaining travel.
Next, turn ON the pause signal, and then input a movement command specifying the new target
position.
(Example) Turn OFF the pause signal while the actuator is moving under direct position command
1. The actuator decelerates to a stop.
→ Turn OFF direct position command 1, and turn ON the reset signal for 6 msec or
more.
→ Turn ON the pause signal again, and input direct position command 2.
Reset (ON for 6 msec or more)
Pause
Movement complete 2
Stopped
Actuator movement
The target position is where

movement complete 2 turns ON.
[2] After inputting a movement command specifying the new target position, turn ON the pause input.
(Example) Turn OFF the pause signal while the actuator is moving under direct position command
1. The actuator decelerates to a stop.
→ Turn OFF direct position command 1, and turn ON direct position command 2.
→ Turn ON the pause signal again. The front end is recognized as the new target
position.
Pause
Movement complete 2
Stopped
Actuator movement
The target position is where

movement complete 2 turns ON.
118
7.12 Operation in 3-point Type
After the power has been turned on, input the rear end move command first to complete home return, and
then perform continuous operation.
→ Refer to 7.2.2, “Method Used When No HOME Input Signal Is Available.”
Example of use in operation) How to move the actuator from the rear end to the front end is explained.
Although the actuator does not stop at the intermediate point, you can
increase the positioning band and use the intermediate point detected
output signal (LS2) as a quasi zone output signal.
Example of position table
No. Remarks
[mm] [mm/s] [G] [G] [%] band [mm]
0 5.00 300.00 0.30 0.30 0 0.10 Rear end
1 380.00 300.00 0.30 0.30 0 0.10 Front end
Intermediate
2 200.00 300.00 0.30 0.30 0 50.00
point
Operation timings
PLC processing 1: Turn OFF the rear end move command signal (ST0) and intermediate point move
command signal (ST2), and turn ON the front end move command signal (ST1).
Operation: [1] The actuator starts moving toward the front end.
[2] When the current position passes 5.1 mm, the rear end detected output (LS0) turns
OFF.
[3] When the current position reaches 150 mm, the intermediate point detected output
(LS2) turns ON. Once 250 mm is passed, LS2 turns OFF.
PLC processing 2: If necessary, use the intermediate point detected output (LS2) as a trigger signal with
respect to surrounding equipment.
[4] When the current position reaches 379.9 mm, the front end detected output (LS1)
turns ON.
[5] When the current position reaches 380 mm, the actuator stops.
PLC processing 3: Once the front end detected output (LS1) turns ON, the sequence processing at the
front end is executed. Upon completion of the sequence processing, the front end
move command signal (ST1) turns OFF.
Front end move command input

(ST1)
0.2 mm
Rear end detected output 100 mm

(LS0)
Intermediate point detected output

0.2 mm
(LS2)
Front end detected output

(LS1)
Execution of
Speed sequence at
the front end
365 mm
Time
Rear end: Intermediate point: Front end:
5 mm 200 mm 380 mm
Caution: Provide a ladder sequence circuit where only one move command signal turns ON at a
time. If two or more signals are input at the same time, the signals will be processed in the
following priorities:
Priorities: [1] Rear end, [2] Front end, [3] Intermediate point
119
z Meaning of position detected output signals (LS0, LS1, LS2)
These signals are handled in the same manner as limit switches (LSs), and turn ON when the following
conditions are met:
[1] The home return complete output signal (HEND) is ON.
[2] The current position is within the positioning band from each target position in the positive or
negative direction.
Accordingly, these signals turn ON not only when the actuator is moving under a move command, but
also when the actuator is moved by hand with the servo turned off.
In a case where none of these signals (LS0, LS1, LS2) is ON when an emergency stop was actuated
while the actuator was moving, if LS0, LS1 or LS2 must be ON as a condition for resuming actuator
operation from the PLC, move the actuator to any target position.
Caution: These signals will turn OFF if a phase-A/B disconnection detection alarm occurs.
z Notes on positioning band setting

The positioning band setting defines the range within which the position detected output signal turns
ON.
Condition for the position detected output signal to turn ON = Target position ± (Positioning band)
With any normal move command, once the position detected output signal turns ON the sequence
processing will be executed and the move command input signal will turn OFF.
Take note that if the positioning band is wide and the move command input signal turns OFF quickly,
the actuator may not reach the target position.
(Example) When the feed speed is 300 mm/s and deceleration is 0.3 G, the deceleration distance
becomes approx. 15 mm.
If the positioning band is set to 30 mm, the position detected output signal will turn ON
before the actuator starts decelerating.
In this case, promptly turning OFF the move command input signal on the PLC will cause
the controller to initiate the deceleration stop processing.
Depending on the timing, therefore, the actuator may stop before the target position.

(ST1)

(LS1) Where deceleration
should have started
Front end
Stops before the
front end.
Positioning band
The positioning band is

greater than the deceleration
distance.
120
z Speed change during movement
If the load is made of soft material or is a bottle or otherwise topples easily due to its shape, one of the
following two methods can be used to prevent the load from receiving vibration or impact when it stops:
[1] Reduce the deceleration to make the deceleration curve gradual.
[2] Initially move the actuator at the rated speed, and reduce the feed speed immediately before the
target position.
Method [2], where the feed speed is reduced, is explained below.

(Example) Move the actuator from the rear end to the front end by using the intermediate point as a
dummy point, where the feed speed is set to 300 mm/s until the intermediate point and then
reduced to 20 mm/s after passing the intermediate point.
Example of position table

No. Remarks
[mm] [mm/s] [G] [G] [%] band [mm]
0 5.00 300.00 0.30 0.30 0 0.10 Rear end
1 380.00 20.00 0.30 0.30 0 0.10 Front end
Intermediate
2 300.00 300.00 0.30 0.30 0 30.00
point
Operation timings
PLC processing 1: Turn OFF the rear end move command signal (ST0) and the front end move command
signal (ST1), and turn ON the intermediate point move command signal (ST2).
Operation: [1] The actuator starts moving toward the intermediate point.
[2] When the current position reaches 270 mm, the intermediate point detected output
(LS2) turns ON.
PLC processing 2: Turn OFF the intermediate point move command signal (ST2) and turn ON the front
end move command signal (ST1).
[3] The actuator decelerates from 300 mm/s to 20 mm/s and stops at the front end.
Intermediate point move command

input (ST2)

(ST1)
Intermediate point detected output

(LS2)

(LS1)
Speed
Time
Rear end: Intermediate point: Front end:
5 mm 300 mm 380 mm
Caution: By setting a wide positioning band for the intermediate point, smooth speed change can
be implemented without requiring the actuator to stop temporarily at the intermediate
point.
121
z Pause during movement
Since move commands are based on level mode, the actuator continues to move while a move command
is ON. Once the move command turns OFF, the actuator will decelerate to a stop and complete the
operation.
Therefore, turn OFF the move command if the actuator must be stopped temporarily as a low-degree
safety measure.
(Example) Temporarily stop the actuator while it is moving to the front end.
(ST1)

(LS1)
Speed
Moving Stopped Moving

Time
Front end
z Emergency return operation

The following explains what to do when an emergency situation occurred while the actuator was moving
and you want to return the actuator to the standby position (rear end).
(Example) Return the actuator to the standby position (rear end) following an emergency situation
occurring while the actuator was moving to the front end.
Operation timings
PLC processing 1: Turn ON the rear end move command signal (ST0) upon occurrence of the emergency
situation, and then turn OFF the front end move command signal (ST1).
Operation: [1] The actuator starts decelerating upon turning OFF of the front end move command
signal (ST1), and stops.
[2] The actuator reverses its direction and starts moving toward the rear end.
[3] When the rear end is reached, the rear end position complete output (PE0) turns
ON.
PLC processing 2: Turn OFF the rear end move command signal (ST0).
Occurrence of
emergency situation

(ST1)
Rear end move command input

(ST0)
Rear end detected output

(LS0)
Speed
Moving in + direction Moving in –
direction
Time
Rear end
122
8. Parameters
8.1 Parameter Table
Category: a: Parameter relating to the actuator stroke range
b: Parameter relating to the actuator operating characteristics
c: Parameter relating to the external interface
d: Servo gain adjustment
No. Category Symbol Name Unit Default factory setting

1 a ZONM Zone boundary 1+ mm Effective actuator length
2 a ZONL Zone boundary 1– mm Effective actuator length
3 a LIMM Soft limit+ mm Effective actuator length
4 a LIML Soft limit– mm Effective actuator length
Home return direction (In accordance with the specification
5 a ORG -
[0: Reverse / 1: Forward] at the time of order)
6 b PSWT Push & hold stop judgment period msec 255
7 d PLG0 Servo gain number - 6
Set individually in accordance with the
8 b VCMD Default speed mm/sec
actuator characteristics.
9 b ACMD Default acceleration/deceleration G
10 b INP Default positioning band (in-position) mm
12 b SPOW Current-limiting value at standstill during positioning % 60
13 b ODPW Current-limiting value during home return %
16 c BRSL SIO communication speed bps 38400
17 c RTIM Minimum delay time for slave transmitter activation msec 5
18 b LS Home sensor input polarity -
Servo ON input
21 c SON 1
[0: Enable / 1: Disable]
22 a OFST Home return offset mm
23 a ZNM2 Zone boundary 2+ mm Effective actuator length
24 a ZNL2 Zone boundary 2– mm Effective actuator length
25 c IOPN PIO pattern selection - 0 [Standard type]
26 b IOJV PIO jog speed mm/sec 100
Movement command type
27 c FPIO - 0 [Level]
[0: Level / 1: Edge]
Default direction of excited-phase signal detection Set individually in accordance with the
28 b PHSP
[0: Reverse / 1: Forward] actuator characteristics.
29 b PHSP Excited-phase signal detection time msec
31 d VLPG Speed loop proportional gain -
32 d VLPT Speed loop integral gain -
33 d TRQF Torque filter time constant -
34 b PSHV Push speed mm/sec
35 b SAFV Safety speed mm/sec 100
36 b ASO1 Automatic servo-off delay time 1 sec 0
Output mode of position complete signal
39 c FPIO - 0 [PEND]
[0: PEND / 1: INP]
Home-return input disable selection
40 c HOME - 0 [Enable]
123
No. Category Symbol Name Unit Default factory setting
Operating-mode input disable selection
41 c FPIO - 0 [Enable]
42 b ENBL Enable function [0: Enable/1: Disable] - 1 [Disable]
Polarity of home check sensor input Set individually in accordance with the
43 b HMC -
[0: Contact a / 1: Contact b] actuator characteristics.
45 c SIVM Silent interval multiplier - 0 [Do not apply multiplier]
46 b OVRD Speed override % 100
47 b IOV2 PIO jog speed mm/sec 100
48 b IOID PIO inching distance mm 0.1
49 b IOD2 PIO inching distance 2 mm 0.1
50 b LDWT Load output judgment time msec 0
51 b TRQZ Torque check range [0: Enable / 1: Disable] - 0 [Enable]
77 b LEAD Ball screw lead mm
78 b ATYP Axis operation type -
79 b ATYP Rotational axis mode selection -
80 b ATYP Shortcut selection for rotation -
86 b ETYP Absolute unit [0: Not used / 1: Used] -
124
8.2 Detail Explanation of Parameters
If a parameter has been changed, always restart the controller using a software reset command or by
reconnecting the power.
8.2.1 Parameters Relating to the Actuator Stroke Range

