Acon CA Dcon CA (Me0326 1f)

ACON-CA� � �
DCON-CA
Controller Instruction Manual First Edition
IAI America� Inc.

�
Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual describes all necessary information items to operate this product safely
such as the operation procedure, structure and maintenance procedure.
Before the operation, read this manual carefully and fully understand it to operate this product
safely.
The enclosed DVD in this product package includes the Instruction Manual for this product.
For the operation of this product, print out the necessary sections in the Instruction Manual or
display them using the personal computer.
After reading through this manual, keep this Instruction Manual at hand so that the operator of this
product can read it whenever necessary.
[Important]
� This Instruction Manual is original.
� The product cannot be operated in any way unless expressly specified in this Instruction
Manual. IAI shall assume no responsibility for the outcome of any operation not specified
herein.
� Information contained in this Instruction Manual is subject to change without notice for the
purpose of product improvement.
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the IAI sales office near you.
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Table of Contents
Safety Guide ··································································································1
Precautions in Operation ··················································································8
International Standards Compliances ································································ 11
CE Marking·································································································· 11
UL ··································································································· 11
Name for Each Parts and Their Functions ·························································· 13
Actuator Axes······························································································· 17
Starting Procedures ······················································································· 19
Chapter 1 Specifications Check········································································ 21

1.1 Product Check ························································································ 21
1.1.1 Parts ······························································································· 21
1.1.2 Teaching Tool ···················································································· 21
1.1.3 Instruction manuals related to this product, which are contained in the
instruction manual (DVD). ···································································· 22
1.1.4 How to read the model plate ································································· 22
1.1.5 How to read the model ········································································ 23
1.2 How to read the model ·············································································· 24
1.3 Appearance ···························································································· 26
1.3.1 For Incremental Screw-fixed Type·························································· 26
1.3.2 For Incremental DIN Rail-fixed Type ······················································· 27
1.3.3 For Simple Absolute Screw-fixed Type ···················································· 28
1.3.4 For Simple Absolute DIN Rail-fixed Type ················································· 29
1.3.5 For Serial Absolute Screw-fixed Type ····················································· 30
1.3.6 For Serial Absolute DIN Rail-fixed Type··················································· 31
1.3.7 Absolute Battery Unit (Option for Simple Absolute Type) ····························· 32
1.4 I/O Specifications ····················································································· 33
1.4.1 PIO Input and Output Interface······························································ 33
1.4.2 Pulse Train Input Output Interface·························································· 34
1.5 I/O Specifications ····················································································· 34
1.5.1 Pulse converter : AK-04······································································· 34
1.6 Installation and Storage Environment ··························································· 35
1.7 Noise Elimination and Mounting Method ······················································· 36
Chapter 2 Wiring··························································································· 39
2.1 Positioner Mode (PIO Control) ···································································· 39
2.1.1 Wiring Diagram (Connection of Devices) ················································· 39
2.1.2 PIO Pattern Selection and PIO Signal····················································· 40
2.1.3 Circuit Diagram·················································································· 45
2.2 Pulse Train Control Mode ·········································································· 54
2.2.1 Wiring Diagram (Connection of devices) ················································· 54
2.2.2 I/O Signals in Pulse Train Control Mode ·················································· 55
2.2.3 Circuit Diagram·················································································· 56
2.3 Wiring Method ························································································· 60
2.3.1 Wiring Layout of Power Supply Connector ··············································· 60
2.3.2 Connection to Actuator ········································································ 61
2.3.3 Connection of PIO·············································································· 63
2.3.4 Connection of Pulse Train Signal ··························································· 64
2.3.5 SIO Connector Connection··································································· 65
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Chapter 3 Operation ······················································································ 67
3.1 Basic Operation ······················································································· 67
3.1.1 Basic Operation Methods····································································· 67
3.1.2 Parameter Settings············································································· 70
3.2 Operation in Positioner Mode ····································································· 71
3.2.1 Set of Position Table
(This section is not required in selection of pulse train control mode.) ············ 73
3.2.2 Control of Input Signal········································································· 79
3.2.3 Operation Ready and Auxiliary Signals = Common to Patterns 0 to 5 ············ 79
3.2.4 Operation with the Position No. Input = Operations of PIO Patterns 0 to 3 ······ 90
3.2.5 Direct Position Specification (Solenoid Valve Mode 1) =
Operation of PIO Pattern 4·································································· 107
3.2.6 Direct Position Specification (Solenoid Valve Mode 2) =
Operation of PIO Pattern 5·································································· 119
3.3 Pulse Train Control Mode (for Pulse Train Type) ············································ 127
3.3.1 I/O Signal Controls ············································································ 128
3.3.2 Operation Ready and Auxiliary Signals ·················································· 128
3.3.3 Pulse Train Input Operation ································································· 137
3.3.4 Settings of Basic Parameters Required for Operation································ 140
3.3.5 Parameter Settings Required for Advanced Operations ····························· 143
Chapter 4 Field Network ··············································································· 145
Chapter 5 Vibration Suppress Control Function (ACON-CA Dedicated Function) ······ 148
5.1 Setting Procedure ··················································································· 149
5.2 Settings of Parameters for Vibration Suppress Control ···································· 150
5.3 Setting of Position Data ············································································ 152
Chapter 6 Power-saving Function

(Automatic Servo-OFF)··································································· 153
Chapter 7 Absolute Type (ACON-CA Dedicated Function) ··································· 157

7.1 Absolute encoder backup specifications······················································· 157
7.2 Connection of Absolute Battery ·································································· 158
7.3 Absolute Reset ······················································································· 159
7.4 Absolute Battery Charge (Simple Absolute Type) ··········································· 162
7.5 Absolute Battery Voltage Drop Detection······················································ 163
7.6 Replacement of absolute battery ································································ 164
Chapter 8 Maintenance Information ································································ 166
Chapter 9 Parameter ··················································································· 167