z Soft limit (No.3/4 LIMM/LIML)
Set the soft limit in the positive direction in parameter No. 3, and that in the negative direction in parameter
No. 4.
The factory setting for the soft limits conforms to the effective actuator length. Change the settings, as
necessary, to prevent crash with an obstacle or when the actuator must be stroked slightly beyond its
effective length.
A wrong soft limit setting will cause the actuator to crash into the mechanical end, so exercise due caution.
The minimum setting unit is “0.01 [mm].”
(Note) To change a soft limit, set a value corresponding to 0.3 mm outside of the effective range.
Example) Set the effective range to between 0 mm and 80 mm
Parameter No. 3 (positive side) 80.3
Parameter No. 4 (negative side) –0.3
Soft limits set in the controller

Approx.
0.3 mm
Approx.
0.3 mm
Effective range
0 8 0
Approx. 0.1 mm Approx. 0.1 mm
Allowable jogging/inching range after home return
z Zone boundary (1: No.1/2 ZONM/ZONL 2: No.23/24 ZNM2/ZNL2)

These parameters set the zone within which the zone output signal (ZONE1) turns ON when the selected
PIO pattern is “0” (standard type), “4” (7-point type) or “5” (3-point type).
The zone output signal turns ON when the current position is between the negative-side boundary and
positive-side boundary. Set the positive-side boundary in parameter No. 1, and negative-side boundary in
No. 2.
Example) To turn ON the ZONE1 signal when the actuator with a 300-mm stroke enters the section of
100 to 200 mm, set 200.00 in parameter No. 1 (Zone boundary+) and 100.00 in parameter No.
2 (Zone boundary-).
0
(Home) 100 200 300 mm
ZONE1 turns ON
(Note) This controller does not use parameter No. 23 (Zone boundary 2+) and parameter No. 24 (Zone
boundary 2-).
125
z Home return direction (No.5 ORG)
Unless specified by the user, the home return direction is set to the motor direction at the factory.
Should a need arise to change the home direction after the actuator has been assembled into your
system, reverse the setting in parameter No. 5 between “0” and “1.”
If necessary, also change the home return offset, soft limit and excited-phase signal detection direction
parameters.
Caution: The home direction cannot be reversed for a rod-type actuator.
z Home return offset (No.22 OFST)

The controller is shipped from the factory with an optimal value set in parameter No. 22, so the distance
from each mechanical end to the home becomes uniform.
The home return offset can be adjusted in the following conditions:
[1] Want to align the actuator home and the system’s mechanical home after the actuator has been
assembled into the system
[2] Want to set a new home after reversing the factory-set home direction
[3] Want to eliminate a slight deviation generated after replacing the actuator
Caution: If the home return offset has been changed, the soft limit parameters must also be adjusted
accordingly.
8.2.2 Parameters Relating to the Actuator Operating Characteristics

z PIO jog speed (No.26 IOJV)
When the selected PIO pattern is “1” (teaching type), this parameter defines the jog speed to be applied
when jog input commands are received from the PLC.
The factory setting is “100 [mm/sec].”
Set an appropriate value in parameter No. 26 in accordance with the purpose of use.
The maximum speed is limited to “250 [mm/sec].”
(Note) Parameter No. 47 (PIO jog speed 2) is not used for this controller.
z PIO inching distance (No.48 IOID)

When the selected PIO pattern is “1” (teaching type), this parameter defines the inching distance to be
applied when inching input commands are received from the PLC.
The factory setting is “0.1 [mm].”
Set an appropriate value in parameter No. 48 in accordance with the purpose of use.
The maximum limit is limited to “1 [mm].”
(Note) Parameter No. 49 (PIO inching distance 2) is not used for this controller.
z Default speed (No.8 VCMD)

The factory setting is the rated speed of the actuator.
When a target position is set in an unregistered position table, the setting in this parameter will be used as
the speed data for the applicable position number.
To reduce the default speed from the rated speed, change the setting in parameter No. 8.
126
z Default acceleration/deceleration (No.9 ACMD)
The factory setting is the rated acceleration/deceleration of the actuator.
When a target position is written to an unregistered position table or the current position is read in the
teaching mode, the setting in this parameter will be used as the acceleration/deceleration data for the
applicable position number.
To reduce the default acceleration/deceleration from the rated acceleration/deceleration, change the
setting in parameter No. 9.
z Default positioning band (in-position) (No.10 INP)

The factory setting is “0.10 [mm].”
When a target position is written to an unregistered position table or the current position is read in the
teaching mode, the setting in this parameter will be used as the positioning band data for the applicable
position number.
Increasing the default positioning band will allow the position complete signal to be output early. Change
the setting in parameter No. 10, as necessary.
z Current-limiting value at standstill during positioning (No.12 SPOW)

The factory setting conforms to the standard specification of the actuator.
Increasing this setting will increase the holding torque at standstill.
This setting need not be changed in normal conditions of use. However, to prevent hunting caused by
large external force applied while the actuator is at standstill, the value set in parameter No. 12 must be
increased.
(Do not increase the value beyond 70%.)
z Current-limiting value during home return (No.13 ODPW)

The factory setting conforms to the standard specification of the actuator.
Increasing this setting will increase the home return torque.
This setting need not be changed in normal conditions of use. However, if an increased slide resistance
causes the home return to complete before the correct position depending on the affixing method, load
condition or other factor when the actuator is used in a vertical application, the value set in parameter No.
13 must be increased.
(As a guide, the maximum limit is 100% for the RA3C/RA3D types and 75% for all other types.)
z Home sensor input polarity (No. 18, LS)

This parameter is supported when a RCP2-RTB/RTC rotational axis is used in the home sensor mode.
Definition of settings : 0 (Sensor not used)
: 1 (Sensor polarity of contact a)
: 2 (Sensor polarity of contact b)
z Speed override (No.46 OVRD)

Use this parameter when moving the actuator at a slower speed to prevent danger when the system is
initially started for test operation.
When move commands are issued from the PLC, the moving speed set in the “Speed” field of the position
table can be overridden by the value set by parameter No. 46.
Actual moving speed = [Speed set in the position table] x [Value of parameter No. 46] ÷ 100
Example) Value in the “Speed” field of the position table 500 (mm/s)
Value of parameter No. 46 20 (%)
Under the above settings, the actual moving speed becomes 100 mm/s.
The minimum setting unit is “1 [%],” while the input range is “1 to 100 [%].” The factory setting is “100 [%].”
(Note) This parameter is ignored for move commands from the PC and teaching pendant.
127
z Default direction of excited-phase signal detection (No.28 PHSP)
When the servo is turned on for the first time after the power on, excited-phase detection is performed
This parameter defines the direction of this detection.
The parameter need not be changed in normal conditions. In certain situations, such as when the actuator
was contacting a mechanical end or obstacle when the power was turned on and cannot be moved by
hand, change the direction to one that allows the motor to operate smoothly.
To do so, set parameter No. 28 to “0” or “1.” If the detection direction should be the same as the home
return direction, specify the same value currently set in parameter No. 5 (Home return direction).
To set a direction opposite to the home return direction, specify the value different from the one currently
set in parameter No. 5 (Home return direction).
(Example 1) Power was turned on when the slider was contacting the bottom mechanical end in a
configuration where the actuator is installed vertically with the motor at the top.
Top Home return

direction
Home position
Set the same value.

Direction of excited-
phase signal detection
The slider is contacting the bottom mechanical end.

Bottom
(Example 2) Power was turned on when the slider was contacting the bottom mechanical end in a
configuration where the actuator is installed vertically with the motor at the bottom.
Top
Direction of excited-
phase signal detection
Home position
The slider is contacting the bottom mechanical end. Set different values.
Home return
Bottom
direction
z Excited-phase signal detection time (No.29 PHSP)

When the servo is turned on for the first time after the power on, excited-phase detection is performed.
This parameter defines the time of this detection.
The parameter need not be changed in normal conditions, because a detection time appropriate for the
standard specification of the actuator has been set at the factory.
Should an excitation detection error or abnormal operation occur when the servo is turned on for the first
time after the power on, one remedial action that can be taken is to change the detection time set by
parameter No. 29.
If you wish to change this parameter, contact IAI beforehand.
z Safety speed (No.35 SAFV)

This parameter defines the feed speed to be applied during manual operation.
The factory setting is “100 [mm/sec].”
To change this speed, set an optimal value in parameter No. 35.
Take note that the maximum speed is limited to “250 [mm/s]” and that you should set a speed not
exceeding this value.
128
z Automatic servo-off delay time (No.36 ASO1/No.37 ASO2/No.38 ASO3)
This parameter defines the delay time after the positioning is completed until the servo turns off
automatically, when the “Standstill mode” field of the position table is set to “1,” “2” or “3” (automatic servo-
off control enabled) or parameter No. 53 (Default standstill mode) is set to “1,” “2” or “3”(automatic servo-
off control enabled).
Meaning of settings: 1: T becomes the value set by parameter No. 36.
2: T becomes the value set by parameter No. 37.
3: T becomes the value set by parameter No. 38.
The factory setting is “0 [sec].”
Move command
(A green LED blinks.)
Servo status
Servo on
Actuator movement
Target position T: Delay time (seconds) after
positioning is completed until the
servo turns off
z Default standstill mode (No.35 CTLF)

[1] In PIO patterns 0 to 4, either the automatic servo-off mode or full servo control mode can be selected
when the actuator stands by for a long time after completing the home return effected by the HOME
input signal.
[2] In PIO pattern 5, the full servo control mode can be selected when the actuator stands by for a long
time after the power has been turned on.
The factory setting is “0 [Disable].”
Setting
All power-saving modes are disabled. 0
Full servo control mode 4

(Since no holding current flows, power consumption will decrease.)
When the next movement command is received from the PLC, the servo will turn on and the actuator
will start moving.
Refer to the above timing chart.