9.1 Parameter List························································································ 168
9.2 Detail Explanation of Parameters································································ 173
9.3 Servo Adjustment···················································································· 201
9.3.1 Adjustment of the ACON-CA································································ 201
9.3.2 Adjustment of the DCON-CA ······························································· 203
Chapter 10 Troubleshooting ········································································· 205

10.1 Action to Be Taken upon Occurrence of Problem ··········································· 205
10.2 Fault Diagnosis ······················································································ 206
10.2.1 Impossible operation of controller ························································· 206
10.2.2 Positioning and speed of poor precision (incorrect operation)······················ 210
10.2.3 Generation of noise and/or vibration······················································ 212
10.2.4 Impossible Communication ································································· 213
10.3 Alarm Level ··························································································· 214
10.4 Alarm List······························································································ 215
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Chapter 11 Appendix ·················································································· 229
11.1 Way to Set Multiple Controllers with 1 Teaching Tool······································· 229
11.1.1 Connecting Example·········································································· 229
11.1.2 Detailed Connection Diagram of Communication Lines ····························· 230
11.1.3 Axis No. Setting ················································································ 230
11.1.4 Handling of e-CON connector (how to connect) ······································· 231
11.1.5 SIO Converter ·················································································· 232
11.1.6 Communications Cable ······································································ 234
11.1.7 External Dimension ··········································································· 234
11.2 Conformity to Safety Category ··································································· 235
11.3 When Connecting Power Supply with + Grounding········································· 246
11.4 Example of Basic Positioning Sequence (PIO pattern 0 to 3) ···························· 247
11.4.1 I/O Assignment ················································································· 247
11.4.2 Ladder Sequence·············································································· 248
11.5 List of Specifications of Connectable Actuators ·············································· 259
Push Force and Current-limiting Value ································································ 273
Chapter 12 Warranty··················································································· 275

12.1 Warranty Period······················································································ 275
12.2 Scope of the Warranty·············································································· 275
12.3 Honoring the Warranty ············································································· 275
12.4 Limited Liability······················································································· 275
12.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and
Applications··························································································· 276
12.6 Other Items Excluded from Warranty ··························································· 276
Change History··························································································· 277

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Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products

The common safety precautions for the use of any of our robots in each operation.
Operation
No. Description
Description
1 Model � This product has not been planned and designed for the application
Selection where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect
human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
� Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
� Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
� For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving
part may drop when the power is turned OFF and may cause an
accident such as an injury or damage on the work piece.
1
�
Operation
No. Description
Description
2 Transportation � When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
� When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
� When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
� Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the
instructions in the instruction manual for each model.
� Do not step or sit on the package.
� Do not put any heavy thing that can deform the package, on it.
� When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
� When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
� Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
� Do not get on the load that is hung on a crane.
� Do not leave a load hung up with a crane.
� Do not stand under the load that is hung up with a crane.
3 Storage and � The storage and preservation environment conforms to the installation
Preservation environment. However, especially give consideration to the prevention
of condensation.
� Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation (1) Installation of Robot Main Body and Controller, etc.
and Start � Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
� Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
� When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
2
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Operation
No. Description
Description
4 Installation (2) Cable Wiring
and Start � Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
� Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
� Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
� When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
� Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
� Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so
may cause the product to malfunction or cause fire.
(3) Grounding
� The grounding operation should be performed to prevent an electric
shock or electrostatic charge, enhance the noise-resistance ability and
control the unnecessary electromagnetic radiation.
� For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair
cable with wire thickness 0.5mm2 (AWG20 or equivalent) or more for
grounding work. For security grounding, it is necessary to select an
appropriate wire thickness suitable for the load. Perform wiring that
satisfies the specifications (electrical equipment technical standards).
� Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100� or below).
3
�
Operation
No. Description
Description
4 Installation (4) Safety Measures
and Start � When the work is carried out with 2 or more persons, make it clear who
� When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection fence)
so that nobody can enter the area within the robot’s movable range.
When the robot under operation is touched, it may result in death or
serious injury.
� Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
� Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
� Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
� When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!”
etc. Sudden power input may cause an electric shock or injury.
� Take the measure so that the work part is not dropped in power failure or
emergency stop.
� Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
� Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or fire.
� When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching � When the work is carried out with 2 or more persons, make it clear who
� Perform the teaching operation from outside the safety protection fence,
if possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
� When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
� Place a sign “Under Operation” at the position easy to see.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
4
�
Operation
No. Description
Description
6 Trial � When the work is carried out with 2 or more persons, make it clear who
Operation is to be the leader and who to be the follower(s) and communicate well
� After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic
operation.
� When the check operation is to be performed inside the safety
protection fence, perform the check operation using the previously
specified work procedure like the teaching operation.
� Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
� Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic � Check before starting the automatic operation or rebooting after
Operation operation stop that there is nobody in the safety protection fence.
� Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no
alarm indication.
� Make sure to operate automatic operation start from outside of the
safety protection fence.
� In the case that there is any abnormal heating, smoke, offensive smell,
or abnormal noise in the product, immediately stop the machine and
turn OFF the power switch. Failure to do so may result in a fire or
damage to the product.
� When a power failure occurs, turn OFF the power switch. Failure to do
so may cause an injury or damage to the product, due to a sudden
motion of the product in the recovery operation from the power failure.
5
�
Operation
No. Description
Description
8 Maintenance � When the work is carried out with 2 or more persons, make it clear who
and is to be the leader and who to be the follower(s) and communicate well
Inspection with each other to ensure the safety of the workers.
� Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
� When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
� Place a sign “Under Operation” at the position easy to see.
� For the grease for the guide or ball screw, use appropriate grease
according to the Instruction Manual for each model.
� Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
� The slider or rod may get misaligned OFF the stop position if the servo
is turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
� Pay attention not to lose the cover or untightened screws, and make
sure to put the product back to the original condition after maintenance
and inspection works.
Use in incomplete condition may cause damage to the product or an
injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification � Do not modify, disassemble, assemble or use of maintenance parts not
and Dismantle specified based at your own discretion.
10 Disposal � When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
� When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
� Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other � Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing
so may affect the performance of your medical device.
� See Overseas Specifications Compliance Manual to check whether
complies if necessary.
� For the handling of actuators and controllers, follow the dedicated
instruction manual of each unit to ensure the safety.
6
�
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the Instruction Manual for each model.
Level Degree of Danger and Damage Symbol
This indicates an imminently hazardous situation which, if the

Danger product is not handled correctly, will result in death or serious Danger
injury.
This indicates a potentially hazardous situation which, if the

Warning product is not handled correctly, could result in death or serious Warning
injury.
This indicates a potentially hazardous situation which, if the

Caution product is not handled correctly, may result in minor injury or Caution
property damage.
This indicates lower possibility for the injury, but should be kept to
Notice
use this product properly. Notice
7
�
�Precautions in Operation�
1. Make sure to follow the usage condition, environment and specification range
of the product.
In case it is not secured, it may cause a drop in performance or malfunction of the product.
2. Use the following teaching tools.

Use the teaching pendant stated in the next clause as applicable for this controller.
[Refer to 1.1.2 Teaching Tool.]
3. Backup the data to secure for breakdown.

A non-volatile memory is used as the backup memory for this controller. All the registered
position data and parameters are written into this memory and backed-up at the same time.
Therefore, you will not usually lose the data even if the power is shut down. However, make
sure to save the latest data so a quick recovery action can be taken in case when the controller
is broken and needs to be replaced with another one.
How to Save Data

(1) Save the data to CD-R or hard disk with using the [PC software]
(2) Hard-copy the information of position tables and parameters on paper
4. Set the operation patterns.

This controller processes 7 types of control logics (including 6 types of PIO patterns and pulse
train control) to meet various ways of usage, and changes the role of each PIO signal following
the selected control logic.
1) In PIO specification, there are 6 types of [PIO patterns] available to choose from.
2) For [Pulse train specification], not only the [Pulse train control mode], but also 6 types of
[PIO patterns] are available.
The setup can be performed by using the [Operation mode setting switch] or parameter No.25
“PIO Pattern Selection” on the front panel.
[Refer to Chapter 3 Operation and Chapter 9 Parameter.]
The pulse train specification is set to PIO pattern “6” at the delivery, and for others, the PIO
pattern is set to “0”. Set the operation pattern setting to the logic that suits to your use after the
power is turned on.
Warning : Please note it is very risky when the control sequence and “PIO pattern” setting do
not match to each other. It may not only cause the normal operation disabled, but
also may cause an unexpected operation.
5. Clock Setting in Calendar Function

There may be a case that Error Code 069 “Real Time Clock Vibration Stop Detect” is issued at
the first time to turn the power on after the product is delivered. In the case this happens, set
the current time with a teaching tool.
If the battery is fully charged, the clock data is retained for approximately 10 days after the
power is turned off. Even though the time setting is conducted before the product is shipped out,
the battery is not fully charged. Therefore, there may be a case that the clock data is lost even
with fewer days than described above passed since the product is shipped out.
6. In pulse train control mode, actuator operation is unavailable through serial

communication.
In the [Pulse train control mode], the actuator operation is unavailable through serial
communication. However, it is possible to monitor the current status.
8
�
7. Attempt not to exceed the actuator specifications in the pulse train control
mode.
In the pulse train control, the acceleration/deceleration speed is also controlled by the change
of the command pulse frequency from the host controller. Do not have an operation exceeding
the maximum acceleration/deceleration rate of the actuator. The use of the actuator with
excessive acceleration/deceleration rate may cause a malfunction.
8. Actuator would not operate without servo-on and pause signals.