The pulse motor is servo-controlled to reduce the holding current.
Although the exact degree of current reduction varies depending on the actuator model, load condition,
etc., the holding current decreases to approx. 1/2 to 1/4.
129
z Push speed (No.34 PSHV)
This parameter defines the push speed to be applied after the actuator reaches the target position in push
& hold operation.
Before the shipment, this parameter has been set to the default value selected in accordance with the
characteristics of the actuator.
Set an appropriate speed in parameter No. 34 by considering the material and shape of the load, and so
on.
Take note that maximum speed is limited to “20 [mm/sec]” even on high-speed types and that you should
use the actuator at push speeds not exceeding this level.
Speed Push speed
Load
Positioning band
Caution: It is recommended that you set the push speed to 5 [mm/s] or above to minimize the
negative effect of push force variation.
z Push completion judgment time (No.6 PSWT)

This parameter is used as a condition for determining that the load was contacted and the push & hold
operation has completed.
As for the specific method of judgment, the push & hold operation is deemed to have completed if the
current-limiting value set in the position table has been retained for the time set by parameter No. 6.
Set an optimal time matching the current-limiting value, by considering the material and shape of the load,
and so on.
The minimum setting unit is “1 [msec],” while the maximum value is “9999 [msec].” The factory setting is
“255 [msec].”
(Note) The chart below explains how completion of push & hold operation is determined if the load
shifted during the judgment and the current has changed as a result, based on a judgment time of
255 msec.
Push current
Starting position Target position Counting starts.
The count decreases to 180.
Push & hold operation is

deemed to have completed.
If the motor current remains at or above the push current for 200 msec and then drops below this level for
20 msec, the count will decrease by 20. When the push current is reached again thereafter, counting will
start from 180. If the motor current remains at or above the push current for 75 msec, the count will
increase to 255 and thus push & hold operation will be deemed to have completed.
In total, 295 msec was required for the judgment.
130
z Enable function (No.42 FDIO4)
Whether to enable or disable the deadman switch function on an ANSI-type teaching pendant is defined
by parameter No. 42.
* An ANSI-type teaching pendant will be developed in the future.
Setting
Enable (Use) 0
Disable (Do not use) 1
The factory setting is “1 [Disable].”
z Polarity of home check sensor input (No.43 AIOF)

The home check sensor is not included in the standard specification, but it can be installed as an option.
Normally this parameter need not be changed, but if the customer wishes to change the mode after the
shipment, change the value of Parameter No. 43.
Definition of settings: 0 (Standard specification without home check sensor)
1 (Use the home check sensor based on contact-a sensor polarity)
2 (Use the home check sensor based on contact-b sensor polarity)
[Explanation of operation]
[1] When a home return command is issued, the actuator moves until contacting the mechanical end.
Upon contact with the mechanical end, the home check sensor signal is detected.
[2] Next, the actuator reverses its direction and stops at the home position.
[3] The controller determines that the movement has completed successfully if the home check sensor
signal had changed when the actuator stopped. If the sensor signal remains the same, the controller
recognizes that “position deviation” has occurred, in which case the controller will generate a “Home
sensor not detected” error and output an alarm signal.
Mechanical end
Power on position
Home check sensor Home position
z Load output judgment time (No.50 LDWT)

If the torque check function is used in push & hold operation, the load output (LOAD signal) will turn ON
when a specified condition is met. Since the command torque does not remain constant but fluctuates
within a certain band while the actuator is moving, whether or not to turn ON the load output is determined
based on whether the total duration of periods in which the command torque has exceeded the threshold
corresponds at least to a specified time. This specified time is set using this parameter. The default value
is “255 msec.”
131
z Torque check range (No.51 TRQZ)
This parameter sets whether or not to use the check range when determining if the threshold has been
exceeded. The default value is “0,” i.e., to enable the check range.
Setting
Enable (Use the check range to make judgment) 0
Disable (Do not use the check range to make judgment) 1
z Ball screw lead length (No.77 LEAD)

This parameter defines the ball screw lead length.
A default value appropriate for the characteristics of the actuator is set at the factory.
z Axis operation type (No.78 ATYP)

This parameter defines the type of the actuator used.
Definition of settings : 0 (Linear axis)
: 1 (Rotational axis)
z Rotational axis mode selection (No.79 ATYP)

If the axis operation type (No. 78) is set to “rotational axis,” selecting the index mode will fix the current
value to a range of 0 to 359.99. If the index mode is selected, shortcut control can be used.
Definition of settings : 0 (Normal mode)
: 1 (Index mode)
Caution: Push & hold operation cannot be performed in the index mode. If push action data is entered
in the position data, the data will be disabled and the actuator will perform normal movement.
The positioning band will correspond to the default positioning band set by the applicable
parameter.
z Shortcut selection for rotational axis (No.80 ATYP)

Set this parameter if you want to rotate the rotational axis in a specific direction.
“Shortcut” refers to a type of operation in which the actuator moves to the next point by taking the shortest
path.
Setting
Disable 0
Enable 1
* When shortcut is selected, the actuator can be rotated in a specific direction.
Point No. 1 Positions
Point number Position data

1 0
2 90
Point No. 4 Point No. 2
3 180
4 270
One degree of position data

Point No. 3 corresponds to 1 mm.
132
If the actuator is moved in the order to positions 1 Æ 2 Æ 3 Æ 4, the actuator will operate differently
depending on whether or not shortcut is selected, as explained below.
When shortcut is not selected
Point No. 2 Point No. 2 Point No. 4 Point No. 4
When shortcut is selected
Point No. 2 Point No. 2 Point No. 4 Point No. 4
z Absolute unit (No.83 ETYP)

Parameter No. 83 sets whether or not an optional simple absolute unit is used.
Setting
Not used 0
Used 1
133
8.2.3 Parameters Relating to the External Interface
z PIO pattern selection (No.25 IOPN)
Select the PIO operation pattern in parameter No. 25.
This setting forms the basis of operation, so be sure to set this parameter at the beginning.
The factory setting is “0 [Standard type].”
Parameter No.
25 setting
Standard type
0 * How to set zone boundaries within which to output a zone signal:
Zone boundaries are set using parameter Nos. 1 and 2 for one zone output, and in the
position table for another zone output.
Teaching type
In addition to the normal positioning mode, the user can also select the teaching mode
1
in which the actuator can be jogged via commands from a PLC and the current actuator
position can be written to a specified position.
(Note 1) Jog commands from a PLC are also accepted in the positioning mode.
(Note 2) Positions can be rewritten by approximately 100,000 times.
256-point positioning type
2 The number of positioning points is increased to 256, so only one zone output is
512-point positioning type
3
7-point type
The number of positioning points is limited to seven to offer separate direct command
4
inputs and movement complete outputs for respective positions.
3-point type
Movement complete output signals function differently in this type, compared to the 7-
5 point type.
Specifically, the signal functions not only to “indicate movement complete,” but also to
“detect a position” in the same manner as auto-switches of an air cylinder. Push & hold
operation cannot be performed.
134
z Movement command type (No.27 FPIO)
When the PIO pattern is set to “7-point type,” define the operation condition of the movement command
input (ST0 to ST6) in parameter No. 27.
The factory setting is “0 [Level mode].”
Description of the movement command input Setting

Level mode:
The actuator starts moving when the input signal turns ON. When the signal turns OFF 0
during the movement, the actuator will decelerate to a stop and complete its operation.
Edge mode:
The actuator starts moving when the rise edge of the input signal is detected. The
1
actuator will not stop even when the signal turns OFF during the movement, until the
target position is reached.
[Level mode]
Movement command input

(ST0 to ST6)
Position complete
(PE0 to PE6)
Stopped
Actuator movement
Target position
(Note) Turn OFF the movement command input after confirming that the target position has been
reached.
[Edge mode]
Movement command input

(ST0 to ST6)
Position complete
(PE0 to PE6)
Actuator movement
Target position
135
z Pause input disable selection (No.15 FPIO)
Parameter No. 15 defines whether the pause input signal is disabled or enabled.
Setting
Enable (use) 0
Disable (do not use) the signal 1
z Servo ON input disable selection (No.21 FPIO)

Parameter No. 21 defines whether the servo ON input signal is disabled or enabled.
Setting
Enable (use) 0
z Home-return input disable selection (No.40 FPIO)

Parameter No. 40 defines whether the home-return input signal is disabled or enabled.
Setting
Enable (use) 0
z Operating-mode input disable selection (No.41 FPIO)

Parameter No. 41 defines whether the operating-mode input signal is disabled or enabled.
Setting
Enable (use) 0
136
z Output mode of position complete signal (No.39 FPIO)
This parameter is effective when any PIO pattern other than “5” [3-point type] is selected.
It defines the status of completed position number signals [PM1 to PM256], movement complete signals at
respective positions [PE0 to PE6] and position complete signal [PEND] to be applied if the servo turns off
or “position deviation” occurs while the actuator is standing still after completing positioning.
The following two conditions can be considered:

[1] The position has deviated, due to external force and while the servo was on, beyond the value set in
the “Positioning band” field of the position table.
[2] The position has deviated, due to external force and while the servo was off, beyond the value set in
the “Positioning band” field of the position table.
This parameter is provided to permit flexible specification of how the “position complete status” is
monitored in accordance with the characteristics of the system or sequence circuit on the PLC side.
The ON/OFF status of each position complete signal is controlled as follows in accordance with the setting
of parameter No. 39.
Setting of Definition of completed position number signals [PM1 to PM256], movement

parameter No. 39 complete signals at respective positions [PE0 to PE6] and position complete signal
[PEND]
0 [PEND] [1] The servo is on
The signal remains ON even after the current position has exited the range set by
the “Positioning band” field of the position table, with respect to the target position.
[2] The servo is off
The signal is OFF unconditionally regardless of the current position.
1 [INP] Regardless of the servo on/off status, the signal turns ON if the current position is
within the range set by the “Positioning band” field of the position table, with respect
to the target position, and turns OFF if the current position is outside this range.
* In this mode, the applicable signals are used as limit switches.
The factory setting is “0 [PEND].”
z SIO communication speed (No.16 BRSL)

Set the communication speed to be used when the control is performed via serial communication using
the PLC’s communication module.
Set an appropriate value in parameter No. 16 in accordance with the specification of the communication
module.
One of 9600, 19200, 38400 and 115200 bps can be selected as the communication speed.
The factory setting is “38400 [bps].”
z Minimum delay time for slave transmitter activation (No.17 RTIM)