(1) Servo ON Signal (SON)
Servo ON signal (SON) is selectable from “Enable” or “Disable” by using a parameter.
It is settable by parameter No.21 “selection of servo-on signal disable”.
[Refer to Chapter 9 Parameter.]
If it is set to “Enable”, the actuator would not operate unless turning this signal ON.
If parameter is set to “1”, SON requirement is disabled.
If it is set to “Disable”, the servo becomes ON and the actuator operation becomes enabled
as soon as the power supply to the controller is turned on and the emergency stop signal is
cancelled.
This parameter is set to “0” (Enable) at delivery. Have the setting that suits the desired
control logic.
�
(2) Pause Signal (*STP)
The input signal of the pause signal (*STP) is always on considering the safety. Therefore,
in general, the actuator would not operate if this signal is not ON.
It is available to make this signal to “Disable”, if this signal is undesirable.
It is settable by parameter No.15 “Pause input disable”.
[Refer to Chapter 9 Parameter.]
If parameter is set to “1” (Disable), the actuator can operate even if this signal is not ON.
This parameter is set to “0” (Enable) at delivery.
9
�
9. Transference of PIO Signal between Controllers
Please note the following when conducting transference of PIO signal between controllers.
To certainly transfer the signal between controllers with different scan time, it is necessary to
have longer scan time than the one longer than the other controller. To ensure to end the
process safely, it is recommended to have the timer setting more than twice as long as the
longer scan time at least.�
�
� Operation Image
� Host Controller
� (e.g. scan time is 20msec)
� As shown in the diagram, the input and output
timings of two devices that have different scan
�
time do not match, of course, when transferring
� a signal.
� This controller There is no guarantee that host controller
� (scan time 1msec) would read the signal as soon as this controller
signal turns on.
� In such a case, make the setting to read the
� Output signal after a certain time that is longer than the
� Process longer scan time to ensure the reading process
� to succeed on the host controller side.
It is the same in the case this controller side
� reads the signal.
� Input In such a case, it is recommended to ensure 2
� Process to 4 times of the scan time for the timer setting
� margin.
It is risky to have the setting below the scan
� time since the timer is also processed in the
� scan process.
� In the diagram, host controller can only read
� the input once in 20msec even though this
controller output once in 1msec.
� Because host controller only conducts output
� process once in 20msec, this controller
� identifies the same output status for that while.
�
Also, if one tries to read the signal that is being re-written by the other, the signal may be read
wrongly.
Make sure to read the signal after the rewriting is complete. (It is recommended to have more
than 2 scan periods to wait.) Make sure not to have the output side to change the output until
the other side completes the reading. Also, a setting is made on the input area not to receive
the signal less than a certain time to prevent a wrong reading of noise. This duration also needs
to be considered.�
�
10. Host Controller Timer Setting
Do not have the host controller (PLC) timer setting to be done with the minimum setting.
Setting to “1” for 100msec timer turns ON at the timing from 0 to 100msec while 10msec timer
from 0 to 10msec for some PLC.
Therefore, the same process as when the timer is not set is held and may cause a failure such
as the actuator cannot get positioned to the indicated position number in Positioner Mode.
Set “2” as the minimum value for the setting of 10msec timer and when setting to 100msec, use
10msec timer and set to “10”.
10
�
International Standards Compliances
This product comply with the following international standards:
Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
RoHS Directive CE Marking UL

� To be scheduled To be scheduled
11
�
�Name for Each Parts and Their Functions�
ACON-CA
5) Controller Status Indicator LED
4) PIO Connector/
Field Network Connector
6) LED for Power/Alarm Monitoring
7) Axis Number Setting Switch

8) Operation Mode Setting Switch
9) SIO Connector
3) Absolute Battery 10) Motor • Encoder Connector

Status Indicator LED
(For Simple Absolute Type) 11) Brake Release Switch
2)-1 Absolute Battery
(For Simple Absolute Type) 12) Power Supply Connector
1)-1 Absolute Battery Connector
(For Simple Absolute Type)
2)-2 Absolute Battery

(For Serial Absolute Type)
1)-2 Absolute Battery Connector (Bottom Surface)

(For Serial Absolute Type)
12
DCON-CA
4) PIO Connector/
Field Network Connector

8) Operation Mode Setting Switch
9) SIO Connector
3) Absolute Battery 10) Motor • Encoder Connector

Status Indicator LED
(Not to be used)
11) Brake Release Switch
2) Absolute Battery
(Cannot use) 12) Power Supply Connector
1) Absolute Battery Connector

(Not to be used)
13
�
1) Absolute Battery Connector [Refer to Chapter 7] • • • Not applicable for DCON
It is enclosed in the optional “Simple Absolute Type” or “Serial Absolute Type”.
1)-1� Simple Absolute Type
It is the connector to plug in the enclosed battery if applicable for Simple Absolute Type.
1)-2� Serial Absolute Type
It is the connector to plug in the battery for “Serial Absolute Type”.
2) Absolute Battery [Refer to Chapter 7] • • • Not applicable for DCON

It is enclosed in the optional “Simple Absolute Type” or “Serial Absolute Type”.
2)-1� Simple Absolute Type
Use unit by affixing it on the side of ACON body with fabric hook-and-loop fastener or store
it “Absolute Battery Unit (option)”.
2)-2� Serial Absolute Type
Use unit by affixing it on the side of ACON body with the dedicated battery holder enclosed
in the package.
3) Absolute Battery Status Indicator LED [Refer to Chapter 7] • • • Not applicable for DCON
It is equipped if applicable for “Simple Absolute Type (option)”.
It displays the status such as battery charge condition and error generation.
� : Illuminating × : OFF
LED Operation status
RDY(Green)/ 1 0
Description
ALM(Red) (Green/Red) (Green/Orange/Red)
× × × Control Power OFF
� (Green) � (Green) � (Either color) Absolute Reset Complete
� (Green) � (Red) � (Either color) Absolute Reset Incomplete
� (Red) � (Red) � (Either color) Error occurred.
� (Either color) � (Either color) � (Green) Battery Fully Charged
� (Either color)� � (Either color) � (Orange) Battery Charging Operation
� (Either color)� � (Either color) � (Red) Battery Disconnected
4) PIO Connector/Field Network Connector

[PIO Type] is equipped with the input and output signal connectors for control and “Fieldbus
Network Type” with connectors for each field network connection.
[Refer to 2.1.2 “PIO Pattern Selection and PIO Signal” or 2.2.2 “I/O Signals in Pulse Train
Control Mode”]
[For the details of the field network, refer to Chapter 4 and the instruction manual for each
field network.]
14
Following show the controller operation status:
� : Illuminating × : OFF � : Flashing
LED Status of PIO Output Signal
*EMGS
SV ALM Operation status SV Output *ALM Output Output (Note 1)
(Note 1)
(Green) (Red) (Servo ON) (Emergency
stop status)
Control Power OFF OFF OFF ON
× ×
Servo OFF
Alarm
OFF OFF ON
(Operation Cancellation
Level or more)
× �
Motor Driving Power
Supply OFF OFF OFF OFF
In the Emergency Stop
� × Servo ON ON ON ON
During Automatic
� × OFF ON ON
servo-off (Note 2)
During initialization after
� (Orange) OFF OFF OFF
power is supplied
Note 1 *ALM Output and *EMGS Output are the active low signals that turn on in normal
condition and off in an error.
Note 2 Signal during automatic servo-off : [Refer to Chapter 6]�
�
In the ordinary use, it shows the command current ratio and shows the alarm code during an
alarm being generated.
LED Operation Status