This parameter defines the minimum delay until the controller’s transmitter will be activated after
completion of command reception, when serial communication is performed using the PLC’s
communication module.
The factory setting is “5 [msec],” but other necessary delay time must be set in parameter No. 17 if the
specification of the communication module exceeds 5 msec.
137
z Silent interval multiplier (No.45 SIVM)
This parameter is not used for this controller. It is applied to controllers of RS485 serial communication
type.
If specified, this parameter defines the multiplier to be applied to the silent interval time for delimiter
judgment in the RTU mode.
The default setting is the communication time corresponding to 3.5 characters in accordance with the
Modbus specification.
This setting need not be changed for normal operations performed with a PC or teaching pendant.
If the scan time of the PLC is not optimal and the character transmission interval exceeds the silent
interval, the silent interval time can be extended using parameter No. 45.
The minimum setting unit is “1 [time],” while the input range is “0 to 10.” If “0” is set, no multiplier is
applied.
138
8.2.4 Servo Gain Adjustment
Before the shipment, the servo has been adjusted in accordance with the standard specification of the
actuator. Accordingly, the servo settings need not be changed in normal conditions.
Nonetheless, the parameters relating to servo adjustment are made accessible by the customer so that
speedy actions can be taken in situations where vibration or noise occurs due to the affixing method of the
actuator, load condition, or the like.
In particular, custom types (having a longer ball screw lead or stroke than standard types) are more
vulnerable to vibration and noise due to external conditions.
In these circumstances, the following parameters must be changed. Contact IAI for details.
z Servo gain number (No.7 PLG0)

Parameter No. Unit Input range Default
7 5 rad/sec 0 ~ 31 6
This parameter determines the response when a position control loop is used.
Increasing the set value improves the tracking performance with respect to the position command.
However, increasing the parameter value excessively increases the chances of overshooting.
If the set value is small, the tracking performance with respect to the position command drops and
positioning takes a longer time.
Speed Set value is large (overshooting).
Set value is small.
Time
z Speed loop proportional gain (No.31 VLPG)

31 --- 1 ~ 27661
This parameter determines the response when a speed control loop is used.
Increasing the set value improves the tracking performance with respect to the speed command (i.e.,
servo rigidity increases).
The greater the load inertia, the larger this parameter value should be.
However, increasing the parameter value excessively makes the actuator more vulnerable to overshooting
or shaking, leading to mechanical vibration.
Speed Set value is large (overshooting).
Set value is small.
Time
139
z Speed loop integral gain (No.32 VLPT)
32 --- 1 ~ 217270
This parameter determines the response when a speed control loop is used.
Increasing the set value lowers the response with respect to the speed command, while also decreasing
the reactive force that generates upon load change.
Decreasing the parameter value excessively makes the actuator more vulnerable to overshooting or
shaking, leading to mechanical vibration.
If the set value is small, the tracking performance with respect to the position command drops and
positioning takes a longer time.
Speed Set value is small. (overshooting).
Set value is large
Time
z Torque filter time constant (No.33 TRQF)

33 --- 1 ~ 2500
This parameter determines the filter time constant for torque commands.
If the resonance frequency of the machine is smaller than the response frequency of the servo loop, the
motor vibrates.
This mechanical resonance can be suppressed by increasing the value set in this parameter.
However, increasing the parameter value excessively may reduce the stability of control.
140
9. PC/Teaching Pendant Connection Method in Multi-axis Configurations
This section explains the method to permanently connect a PC/teaching pendant in configurations
consisting of multiple axes, so that the PC/teaching pendant connector need not be removed/inserted
each time.
The connector is connected to a SIO converter, and the SIO converter sends/receives data to/from each
controller via RS485 serial communication.
The basic specifications are as follow:
[1] Maximum number of connected axes: 16
[2] Maximum length of serial communication cable: 100 m or less
[3] Terminal resistor: 220 Ω (Be sure to install a terminal resistor for the last axis to prevent the effect
of radiating noise.)
9.1 Connection Example
PERSONAL
COMPUTER
Teaching pendant
[RCM-T]
PC software
(Optional)
RS232C type <RCM-101-MW>

USB type <RCM-101-USB>
(Note) External equipment communication

cable <CB-RCA-SIO-***> cannot be
used for connection to a PC.
RS232C cross cable

(Provided by the user)
SIO converter (with built-in terminal resistor)

<RCB-TU-SIO-A> Vertical type
<RCB-TU-SIO-B> Horizontal type
Components:
E-Con connector (AMP 4-1473562-4: housing color green)
E-Con connector (AMP 3-1473562-4: housing color orange)
Junction (AMP 5-1473574-4)
FG
0V Green Green Green
24V
Input power
supply Terminal resistor
R = 220 Ω
Controller power supply

Controller link cable
<CB-RCB-CTL002>
ADRS switch: 0 ADRS switch: 1 ADRS switch: n-1
Controller 1 Controller 2 Controller n
Caution: Do not connect the teaching pendant and PC at the same time.
If both are connected at the same time, a communication error (message level) will occur.
141
9.2 Name and Function of Each Part of the SIO Converter
This is a converter unit conforming to RS485/232C.
[2] Link-connection terminal block (TB1) [1] Power/emergency-stop terminal block (TB2)
EMG2
EMG1
24V
0V
FG
TB1
TB2
A B
[6] Monitor LEDs ON
LED1 LED2
RS232
PORT
[3] D-sub, 9-pin connector [5] PORT switch

[4] Mini DIN, 8-pin connector
[1] Power/emergency-stop terminal block (TB2)
EMG1, EMG2 Provide a contact output for the emergency-stop switch on the teaching pendant.
EMG1 and EMG2 connect to the emergency-stop switch on the teaching pendant
when the PORT switch is ON, or are shorted when the PORT switch is OFF.
These terminals comprise an interlock with a safety circuit provided by the user.
24V Positive side of the 24-V power supply (power supply for the teaching pendant and
conversion circuit)
0V Negative side of the 24-V power supply
FG FG of the 24-V power supply
(Note) 0V connects to pin 7 (GND) in the controller’s communication connector.
z Connection method
Use a connection cable satisfying the following specifications:
Item Specification
Applicable wire size Single wire: ∅0.8 to 1.2 mm / Stranded: AWG size 20 to 18 (end is soldered)
Used for continuity check Insert a flathead screwdriver with a bit size of approx. 2.6 mm.
Connection cable
142
[2] Link-connection terminal block (TB1)
A connection port for linking the controller.
“A” on the left side connects to pin 1 (SGA) in the controller’s communication connector.
“B” on the right side connects to pin 2 (SGB) in the controller’s communication connector.
(Note) Be sure to use twisted pair wires for the above two connections (SGA/SGB).
[3] D-sub, 9-pin connector

A connection port with the PC.
[4] Mini DIN, 8-pin connector

A connection port with the teaching pendant.
[5] PORT switch

A switch for enabling/disabling the teaching pendant.
Set the switch to ON when a teaching pendant is used, or OFF when teaching pendant is not used.
[6] Monitor LEDs

LED1 --- Lit when the controller is transmitting
LED2 --- Lit when the RS232 is transmitting
143
9.3 Address Switch
Set an address (0 to 15) as a hexadecimal (0 to F) using the ADRS switch on the front panel of each
controller to define the slave number for the controller.
Assign “0” to the controller nearest the host, and then assign 1, 2, 3, …, E and F to the remaining
controllers in the direction of moving away from the host.
After all addresses have been set, reconnect the power.
Caution: After the setting, be sure to confirm that the addresses are not duplicated.
Adjust the arrow to a desired

position using a flathead
screwdriver.
9.4 Connection Cables

z Controller link cable
Model: CB-RCB-CTL002
Controller end
200 mm
E-Con connector
6 8 3-1473562-4
3 5 (Housing color: Orange)
1 2 Mini DIN connector
Signal No. No. Signal
Yellow
SGA 1 Orange 1 SGA
SGB 2 2 SGB
+5V 3 3 GND
EMB 4 Blue 4
EMGA 5
+24V 6
GND 7
EMGB 8
(Reference) Connection diagram for RS232C cross cable

SIO converter end PC end
D-sub, 9-pin female connector D-sub, 9-pin female connector

Signal No. No. Signal
1 1
RD 2 2 RXD
SD 3 3 TXD
ER 4 4 DTR
SG 5 5 SG
DR 6 6 DSR
RS 7 7 RTS
CS 8 8 CTS
9 9
144
9.5 Detail Connection Diagram
Two-paired shielded cable

Recommended brand:
SIO converter Taiyo Electric Wire & Cable Four-way junction (AMP: 5-1473574-4)
HK-SB/20276XL
TB1
2PX22AWG 1[A] [B]
2
A 1 1
B 2 2
TB2 3 3
EMG2
4 4
EMG1
24V E-Con connector (AMP: 4-1473562-4)
0V Housing color: Green
FG
Controller link cable
CB-RCB-CTL002
Yellow Yellow
SGA 1 1 1 1 SGA
Orange Orange
SGB 2 2 2 2 SGB
Blue Blue
GND 7 3 3 7 GND
4 4 Controller 2
Controller 1
E-Con connector (AMP: 3-1473562-4)
Housing color: Orange
(Note) The user must provide the two-paired shielded cable.

If cables other than the recommended brands are connected to [A] and [B], use those with a
cable-sheath outer diameter of 1.35 to 1.60 mm.
Accessories (Optional):
[1] Controller link cable CB-RCB-CTL002 (connector on both ends), length 200 mm
[2] Four-way junction, made by AMP: 5-1473574-4
[3] E-Con connector, made by AMP: 4-1473562-4 (green)
[4] Terminal resistor 220 Ω (with E-Con connector)
Of the above, [2], [3] and [4] are provided for the same number as the controller link cables. Therefore, not
all units are needed when multiple axes are used.
145
10. Troubleshooting
10.1 Action to Be Taken upon Occurrence of Problem
Upon occurrence of a problem, take an appropriate action according to the procedure below in order to
ensure speedy recovery and prevent recurrence of the problem.
a. Check the status indicator lamps.
SV (green) --- The servo is ON.
ALM (red) --- An alarm is present, or an emergency stop has been actuated or the motor drive
power is cut off.
b. Check for error in the host controller.
c. Check the voltage of the main 24-VDC power supply.
d. Check the voltage of the 24-VDC power supply for I/O signals.
e. Check for alarm.
Confirm the details of error on the PC or teaching pendant.
f. Check the cables for connection error, disconnection or pinching.
Before performing a continuity check, turn off the power (to prevent a runaway actuator) and
disconnect the cables (to prevent accidental power connection due to a sneak current path).
g. Check the I/O signals.
h. Check the noise elimination measures (grounding, installation of surge killer, etc.).
i. Review the events leading to the occurrence of problem, as well as the operating condition at the time
of occurrence.
j. Check the serial numbers of the controller and actuator.
k. Analyze the cause.
l. Take action.
Please check items a through j before contacting IAI.
(Reference) Changes in status indicator lamps and *ALM output signal in respective conditions
Emergency stop
Servo OFF Servo ON Motor drive power cut off
actuated
SV (lamp) Unlit Lit Unlit Unlit
ALM (lamp) Unlit Unlit Lit Lit
*ALM (signal) ON ON ON ON
(Note 2) The *ALM output signal is a contact-b signal.

After the power is turned on, this signal remains ON while the controller is normal. It remains
OFF while the power is cut off.
It cannot be used as a contact-b interlock when the power is cut off.
146
10.2 Alarm Level Classification
Alarms are classified into two levels based on the corresponding symptoms.
What happens when alarm

Alarm level ALM lamp *ALM signal How to reset
generates
Input an alarm reset signal
The actuator decelerates
Operation (RES) from the PLC.
Lit Output to a stop and then the
cancellation Reset by the PC/teaching
servo turns OFF.
pendant.
The actuator decelerates
Cold start Lit Output to a stop and then the Reconnect the power.
servo turns OFF.
(Note) The *ALM output signal is a contact-b signal.

After the power is turned on, this signal will remain ON while the controller is normal, and turn
OFF if an alarm occurs.
Although the *ALM signal will turn OFF when the power is cut off, it cannot be used as a
contact-b interlock.
How to reset operation-cancellation level alarms

Input an alarm reset signal (RES) continuously for 6 msec or more.
This resets the *ALM signal to ON, so turn OFF the RES signal after confirming that the *ALM signal is
ON.
6 msec or more
Alarm reset input signal (RES)
Alarm present No alarm

Alarm output signal (*ALM)
Caution: Reset each alarm after identifying and removing the cause of the alarm. If the cause of
the alarm cannot be removed or the alarm still persists after the cause has been removed,
contact IAI.
If the same error occurs again after resetting the alarm, it means that the cause of the
alarm still remains.
147
10.3 Alarm Description Output Using PIO
In PIO patterns 0 to 3 (64 to 512-point positioning type), alarm information can be output using the ports
for completed position output signals (four bits of PM1 to PM8) so that when an alarm occurs, the nature
of the alarm can be identified on the PLC side.
Program the PLC so that whether a given output is a completed position number or alarm can be identified
based on the status of the alarm output signal (*ALM).
Bit assignment table for alarm description (z= OFF, { = ON)
∗ALM PM8 PM4 PM2 PM1 Description: Code number in ( )

{ x x x x Normal
PWRT signal detected during movement (092)
z z z { z PWRT signal detected before completion of home return
(093)
z z z { { Deceleration command error (0A7)
z z { z z Unmatched PCB (0F4)
Parameter data error (0A1)
z z { { z
Position data error (0A2)
Excitation detection error (0B8)
z z { { { Home sensor not detected (0BA)
Home return timeout (0BE)
z { z z z Excessive actual speed (0C0)
Motor power-supply overvoltage (0C9)
Overheating (0CA)
z { z z {
Control power-supply overvoltage (0CC)
Control power-supply voltage low (0CE)
Deviation overflow (0D8)
z { z { { Out of push & hold operation range error (0DC)
Software stroke limit overtravel error (0D9)
z { { z z Servo error (0C1)
Relating to encoder disconnection
Phase-A/B disconnection detection (0E8)
z { { z {
Phase-A disconnection detection (0E9)
Phase-B disconnection detection (0EA)
z { { { z CPU error (0FA)
Nonvolatile memory write verification error (0F5)
z { { { { Nonvolatile memory write timeout (0F6)
Damaged nonvolatile memory (0F8)
148
10.4 Alarm Description and Cause/Action
(1) Message level alarms
Code Error name Cause/Action

092 PWRT signal detected Cause: The current-position write signal (PWRT) was input in the
during movement teaching mode while the actuator was jogging.
Action: Input the PWRT signal after confirming that the jog button is not
pressed and the actuator is stopped (MOVE output signal is OFF).
093 PWRT signal detected Cause: The current-position write signal (PWRT) was input in the
before completion of teaching mode when home return was not yet completed.
home return Action: Input the HOME signal first to perform home return, and then
input the PWRT signal after confirming that home return has
completed (HEND output signal is ON).
0A1 Parameter data error Cause: The input range of parameter range data is not appropriate.
(Example) This error occurs when the magnitude relationship of a
pair of range parameters is inappropriate, such as
when the value of soft limit- is mistakenly set to 300
mm when the value of soft limit+ is 200.3 mm.
Action: Change the parameters to appropriate values.
0A2 Position data error Cause: [1] A move command was input when no target position was set in
the “Position” field.
[2] The target position in the “Position” field exceeds a soft limit
setting.
[3] An incremental target position was specified in the “Position”
field in the 3-point type.
Action: [1] Set a target position first.
[2] Change the target position to a value inside the soft limit
setting.
[3] Specify an absolute target position.
0A7 Deceleration If a position command is issued while the actuator is moving where the
command error target position corresponding to the position number is located near a soft
limit and the deceleration is also set low, the actuator may move past the
soft limit.
Deceleration starting position not
resulting in soft limit overshoot If a command is issued here,
soft limit overshoot will occur.
Soft limit
Cause: When the speed was changed during movement, the next move
command was not issued quick enough.
Action: Quicken the speed change timing so that the actuator will not
overshoot the soft limit.
149
0B6 Phase-Z detection Cause
timeout Phase Z could not be detected within the phase-Z output status detection
time set in the simple absolute unit.
[1] When the detail code is H’0001
A timeout occurred during the pole sensing operation performed in
conjunction with magnetic pole check operation.
A timeout occurred while the actuator was operating after reversing its
direction upon contacting the load in a home return.
Action
• Check the wiring condition of the motor relay cable.
• Check the wiring condition of the brake cable, and also turn on/off the
brake release switch and check if the brake makes “click” sounds.
• Check the assembly condition of mechanical parts for any abnormality.
• Move the actuator away from the mechanical ends, and then reconnect
the power.
• If the payload is normal, turn off the power and move the actuator by
hand to check the slide resistance.
0BA Home sensor not This error indicates that the actuator equipped with the home check sensor
detected has not yet successfully completed the home return operation.
Cause: [1] The load contacted any surrounding equipment or structure
during home return.
[2] The slide resistance of the actuator is high in some location.
[3] The home check sensor is not properly installed, faulty or
open.
Action: If the load is not contacting any surrounding equipment or
structure, [2] or [3] is suspected. Please contact IAI.
0BE Home return timeout Cause: Home return does not complete after elapse of the time set by the
applicable manufacturer’s parameter following the start of home
return operation. (This error does not occur in normal operations.)
Action: The controller and actuator combination is wrong, among others.
Please contact IAI.
0C0 Excessive actual Cause: The motor speed exceeded the maximum level set by the
speed applicable manufacturer’s parameter. Although this error does not
occur in normal operations, it may occur if the load decreased
before a servo error was detected and the actuator moved quickly
as a result, which can be caused by various reasons including the
following:
[1] The slide resistance of the actuator is high in some location.
[2] The load increased due to momentary application of external
force.
Action: Check the assembly condition of mechanical parts for any
abnormality.
If the actuator itself is suspected as the cause, please contact IAI.
0C1 Servo error This error indicates that the motor could not be operated for 2 seconds or
more after the move command was accepted and before the target position
was reached.
Cause: [1] The motor relay cable connector is loose or open.
[2] If the actuator is equipped with a brake, the brake cannot be
released.
[3] The load increased due to application of external force.
[4] The slide resistance of the actuator itself is high.
Action: [1] Check the wiring condition of the motor relay cable.
150
[2] Check the wiring condition of the brake cable. Also, turn on/off
the brake release switch and check if the brake makes “click”
sounds.
[3] Check the assembly condition of mechanical parts for any
abnormality.
[4] If the payload is normal, turn off the power and move the
actuator by hand to check the slide resistance.
If the actuator itself is suspected as the cause, please contact IAI.
0C9 Motor power-supply This error indicates that the motor power-supply voltage is excessively high
overvoltage (24 V + 20%: 28.8 V or above).
Cause: [1] The 24-V input power-supply voltage is high.
[2] A faulty part inside the controller.
Action: Check the input power-supply voltage.
If the voltage is normal, please contact IAI.
0CA Overheating This error indicates that the temperature around the power transistor in the
controller is excessively high (95°C or above).
Cause: [1] The ambient temperature is high.
Action: [1] Lower the ambient temperature.
If [1] does not apply, please contact IAI.
0CC Control power-supply This error indicates that the 24-V input power-supply voltage is excessively
overvoltage high (24 V + 20%: 28.8 V or above).
Cause: [1] The 24-V input power-supply voltage is high.
0CE Control power-supply This error indicates that the 24-V input power-supply voltage is low (24 V
voltage low - 20%: 19.2 V or below).
Cause: [1] The 24-V input power-supply voltage is low.
0D8 Deviation overflow The position deviation counter has overflowed.
Cause: [1] The speed dropped during movement due to the effect of an
external force, etc.
[2] The pole sense detection operation after power on is unstable.
Action: [1] Check the load conditions—such as whether the load is
contacting a surrounding object or the brake is disengaged—
and then correct the abnormality, if any
[2] An overload condition is suspected, so review the load weight.
0D9 Software stroke limit Cause: [1] The actuator installed vertically overshot and exceeded a
overtravel error software stroke limit due to a large load or high deceleration
setting when the target position was set to a point near the
software stroke limit.
[2] The actuator was moved to outside the software stroke limits
with the servo turned off, and then the servo was turned on.
Action: [1] Set the deceleration curve properly so that the actuator will
not overshoot when stopping.
[2] Return the actuator to inside the software stroke limits, and
then turn on the servo.
151
0DC Out of push & hold This error occurs when the actuator was pushed back to the target position
operation range error due to an excessive push force after completion of push & hold operation.
Review the entire system.
0F5 Nonvolatile memory When data has been written to the nonvolatile memory, the written data is
write verification error read again to check (verify) if it matches the original data.
This error indicates that the two data do not match.
Cause: [1] Faulty nonvolatile memory
[2] The memory has been rewritten more than 100,000 times.
(The nominal rewrite limit of the nonvolatile memory is around
100,000 times.)
Action: If the alarm generates again after reconnecting the power, please
contact IAI.
0F6 Nonvolatile memory This error indicates that response is not received within the specified time
write timeout after data was written to the nonvolatile memory.
100,000 times.)
contact IAI.
152
(2) Cold-start level alarms