Status Display
STS3 (Green) � During servo-on: it displays the current command current ratio
(proportional to the rated current).
� : Illuminating × : OFF
STS2 (Green) STATUS
Command Current Ratio
3 2 1 0
ALM8 ALM4 ALM2 ALM1 Alarm code
STS1 (Green) × × × × 0.00% to 18.74%
× × × � 18.75% to 74.99%
× × � � 75.00% to 131.24%
× � � � 131.25% to 187.74%
� � � � �187.75% to 300%
STS0 (Green)
� During alarm generation: it displays the “Simple alarm code”.
[Refer to 3.2.3 [7] and 3.3.2 [9] Binary Output of Alarm Data Output]
15
�
It is the switch to set the axis numbers when having an operation of multiple axes by the
serial communication, or when having the gateway operation.
Using the SIO converter allows multiple axes to be controlled on a teaching tool without
connection/disconnection of the connection cable connector. The SIO converter can specify
up to 16 axes with hexadecimal numbers 0 to F.
The setting of the switch is read at power-on of the controller. Changing the setting after the
power-on is invalid.
Point the arrow at a desired

number with a flat-head
screwdriver
Caution : Note duplicate axis number setting, which causes a communication error
“alarm code 30C: no connection axis error” to occur and disables normal
communication.
8) Operation Mode Setting Switch (MANU/AUTO)

This switch is used for interlock so that a moving command from PIO (Host Controller) and a
command from the teaching tool may not be issued at a time.
AUTO… Allows auto operation by PIO signals. The teaching tool can only operate the
monitor.
MANU…Allows the teaching tool to operate the controller.
9) SIO Connector (SIO) [Refer to 2.3.5 SIO Connector Connection.]�

The SIO connector is used to connect the controller with a teaching tool or a “Gateway unit”
through a proper communication cable.
10) Motor • Encoder Connector [Refer to 2.1.3 [2] and 2.2.3 [2] Connection to the actuator]�
It is the connector to connect the actuator motor and encoder cable.
11) ·Brake Release Switch (BK RLS/NOM)

For the actuator equipped with a brake, the switch is used to release the brake forcibly.
BK RLS ······ Brake forcible release
NOM ·········· Normal operation (brake is activated)
Warning : Always set the switch to “NOM” in normal operation.

(Make sure the opportunity to put the switch to RLS side is the minimum
and is limited to when startup and adjustment. Make certain to set the
switch to NOM side in normal use.)
The brake would not work even with the servo OFF condition if the switch is
on the RLS side. In the vertical oriented mount, the work may drop and
cause an injury or the work to be damaged.
12) Power Supply Connector [Refer to 2.3.1 Wiring Layout of Power Supply Connector]
It is the connector for the power supply (for controller control power, actuator driving and
brake control power) and for the input of emergency status signal.
16
�Actuator Axes�
Refer to the pictures below for the actuator axes that can be controlled
0 defines the home position, and items in ( ) are for the home-reversed type (option).
Caution : There are some actuators that are not applicable to the origin reversed type.
Check further on the catalog or the Instruction Manual of the actuator.
(1) Rod Type

0 +
(+) (0)
(2) Slider Type
0 +
(+) (0)
(3) Table Type
0 +
(+) (0)
(4) Arm Type
0 +
(+) (0)
17
�
(5) Gripper Type
+�
+�
0
Finger Attachment
(Please prepare separately.)
18
�Starting Procedures�
1. Positioner Mode
When using this product for the first time, make sure to avoid mistakes and incorrect wiring by
referring to the procedure below. “PC” stated in this section means “PC software”.
Check of Packed Items No � Contact us or our distributor.
Are there all the delivered items?
�Yes
Installation and Wiring [Refer to Chapter 1, 2.1, 2.3]
Perform the installation of and wiring for the actuator and controller.
�
Point Check Item
• Is frame ground (FG) connected? • Has the noise countermeasure been taken?
�
Power Supply and Alarm Check
Connect a teaching tool such as PC, turn the “Operation mode setting switch” to “MANU” side and turn the power ON for unit.
Select [Teaching Mode 1 Safety Speed Activated / PIO Operation Invalid] in the teaching tool.
�
Check Item No � Connect the teaching tool such as PC to confirm the
Is the Controller Status Display LED turned OFF? content of alarm and have an appropriate treatment.
�Yes
PIO Pattern Settings
Set the used PIO pattern to Parameter No.25.
�
Servo ON
Turn the servo ON with the operation on the teaching tool such as PC.
Caution :
Please perform this process with the actuator away from the mechanical end or interfering subjects as much as possible.
Put the actuator away if it interferes with surroundings. It may generate an alarm if the actuator hit the mechanical end or
interfering subjects when the servo is turned ON.
The slider may get slightly dropped by self-weight if servo ON and OFF is repeatedly performed at the same position. Be
careful not to pinch the hand or damage the work.
�
No � If an alarm is generated, connect the PC or
Check Item teaching pendant and check the content of the
Is the Controller Status Display LED turned ON in green [SV]? alarm to have the right treatment.
�Yes
Safety Circuit Check No � Check the emergency
Does the emergency stop circuit (drive cutoff circuit) work properly and turn the servo OFF? stop circuit.
�Yes
Safety Speed Setting
Set the Parameter No.35 if necessary. It is set to 100mm/s or less at the delivery.
�
Target Position Setting
Set the target position in “Position” Box in each position table.
Perform a home-return operation first when Direct Teaching is to be performed. When moving the actuator manually, set the
Brake Release Switch to “BK RLS” side for the brake equipped type. Put the switch back after the setting is complete.
Warning : In the case the actuator is installed in vertical orientation and put the brake release switch to [BK RLS] side, be
careful not to drop it with self-weight and pinch your hand or damage the work.
�
Test Run Adjustment 1
Check the operation without mounting a work and set the “Safety speed” invalid on the teaching tool such as PC, and then check
the operation with a work mounted. � Caution : To ensure safety, it is recommended that safety speed be enabled during initial movements.
�
No � Check if there is any problem with the installation of the actuator and the
Check Item
condition of the actuator use exceeds the ranges of the rated values.
Any vibration or abnormal noise?
Adjust the servo if necessary.
�Yes
Test Run Adjustment 2
1) Set the operation mode setting switch to “AUTO”.
2) Output the operation command from PLC to the controller and check the system operation.
19
�
2. Pulse Train Control Mode (for Pulse Train Type)
This product is capable for the positioning control using the pulse train of IAI actuators.
It is necessary to have the positioning control function able to output the pulse train on the host
controller.
When using this product for the first time, make sure to avoid mistakes and incorrect wiring by
referring to the procedure below. “PC” stated in this section means “PC software”.
Check of Packed Items No � Contact us or our distributor.
Are there all the delivered items?
�Yes
Installation and Wiring [Refer to Chapter 1, 2.2, 2.3]
Perform the installation of and wiring for the actuator and controller.
�
Point Check Item
• Is frame ground (FG) connected? • Has the noise countermeasure been taken?
�
Power Supply and Alarm Check
Connect a teaching tool such as PC, turn the “Operation mode setting switch” to “MANU” side and turn the power ON for unit.
Select [Teaching Mode 1 Safety Speed Activated / PIO Operation Invalid] in the teaching tool.
�
Check Item No � Connect the teaching tool such as PC to confirm the
Is the Controller Status Display LED turned OFF? content of alarm and have an appropriate treatment.
�Yes
PIO Pattern Settings
Set the used 6 “Pulse train control mode” to Parameter No.25.
�
�
Set the Electronic Gear [Refer to 3.3.4 [1]]
Set the electronic gear ratio based on the amount of actuator operation per pulse in Parameters No.65 and 66.
�
Check Item
Is the minimum unit of operation set to the value bigger than the minimum resolution of the encoder?
Is the fraction of the electronic gear ratio reduced to its lowest terms?
�
Pulse Train Input Output Mode Setting [Refer to 3.3.4 [2]]
Set the command pulse train input status for the parameter No.63 and No.64.
Put Operation Mode Setting Switch to “AUTO” side when the setting is complete.
�
Servo ON
Input servo ON signal from PLC.
�
Check Item No � Confirm the content of alarm on the teaching tool
Is the Controller Status Display LED turned ON in green [SV]? such as PC to have an appropriate treatment.
�Yes
Safety Circuit Check
Check that the emergency stop circuit (or motor drive-power cutoff circuit) operates normally to turn OFF the servo.
�
Test Run Adjustment 1 [Operation Mode MANU]
Check with a teaching tool such as the PC with no work being loaded, and check the operation range with JOG operation with
the work being loaded.
�
Check Item No � Check if there is any problem in the way of
Is there any risk of interfering with peripheral equipment? actuator mount.
�Yes
Test Run Adjustment 2 [Operation Mode AUTO]
Output the pulse train from PLC to the controller and check the system operation.
� No �
Can the positioning operation be performed normally? Check the electronic gear ratio setting.
Confirm the command pulse train input mode setting.
�Yes
Is it in condition without any vibration and abnormal noise? No �
Confirm that there is no problem in the actuator
installation, the actuator operation condition demands
�Yes
a voltage more than rated voltage, and appropriate
Test Run Adjustment 3 pulse trains are input.
Check the system operation conducted by PLC.
20
�
Chapter 1 Specifications Check
1.1 Product Check� � � � � � � � � � � � � � � � � � � � � � � �

1.1.1 Parts� � � � � � � � � � � � � � � � � � � � � � � � � � � � � �
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
No. Part Name Model Quantity Remarks

Refer to “How to read the
1 Controller model plate”, “How to read 1
the model”.
Accessories
��shows the cable
length
2 I/O Flat Cable CB-PAC-PIO�� 1
(Example)
��: 020 = 2 [m]
Recommended cable
FMC1.5/8-ST-3.5 size
3 Power Connector 1
(Supplier : Phoenix Contact) AWG16 to 20
(1.25 to 0.5mm2)
Serial Absolute For “Serial Absolute
4 AB-5 1
Battery (option) Type”
Absolute Battery For “Simple Absolute
5 AB-7 or SEP-ABU* 1
(option) Type”
6 First Step Guide 1
Instruction Manual
7 1
(DVD)
8 Safety Guide 1
1.1.2 Teaching Tool� � � � � � � � � � � � � � � � � � � � � � � � � � �

A teaching tool such as “PC software” is necessary when performing the setup for position
setting, parameter setting, etc. that can only be done on the teaching tool.
Please prepare either of the following teaching tools.
No. Part Name Model