0B8 Pole sense error This controller performs excited-phase detection when the servo is turned
on for the first time after the power on. This error indicates that the
specified encoder signal level could not be detected after excitation for the
time set by parameter No. 29 (Excited-phase signal detection time).
Cause: [1] Loose or disconnected motor-relay cable connector
[2] Brake cannot be released on a controller equipped with brake.
[3] Large motor load due to application of external force
[4] Power was input when the actuator was contacting a
mechanical end.
[5] Large slide resistance of the actuator itself
Action: [1] Check the wiring condition of the motor relay cable.
[2] Check the wiring condition of the brake cable, and also turn
on/off the brake release switch to see if the brake makes
“click” sounds.
[3] Check for abnormality in the assembly condition of mechanical
parts.
[4] Move the actuator away from the mechanical end and then
reconnect the power.
[5] If the load is normal, cut off the power and move the actuator
by hand to check the slide resistance.
If the actuator is suspected to be the cause, please contact IAI.
0E5 Encoder reception Cause:
error [1] The controller was powered up before the simple absolute unit when
the 24-V power supply was turned on.
The controller cannot communicate with the simple absolute unit
properly due to noise, etc.
The controller cannot communicate with the simple absolute unit
properly due to encoder cable disconnection, etc.
Action:
[1] Make sure the simple absolute unit is powered up before the controller
(or at least the two are powered up simultaneously).
[2] Change the installation location of the controller. Provide noise
elimination measures such as setting a frame ground, noise filter or
clamp filter.
[3] Check the encoder relay cable connecting the controller and simple
absolute unit to see if the connectors are loose. Or, replace the cable.
0E8 Phase-A/B Encoder signals cannot be detected correctly.
disconnection Cause:
detection [1] Loose or disconnected encoder-relay cable connector
0E9 Phase-A [2] Piano switch 4 on the simple absolute unit is not set correctly.
disconnection [3] If a RA10C actuator is used together with an actuator or actuators of
detection other type, the encoder cables may not be connected in the correct
combination.
0EA Phase-B Action:
disconnection [1] Check for loose or disconnected connector.
detection [2] Check if the settings conform to 5.1.1, “Piano Switch Settings” in the
operation manual for the simple absolute unit.
153
[3] Check the model name of the encoder cable.
(Encoder cable connecting the simple absolute unit and actuator)
Note) This action is applicable only to RCP2 series controllers.
Cable for RA10C type: CB-RFA-*
Other actuators: CB-RCP2-*
0ED Absolute encoder Cause:
error (1) [1] When the power was reconnected after completion of an absolute
reset, the current position changed due to an external factor or for
other reason while the absolute unit was communicating with the
controller.
[2] When an absolute reset was performed, the current position changed
due to an external factor or for other reason while the simple absolute
unit was communicating with the controller.
Action:
Turn off the power, make sure the actuator is not receiving vibration,
etc., and then turn the power back on.
Make sure the actuator is not receiving vibration, etc., and then
perform a home return operation again.
0EE Absolute encoder Cause:
error (2) [1] The power was turned on for the first time after connecting the battery
to the simple absolute unit.
The battery voltage dropped to a level at which the encoder counter in
the simple absolute unit could no longer retain the count.
The encoder connector was unplugged during a power outage, or the
encoder cable was disconnected.
A parameter was changed.
Action:
If [1], [2] or [4] is suspected as the cause, perform an absolute reset by
referring to the operation manual for the simple absolute unit (5.2,
“Absolute Reset Method”).
[2] Supply power for at least 48 hours to charge the battery fully, and then
perform an absolute reset.
0EF Absolute encoder Cause:
error (3) The current value changed at a speed equal to or greater than the
specified rotational speed due to an external factor or for other reason
while the power was cut off.
Action:
Change the speed setting in the simple absolute unit and also implement
measures to prevent the actuator from moving at a speed equal to or
above the specified setting while the power is cut off.
If the battery backup time is more than sufficient, try setting a higher motor
speed.
See also: 5.1.1, “Piano Switch Settings” in the operation manual for the
simple absolute unit.
If this error occurred, perform an absolute reset by following the specified
procedure (5.2, “Absolute Reset Method”).
154
0F4 Unmatched PCB This controller uses a different motor drive circuit depending on the motor
capacity, and thus adopts a different printed circuit board (PCB)
appropriate for each motor capacity.
For this reason, whether the motor type set by the applicable
manufacturer’s parameter matches the board is checked in the initialization
process after startup.
This error indicates that the two do not match.
Cause: The parameter was not entered correctly or the correct board was
not assembled.
Action: Should this error occur, please contact IAI.
0F8 Damaged nonvolatile Abnormal data was detected during the nonvolatile memory check after
memory starting.
100,000 times.)
contact IAI.
0FA CPU error The CPU is not operating properly.
Cause: [1] Faulty CPU
[2] Malfunction due to noise
contact IAI.
155
10.5 Messages Displayed during Operation Using the Teaching Pendant
This section explains the warning messages that may be displayed during operation using the teaching
pendant.
Code Message name Description

112 Invalid data An inappropriate value was entered in a parameter.
(Example) 9601 was entered as the serial communication speed by
mistake.
Enter an appropriate value again.
113 Value too small The entered value is smaller than the setting range.
114 Value too large The entered value is larger than the setting range.
Refer to the actuator specifications or parameter table and enter an
appropriate value again.
115 Home return non- The current position was written when home return was not yet
completion completed.
Execute home return again.
117 No movement data Target position is not set under the selected position number.
Enter the target position first.
11E Paired data mismatch The values indicating the magnitude relationship of a pair of data are
inappropriate.
(Example) The same value was entered in both the parameters for +
and – soft limits.
Enter appropriate values again.
11F Absolute position too small The minimum movement toward the target position is determined by
the lead length of the drive system and resolution of the encoder.
This message indicates that the entered target value is smaller than
the minimum movement.
(Example) If the lead length is 20 mm, the encoder’s resolution is
800 pulses and accordingly the minimum movement
becomes 20 ÷ 800 = 0.025 mm/pulse.
In this case, this message will be displayed if 0.02 mm is entered as
the target position.
121 Push & hold search end The final position in push & hold operation exceeds the soft limit.
over This has no negative effect if the actuator contacts the load. If the
actuator misses the load, however, the soft limit will be reached and
thus this message is displayed as a warning.
Change either the target position or positioning band.
122 Multiple axes connected at Address was assigned when multiple axes were connected.
assignment Assign each address only when one axis is connected.
133 Address change prohibited Address numbers are set using the rotary switches on the front panel.
They cannot be set using the teaching pendant.
156
180 Address change OK These messages are displayed to confirm operation.
181 Controller initialization OK (They don’t indicate an operation error or other abnormality.)
182 Home change all clear
183 I/O function changed
202 Emergency stop This message indicates that an emergency stop has been actuated.
203 Motor voltage low This message indicates that the motor drive power is cut off on the CG
type.
(Note) If the MPI and MPO terminals are closed, the controller may be
faulty.
20A Servo OFF during This message indicates that the servo ON signal (SON) was turned
operation OFF by the PLC while the actuator was moving, and that the servo
turned OFF and the movement was disabled as a result.
20C CSTR-ON during operation This message indicates that a movement command signal was turned
ON by the PLC while the actuator was moving, and that duplicate
movement commands occurred as a result.
20D STP-OFF during operation This message indicates that the pause signal (*STP) was turned OFF
by the PLC while the actuator was moving, and that the movement
was disabled as a result.
20E Soft limit over This message indicates that a soft limit was reached.
210 HOME-ON during This message indicates that the home return signal (HOME) was
operation turned ON by the PLC while the actuator was moving, and that
duplicate movement commands occurred as a result.
211 JOG-ON during operation This message indicates that the jog signal (JOG) was turned ON by
the PLC while the actuator was moving, and that duplicate movement
commands occurred as a result.
220 Write prohibited during This message indicates that an attempt was made to write position
AUTO table data or parameter in the AUTO mode.
222 Operation prohibited This message indicates that an attempt was made to move the
during AUTO actuator in the AUTO mode.
301 Overrun error (M) These messages indicate an error in the serial communication with
302 Framing error (M) the controller.
Cause: [1] Garbage data due to the effect of noise
304 SCIR-QUE OV (M) [2] Duplicate slave numbers when multiple controllers are
305 SCIS-QUE OV (M) controlled by serial communication
306 R-BF OV Action: [1] Adjust the wiring in a manner eliminating the effect of
308 Response timeout (M) noise and review the installation of equipment, etc.
[2] Change the slave numbers to avoid duplication.
30A Packet R-QUE OV If the message is still displayed after taking the above actions, please
30B Packet S-QUE OV contact IAI.
307 Memory command refused This message indicates that the command was refused in the serial
communication with the controller.
309 Write address error This message indicates that an indeterminate WRITE address error
occurred in the serial communication with the controller.
These conditions do not occur in normal operation. Should they occur,
record the entire error list before cutting off the power for use in the
cause investigation.
Also contact IAI.
157
30C No connected axis This message indicates that no controller address is recognized.
Cause: [1] The controller is not operating properly.
[2] Only the supplied communication cable (SGA/SGB) is
disconnected.
[3] If a SIO converter is used, 24V is supplied to the
converter but the link cable is not connected.
[4] The ADRS switch settings are duplicated by mistake
when multiple controllers are linked.
Action: [1] Check if the RDY lamp on the controller is lit. If the lamp
is not lit, the controller is faulty.
[2] If a spare teaching pendant is available, replace the
current pendant with the spare unit, or with a PC, and see
if the message disappears.
[3] Supply power after connecting the link cable between the
converter and controller.
[4] Make sure the ADRS switch settings are not duplicated.
If the message is still displayed after taking the above actions, please
contact IAI.
158
10.6 Specific Problems
z I/O signals cannot be exchanged with the PLC.

Cause: [1] The 24-V I/O power supply is connected in reverse.
[2] If the problem is with an output circuit, a circuit component may have been damaged due
to a large load that caused the current flowing into the circuit to exceed the maximum
current.
[3] Contact failure in the connector or relay terminal block on the PLC end.
[4] Contact failure between the female pins in the flat cable connector and the male pins on
the controller due to expanded female pins.
Action: Check the connection condition of the power supply and connector, as well as the load on the
output side.
If the cause is identified as [1] or [2], the controller must be replaced. If there is a possibility of
[4], the flat cable must be replaced. Please contact IAI.
Warning: When performing a continuity check of the flat cable, pay due attention not to expand
the female pins in the connector. It may cause contact failure and disable normal
operation of the controller.
z The ALM lamp illuminates when the power is input.