PC Software
1 (Includes RS232C Adapter � Peripheral Communication RCM-101-MW
Cable)
PC Software
2 (Includes USB Adapter � USB Cable � Peripheral RCM-101-USB
Communication Cable)
3 Teaching Pendant (Touch Panel Teaching) CON-PTA
Teaching Pendant (Touch Panel Teaching with deadman
4 CON-PDA
switch)
Teaching Pendant
5 (Touch Panel Teaching with deadman switch � TP Adapter CON-PGA
(RCB-LB-TG))
21
�
1.1.3 Instruction manuals related to this product, which are contained in the
instruction manual (DVD).
No. Name Manual No.
1 ACON-CA / DCON-CA Controller Instruction Manual ME0326
PC Software
2 ME0155
RCM-101-MW/ RCM-101-USB Instruction Manual
Touch Panel Teaching CON-PTA/PDA/PGA Instruction
3 ME0295
Manual
4 Instruction Manual for the serial communication [for Modbus] ME0162
5 CC-Link Instruction Manual ME0254
6 DeviceNet Instruction Manual ME0256
7 PROFIBUS-DP Instruction Manual ME0258
8 CompoNet Instruction Manual ME0220
9 MECHATROLINK Instruction Manual ME0221
10 EtherCAT Instruction Manual ME0273
11 EtherNet/IP Instruction Manual ME0278
1.1.4 How to read the model plate� � � � � � � � � � � � � � � � � � � �

Model
Serial number
22
�
1.1.5 How to read the model� � � � � � � � � � � � � � � � � � � � � � �
[1] ACON-CA
ACON-CA-20I-NP-2-0-AB-DN-**

<Series> <Identification for IAI use only>
* There is no identification in some cases
<Type>
CA : Standard Type <Type of Installation>
(Not Specified) : Screw Attachment Type
<Detail of Connected Axis> DN : DIN Rail Mounting Type
[Motor Type]
2 : 2W AC servo motor <Applicable to Simplified Absolute Unit>
5 : 5W AC servo motor (Not Specified) : Incremental Type
10 : 10W AC servo motor AB : Simple Absolute Type
20S : 20W AC servo motor (With the Absolute Battery)
20 : 20W AC servo motor ABU : Simple Absolute Type
30 : 30W AC servo motor (With the Absolute Battery Unit
(SEP-ABU))
[Encoder Type] ABUN : Simple Absolute Type
I : Incremental (With no Absolute Battery)
A : Serial Absolute
[Option] <Power-supply Voltage>
HA : High Acceleration/Deceleration Type 0 : 24V DC
LA : Low Power Consumption Type
No description : Standard Type <I/O Cable Length>
0 : Equipped with no cable
<I/O Type> 2 : 2m (Standard)
NP : NPN PIO Specification (Sync. Type), PLN : Pulse Train NPN Specification 3 : 3m
PN : PNP PIO Specification (Source Type), PLP : Pulse Train PNP Specification 5 : 5m
CC : CC-Link Connection Type, DV : DeviceNet Connection Type
PR : PROFIBUS-DP Connection Type, CN : CompoNet Connection Type
ML : MECHATROLINK Connection Type, EC : EtherCAT Connection Type
EP : EtherNet/IP Connection Type
[2] DCON-CA
DCON-CA-3I-NP-2-0-DN-**
<Series> <Identification for IAI use only>
* There is no identification in some cases
<Type>
CA : Standard Type <Type of Installation>
(Not Specified) : Screw Attachment Type
<Detail of Connected Axis> DN : DIN Rail Mounting Type
[Motor Type]
3 : 3W� Brushless DC Motor <Power-supply Voltage>
0 : 24V DC
[Encoder Type]
I : Incremental <I/O Cable Length>
0 : Equipped with no cable
<I/O Type> 2 : 2m (Standard)
NP : NPN PIO Specification (Sync. Type) 3 : 3m
PLN : Pulse Train NPN Specification 5 : 5m
PN : PNP PIO Specification (Source Type)
PLP : Pulse Train PNP Specification
CC : CC-Link Connection Type
DV : DeviceNet Connection Type
PR : PROFIBUS-DP Connection Type
CN : CompoNet Connection Type
ML : MECHATROLINK Connection Type
EC : EtherCAT Connection Type
EP : EtherNet/IP Connection Type
23
�
1.2 List of Basic Specifications� � � � � � � � � � � � � � � � � � �
Description
Item
ACON-CA DCON-CA
Number of controlled axes 1-axis

Power-supply Voltage 24V DC �10%
Low Power
Series Motor Type Rated Consumption Max.(*1) Rated Max.
(including control side current consumption) (Note 1)
Type
2W 0.8A 4.6A
5W 1.0A 6.4A
10W
1.3A 6.4A
(RCL Series)
Load current
10W
RCA/
(RCA/RCA2 1.3A 2.5A 4.4A
RCA2/
Series)
RCL
20W 1.3A 2.5A 4.4A
20W
(Model code 1.7A 3.4A 5.1A
mark 20S)
30W 1.3A 2.2A 4.4A
RCD 3W 0.7A 1.5A
Power Supply for Electromagnetic
Brake 24V DC �10% 0.15A (MAX.)�
(for actuator equipped with brake)
Heat Generation 8.4W 4W
Rush Current (Note 2) 10A

Transient Power Cutoff Durability MAX.500�s
Motor Control System Sinusoidal Waveform (AC) Drive Rectangular Waveform (DC) Drive
Incremental encoder Incremental encoder
Corresponding Encoder
Serial Absolute encoder
RCA Incremental
800 pulse/rev
Series Type
Serial Absolute
16384 pulse/rev
Type
RCA2-***N 1048 pulse/rev
RCA2
Corresponding Encoder Resolution
Series Other than