(An alarm is present, or an emergency stop has been actuated or the motor power cut off.)
* If the ALM output signal is OFF, an alarm is present. Connect a PC or teaching pendant to check
the nature of the error and then remove the cause.
* If the ALM output signal is ON, the emergency stop circuit has been actuated. Check the following
points, among others:
[1] Is the emergency-stop switch on the operation panel pressed or any necessary interlock
released?
[2] Is the emergency-stop switch on the teaching pendant pressed?
[3] Is parameter No. 42 (Enable function) enabled by mistake by connecting a teaching pendant not
supporting the enable switch?
[4] If multiple controllers are connected, is the crossover wiring correct?
z The SV lamp does not illuminate when the servo ON signal is input after the power was input.
(The servo does not turn ON.)
Cause: [1] Contact failure of the flat cable
[2] Faulty controller
Check the servo ON signal (SON) on the I/O monitor screen of the PC or teaching pendant.
If the signal is input, probably the controller is faulty. Please contact IAI.
159
z Home return ends in the middle in a vertical application.
Cause: [1] The load exceeds the rating.
[2] The ball screw is receiving torsional stress due to the affixing method of the actuator,
tightening of bolts only on one side, etc.
[3] The slide resistance of the actuator itself is large.
Action: [1] Increase the value set in parameter No. 13 (Current-limiting value during home return).
Increasing the parameter value will increase the home return torque. As a guide, however,
remember that the maximum limit is 100% for the RA3C/RGD3C types and 75% for all
other types.
[2] Loosen the fixing bolts and check if the slider moves smoothly.
If the slider moves smoothly, review the affixing method and bolt tightening condition.
[3] If the slide resistance of the actuator itself is large, please contact IAI.
z Noise occurs during downward movements in a vertical application.

Cause: The load exceeds the rating.
Action: [1] Decrease the speed.
[2] Decrease the value set in the parameter No. 7 (Servo gain number). Do not decrease the
parameter setting below “3.”
z Vibration occurs when the actuator is stopped.

Cause: The slider is receiving an external force.
Action: If the external force cannot be removed, increase the value set in parameter No. 12 (Current-
limiting value at standstill during positioning).
Increasing this value will cause the holding torque at standstill to increase, so do not increase
the parameter setting above 70%.
z The actuator overshoots when decelerated to a stop.

Cause: The load inertia is high due to an inappropriate balance of load and deceleration.
Action: Decrease the acceleration/deceleration setting.
z The home and target positions sometimes shift.

Cause: [1] The encoder waveform is disturbed by the effect of noise.
[2] In the case of a rod-type actuator, the non-rotation accuracy increased due to application
of rotating moment to the rod.
Action: [1] Check if the grounding is implemented correctly. Also check for any equipment being a
potential noise source.
[2] The actuator may have to be replaced in some cases. Please contact IAI.
z The speed is slow during push & hold operation.

Cause: The set current-limiting value is low with respect to the load and slide resistance.
Action: Increase the current-limiting value for push & hold operation.
z The actuator moves only a half of, or twice as much as, the specified movement.
Cause: [1] The combination of controller and actuator is wrong.
The lead length of the ball screw varies depending on the actuator type, so a wrong
combination will cause the movement and speed to change.
[2] Factory setting error at IAI
Action: [1] If multiple actuators of different types must be used, confirm using the identification labels,
etc., that the correct actuator is connected to the controller.
[2] Please contact IAI.
160
z A servo error occurred while the actuator was moving (ROBO Gripper).
Cause: The load was not positioned properly and contacted the finger attachment in the positioning
mode.
Action: Adjust the starting position of push action and the thickness of finger attachment (including
buffer material) by considering a possible offset of load position, so that the load can be
clamped properly in the push & hold mode.
Immediately after recovery from the error, the feed mechanism may still be locked. Be sure to
turn the open/close screw to loosen each finger attachment before resetting the alarm.
Caution: If the servo ON signal is disabled or the alarm is reset while the servo ON signal is still
ON, the servo will remain ON.
If the open/close screw is turned in this condition, the screw will return automatically and
the lock cannot be released. Therefore, reissuing a movement command will cause the
alarm to generate again.
[2-finger type]
Open/close screw
Turn the screw counterclockwise
using a flathead screwdriver.
OPEN
[3-finger type]
Remove one finger attachment and take out the load first, and then turn the open/close screw clockwise.
Remove one finger attachment.
Open/close Turn the screw

screw clockwise.
Opening direction
161
z Abnormal operation results when the servo is turned ON after the power ON.
Cause: Excitation phase detection was not performed correctly when the servo was turned ON,
because one of the following conditions existed when the power was input:
[1] The slider or rod was contacting the mechanical end.
[2] The load was being pushed by a strong external force.
Action: [1] Check if the slider or rod is contacting the mechanical end.
If the slider/rod is contacting the mechanical end, move it away from the mechanical end.
If the actuator is equipped with a brake, move the slider/rod after turning ON the brake
release switch to forcibly release the brake.
At this time, exercise caution not to allow the load to drop suddenly due to its own weight.
Your hand may be caught by the dropped load or the robot hand or load itself may be
damaged.
If the actuator cannot be moved by hand, one possible solution is to check the direction of
excited-phase signal detection and change the direction if necessary. If you wish to use
this method, consult IAI beforehand.
For details, refer to the applicable parameter in 8.2.2, “Parameters Relating to Actuator
Operating Characteristics.”
[2] Check if the load is contacting any surrounding part.
If the load is contacting any surrounding part, provide a clearance of 1 mm or more from
the applicable part.
If the checks in [1] and [2] did not find any problem, please contact IAI.
z The SV lamp blinks.

The automatic servo-off mode is active. (This is not an error or fault.)
162
Appendix
* Appendix
List of Supported Actuator Specifications
z Slider, ball screw drive
Load capacity (Note 2) Rated acceleration
Stroke (mm) and maximum speed (mm/sec) (Note 1)
Model Horizontal Vertical Horizontal Vertical
Motor straight
Motor reversing
Water- High-
proof speed
(Note 1) The figure in the elongated circle indicates the maximum speed for each stroke
The figure in parentheses applies to vertical operation.
(Note 2) The load capacity is based on actuator operation at the rated acceleration.
z Slider, belt drive

Load capacity Rated acceleration
Stroke (mm) and maximum speed (mm/sec)
163
Appendix
z Rod type
Load capacity (Note 2) Rated acceleration
Stroke (mm) and maximum speed (mm/sec) (Note 1)
Standard
Splash-proof
Single-guide
Double-guide
High-thrust
(Note 1) The figure in the elongated circle indicates the maximum speed for each stroke
The figure in parentheses applies to vertical operation.
(Note 2) The load capacity is based on actuator operation at the rated acceleration.
z Gripper
Maximum Rated
Type Stroke Maximum speed Lead
gripping force acceleration
RCP2-GRS-I-PM-1-10-P1 10 mm (5 mm per side) 21N 33.3 mm/s (one side) 1.0 mm 0.3 G
3-finger finger
2-
RCP2-GRM-I-PM-1-14-P1 14 mm (7 mm per side) 80N 36.7 mm/s (one side) 1.1 mm 0.3 G
RCP2-GR3SS-I-PM-30-10-P1 10 mm (5 mm per side) 23N 40 mm/s (one side) 2.5 mm 0.2 G
RCP2-GR3SM-I-PM-30-14-P1 14 mm (7 mm per side) 120N 50 mm/s (one side) 3.0 mm 0.2 G
RCP2-GR3LS-I-PM-30-19-P1 19 deg 17N 200 deg/sec (one side) 12 deg 0.2 G
RCP2-GR3LM-I-PM-30-19-P1 19 deg 62N 200 deg/sec (one side) 12 deg 0.2 G
z Rotary
Maximum Gear Rated
Type Oscillating angle Maximum speed
torque ratio acceleration
RCP2-RTB-I-PM-20-330-P1 330 deg 1.1 N-m 600 deg/sec 1/20 0.3 G
Vertical
RCP2-RTB-I-PM-30-330-P1 330 deg 1.7 N-m 400 deg/sec 1/30 0.3 G

RCP2-RTC-I-PM-20-330-P1 330 deg 1.1 N-m 600 deg/sec 1/20 0.3 G
Flat
RCP2-RTC-I-PM-30-330-P1 330 deg 1.7 N-m 400 deg/sec 1/30 0.3 G
164
Appendix
z Correlation diagram of speed and load capacity for the slider type (motor-straight type)
Horizontal installation Vertical installation
High-speed type
Load capacity (kg)

Load capacity (kg)
Speed (mm/sec) Speed (mm/sec)

Medium-speed type
Load capacity (kg)

Load capacity (kg)

Low-speed type
Load capacity (kg)

Load capacity (kg)
(Note) In the above graphs, the number after the type code indicates the lead.
165
Appendix
z Correlation diagram of speed and load capacity for the slider type (motor-reversing type)

High-speed type
Load capacity (kg)

Load capacity (kg)

Medium-speed type
Load capacity (kg)

Load capacity (kg)

Low-speed type
Load capacity (kg)

Load capacity (kg)
166
Appendix
z Correlation diagram of speed and load capacity for the standard rod type
Horizontal installation (Note 1) Vertical installation

High-speed type
Load capacity (kg)

Load capacity (kg)

Medium-speed type
Load capacity (kg)

Load capacity (kg)

Low-speed type
Load capacity (kg)

Load capacity (kg)
(Note 1) The figures for horizontal installation assume use of an external guide.
167
Appendix
z Correlation diagram of speed and load capacity for the single-guide type
High-speed type
Load capacity (kg)

Load capacity (kg)

Medium-speed type
Load capacity (kg)

Load capacity (kg)

Low-speed type
Load capacity (kg)

Load capacity (kg)
168
Appendix
z Correlation diagram of speed and load capacity for the double-guide type

High-speed type
Load capacity (kg)

Load capacity (kg)

Medium-speed type
Load capacity (kg)

Load capacity (kg)

Low-speed type
Load capacity (kg)

Load capacity (kg)
169
Appendix
z Correlation diagram of speed and load capacity for the dustproof/splash-proof type
Horizontal installation (Note 1) Vertical installation (Note 2)

High-speed type
Load capacity (kg)

Load capacity (kg)

Medium-speed type
Load capacity (kg)

Load capacity (kg)

Low-speed type
Load capacity (kg)

Load capacity (kg)
(Note 1) The figures for horizontal installation assume use of an external guide.
(Note 2) Use of the actuator at the maximum load capacity corresponding to the applicable speed may cause
vibration/overshooting. Select an appropriate model that provides an allowance of approx. 70%.
170
Appendix
z Correlation diagram of speed and load capacity for the high-thrust type
High-speed type
Load capacity (kg)
Load capacity (kg)

Medium-speed type
Load capacity (kg)
Load capacity (kg)

Low-speed type
Load capacity (kg)
Load capacity (kg)
171
Appendix
z Fault check and replacement of the cooling fan

A cooling fan is installed in the large-capacity type (PCON-CF).
To check if the fan is faulty, or when replacing the fan, follow the procedure below:
1) Unplug all connectors and wires connected to the controller, and take out the controller.
Remove all cables except for the MPI/MPO jumper wire.
2) Remove the resin case.

• The cutout holes in the resin case are engaged with the hooks on the mounting base plate. Use a
screwdriver, etc., to release the case from each hook, and push the mounting base plate upward.
• Pull out the resin case.
172
Appendix
3) Check if the fan is normal.

Check method:
[1] Connect the power cable to the 24-V and 0-V
terminals on the power-supply terminal block.
[2] Turn on the power to check if the fan operates.

If the fan is normal, it should operate for approx.
2 seconds.
If the fan is faulty, it will not operate.
(Note) To extend the service life of the fan, a temperature sensor is used to detect the temperature
around the power transistor. The fan will operate when the detected temperature reaches
60°C or above, and stop when the temperature drops to 50°C or below.
Because of this specification, the fan is designed to operate for approx. 2 seconds when the
power is turned on to allow the user to check if the fan is faulty.
4) If the fan is faulty, replace it after cutting off the power.

[1] Remove the fan.
Remove the flat countersunk head screws

(M3x5 x 2 pcs). Pull out the connector by hand.
Remove the pan head screws Removed fan and mounting bracket
(M3x12 x 2 pcs).
[2] Install a new fan to the mounting bracket, plug in the connector, and affix the mounting bracket
using the flat countersunk head screws.
(Reference) Tightening torque for pan head screws: 61.5 N•cm (6.27 kgf•cm)
[3] To make sure, turn on the power to confirm that the fan operates.
5) Turn off the power and pull out the power cable.
6) Install the resin case. Engage the cutout holes in the resin case with the hooks on the mounting base
plate.
7) Plug in the connectors and cables back to their original conditions.
173
Appendix
Example of Basic PCON Positioning Sequence

Given below is an example of basic sequence for creating a positioning sequence using the PCON.
indicates PIO signals of the controller.
(Completed-position decoding circuit)

Position complete
PEND Waiting for the completed
Timer1 position to be read
(Must be longer
Completed position codes than the PLC’s
scan time.)
PM1 PM2 PM4 PM8 Timer1
A Completed position 1

B Completed position 2


D Completed position 4
E Completed position 5
(Home eturn operation) Create for the number of positions.

Home return
request (push Ready
button) PEND SV F
HOME Home return command
HOME

HOME HEND PEND
Home return
F
complete pulse
(Positioning circuit for position 1)
Positioning
start request
to position 1 I
H Positioning start
pulse to position 1
Positioning
start request
H to position 1
I Auxiliary positioning
start pulse to position 1
I The positioning start request signal is converted to pulse in such a
way that one start signal is issued for one positioning operation.
Current positioning
completed position
E H K
J Auxiliary positioning
start for position 1
J
J PEND L
K Start check for
position 1
K
Auxiliary start
signal for next
positioning
K A (O)
L Completion of
positioning to position 1
L
Check if positioning to the specified position has completed.
174
Appendix
(Positioning circuit for position 2)
Positioning
start request
to position 2 N
M Positioning start pulse
to position 2
Positioning
start request
M to position 2
N Auxiliary positioning
start pulse to position 2
N
Current positioning
completed position
(A) M P
O Auxiliary positioning
start for position 2
O
O PEND Q
P Start check for
position 2
P
Auxiliary start
signal for next
P B positioning
Q Completion of
positioning to position 2
Q If a measure is taken to identify the current position in
the sequence in case the sequence stops in the middle,
as implemented in this circuit, even when a problem
occurs the cause can be identified more easily.
Create for the number of positions.
(Command position number output encoding circuit)

Auxiliary start
position for Set signal
positioning to for other
J O other position S position
R Position 1 set
Auxiliary start
position for Set signal
positioning to for other
O J other position R position
S Position 2 set
S The command position is held until

positioning to other position is started, in
order to prevent the command position from
changing during positioning.
Create for the number of positions.
175
Appendix
R
PC1 Command position 1
Position 3
set signal
Position 5
set signal
S
Position 3
set signal
Position 6
set signal
(Start signal circuit)

J
Timer 2 Waiting for start
5 msec or
more (Must
O
be longer
than the
Start PLC’s scan
command for time.)
positioning to
other position
Timer 2
CSTR Start signal
176
Appendix
Recording of Parameters
Recorded date:
Category: a: Parameter relating to the actuator stroke range

b: Parameter relating to the actuator operating characteristics
c: Parameter relating to the external interface
d: Servo gain adjustment
No. Category Name Unit Recorded data

1 a Zone boundary 1+ mm
2 a Zone boundary 1– mm
3 a Soft limit+ mm
4 a Soft limit– mm
Home return direction
5 a -
[0: Reverse / 1: Forward]
6 b Push & hold stop judgment period msec
7 d Servo gain number -
8 b Default speed mm/sec
9 b Default acceleration/deceleration G
10 b Default positioning band (in-position) mm
Current-limiting value at standstill during
12 b %
positioning
Current-limiting value during home
13 b %
return
16 c SIO communication speed bps
Minimum delay time for slave transmitter
17 c msec
activation
18 b Home sensor input polarity -
Servo ON input
21 c
22 a Home return offset mm
23 a Zone boundary 2+ mm
24 a Zone boundary 2– mm
25 c PIO pattern selection -
26 b PIO jog speed mm/sec
Movement command type
27 c -
[0: Level / 1: Edge]
Default direction of excited-phase signal
28 b
detection [0: Reverse / 1: Forward]
29 b Excited-phase signal detection time msec
31 d Speed loop proportional gain -
32 d Speed loop integral gain -
33 d Torque filter time constant -
34 b Push speed mm/sec
35 b Safety speed mm/sec
36 b Automatic servo-off delay time 1 sec
Output mode of position complete signal
39 c -
[0: PEND / 1: INP]
Home-return input disable selection
40 c
177
Appendix
No. Category Name Unit Recorded data

Operating-mode input disable selection
41 c -
42 b Enable function [0: Enable / 1: Disable] -
Polarity of home check sensor input
43 b -
[0: Contact a / 1: Contact b]
45 c Silent interval multiplier -
46 b Speed override %
47 b PIO jog speed mm/sec
48 b PIO inching distance mm
49 b PIO inching distance 2 mm
50 b Load output judgment time msec
Torque check range [0: Enable / 1:
51 b -
Disable]
77 b Ball screw lead length mm
78 b Axis operation type -
79 b Rotational axis mode selection -
80 b Shortcut selection for rotation -
86 b Absolute unit [0: Not used / 1: Used] -
178
179
180
Catalog No.: PCON-CCG-MJ0170-4A-May3107-1
Head Office: 2690 W. 237th Street, Torrance, CA 90505

TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143
TEL (630) 467-9900 FAX (630) 467-9912
New Jersey Office: 7 South Main St., Suite-F, Marlboro, NJ 07746
TEL (732) 683-9101 FAX (732) 683-9103
Website: www.intelligentactuator.com
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany

TEL 06196-88950 FAX 06196-889524
The information contained in this document is subject to change without notice for the purpose of product improvement.
Copyright © 2007. Apr. IAI Corporation. All rights reserved.

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PCON-C/CG/CF

1. 24-V Power Supplies Required for UL Certification

PCON controllers can be used in an environment of pollution degree 2 or equivalent.

3. PC Software and Teaching Pendant Models

Model Versions to be supported Remarks

5. Initial Parameter Settings at Startup

[1] Selecting the PIO pattern

[3] Enabling/disabling the pause signal (*STP)

Failure to observe the instruction will result in an imminent danger leading to

[Maintenance, Inspection, Repair]

[Maintenance, Inspection, Repair]

[Maintenance, Inspection, Repair]

[Installation, Operation, Maintenance]

3. Installation and Noise Elimination............................................................................ 12

6. Data Entry <Basics>................................................................................................ 57

7. Operation <Practical Steps>.................................................................................... 83

9. PC/Teaching Pendant Connection Method in Multi-axis Configurations................ 141

10. Troubleshooting..................................................................................................... 146

z More positioning points

<Series> Specified for connecting the

Host system <PLC>

External EMG switch

Host system <PLC>

1 Check the content in the package

4 Turn on the power and check for alarms

5 Set the PIO pattern/safety speed

Turn on the servo from the PC or teaching pendant.

7 Check the operation of the safety circuit

8 Set a target position

9 Trial operation and adjustment

• Aging such as natural discoloration of coating

Please read carefully the above conditions of warranty.

Internal Drive-Power Cutoff External Drive-Power Cutoff

 Indication of PIO pattern number

 Explanation of input/output signal pattern

 Explanation of motor drive-power cutoff circuit

 Indication of model name of actuator to be connected

RA4C ← The actuator type is RA4C.

[2] Mode selector switch

[3] Brake release switch

 Explanation of power-supply terminal block

[2] PCON-CG [External driver-power cutoff relay type]

3.1 Installation Environment

3.2 Power Supply

The power supply specification is 24 VDC ± 10%.

3.3 Noise Elimination and Grounding

(1) Wiring and power supply

Controller Other Other

Class D grounding Good Avoid this grounding method.

(2) Noise sources and elimination

[1] AC solenoid valves, magnet switches and relays

Measure: Install a surge absorber in parallel with the coil.

[2] DC solenoid valves, magnet switches and relays

In a DC circuit, connecting a diode in reverse polarity will damage

4.1.1 External Connection Diagram

For details on I/O signal connection, refer Gray

Brake release switch

Tighten together with the

To connect multiple controllers, provide a relay terminal block.

Indication of PIO pattern number

Explanation of input/output signal pattern

Explanation of motor drive-power cutoff circuit

Indication of model name of actuator to be connected

Explanation of power-supply terminal block