800 pulse/rev
RCA2-***N
RA1,
SA1,
715 pulse/rev
RA4,
SA4
RA2,
RCL SA2,
855 pulse/rev
Series RA5,
SA5
RA3,
SA3,
1145 pulse/rev
RA6,
SA6
RCD 400pulse(RA1D/GRSN),480pulse(RA1DA/GRSNA)
Actuator Cable Length MAX. 20m
Serial Communication Interface RS485 : 1 channel (based on Modbus Protocol RTU/ASCII)
(SIO Port) Speed : 9.6 to 230.4Kbps
Control available with serial communication in the modes other than the pulse train
External PIO Type Signal I/O dedicated for 24V DC (selected from NPN/PNP) � Input 16 points max., output 16 points
Interface max. Cable length MAX. 10m
Field Network Type DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, MECHATROLINK-�/�, EtherCAT, EtherNet/IP�
24
�
Description
Item
ACON-CA DCON-CA
Data Setting and Input PC Software, Touch Panel Teaching, Teaching Pendant
Data Retention Memory Saves position data and parameters to non-volatile memory

(There is no limitation in number of writing.)
Operation Mode Positioner Mode/Pulse Train Control Mode (selected by parameter setting)
Number of Positions in Positioner Mode Standard 64 points, MAX. 512 points
(Note) Number of positions differs depending on the selection in PIO pattern.
Differential System (Line Driver System) : MAX. 200kpps Cable length MAX. 10m
Pulse Train Interface (Note 4)
Input Pulse Open Collector System : Not applicable.

* If the host applies the open collector output, prepare AK-04 (option) separately to convert to the
differential type.�
Command Pulse 1/50 < A/B < 50/1
Multiplying Factor Setting Range of A and B (set to parameter) : 1 to 4096
(Electrical Gear : A/B)�
Feedback Pulse Output None
LED Display SV (Green)/ALM (Red) : Servo ON/Alarm generated

(mounted on Front Panel) STS0 to 3 : Status display
RDY (Green)/ALM (Red) : Absolute function in normal / absolute function error (for the simple
absolute type)
1, 0 (Green) (Red) : Absolute function status display (for the simple absolute type)
Electromagnetic Brake Compulsory
Release Switch (mounted on Front Switching NOM (standard)/BK RLS (compulsory release) switchover
Panel)
Insulation Resistance 500V DC 10M� or more
Protection Function against Electric
Class I basic insulation
Shock
Mass Main Body Screw-fixed type : 230g or less
(Note 3)
(PIO Type) DIN rail-fixed type : 265g or less
Main Body Screw-fixed type : 240g or less
(Field Network Type) DIN rail-fixed type : 275g or less
Simple Absolute Type Battery (AB-7) : 190g or less
Absolute battery Case (SEP-ABU) : 140g
Serial Absolute Type Battery (AB-5) : 20g�
Cooling Method Natural air-cooling
Screw-fixed type : 35W×178.5H×69.6D Screw-fixed type : 35W×190H×69.6D
External dimensions
DIN rail-fixed type : 35W×185H×78.1D DIN rail-fixed type : 35W×196.3H×78.1D
Surrounding Air Temperature 0 to 40�C
Surrounding Humidity 85%RH or less (non-condensing)
Surrounding Environment [Refer to Installation Environment]
External dimensions
Environment
Pollution Degree Pollution Degree 2

Surrounding Storage -20 to 70�C (Excluding battery)
Temperature
Usage Altitude 1000m or lower above sea level
Protection Class IP20
Vibration Durability Frequency 10 to 57Hz / Swing width : 0.075mm
Frequency 57 to 150Hz / Acceleration : 9.8m/s2
XYZ Each direction Sweep time: 10 min. Number of sweep: 10 times
�
Note 1 Value increases in 0.3A for “Field Network Type”.
Note 2 In-rush current will flow for approximately 1 to 5msec after the power is turned on (at 40�C).
The value of inrush current differs depending on the impedance of the power supply line.
Note 3 Add the weight of the battery (case) for “Simple Absolute Type” and “Serial Absolute Type”.
Note 4 Serial Absolute Type is not applicable for the pulse train control mode.
25
�
1.3 Appearance� � � � � � � � � � � � � � � � � � � � � � � � � �
Dimensions are the same for ACON and DCON.
1.3.1 For Incremental Screw-fixed Type� � � � � � � � � � � � � � � � � �

84.8
35 φ5
69.6
178.5
170.5
26
�
1.3.2 For Incremental DIN Rail-fixed Type� � � � � � � � � � � � � � � � �
93.3

78.1
35
8.5
35.4 (Width of 35mm DIN rail)

104 from DIN rail center
178.5
185
4
(5)
27
�
1.3.3 For Simple Absolute Screw-fixed Type� � � � � � � � � � � � � � � � � �
35 84.8
φ5
69.6
178.5
170.5
5
(40.5)
(58)
28
�
1.3.4 For Simple Absolute DIN Rail-fixed Type� � � � � � � � � � � � � � �
93.3

78.1
35
8.5

178.5
185
(5)
M3
(for FG cable
attachment)
(58)
29
�
1.3.5 For Serial Absolute Screw-fixed Type� � � � � � � � � � � � � � � �
35 84.8
69.6
178.5
170.5
52
30
�
1.3.6 For Serial Absolute DIN Rail-fixed Type� � � � � � � � � � � � � � � �
93.3

78.1
35
8.5

178.5
185
4
(5)
52
31
�
1.3.7 Absolute Battery Unit (Option for Simple Absolute Type)� � � � � � �
[1] DIN Rail Mounting Type
50 from DIN
72.2
rail center
66.2
(Width of 35mm
DIN rail)
35.4
100
110
30
(5)
[2] Screw Mounting Type
73.5
�5
66.2
122
130
5
15
30
32
�
1.4 I/O Specifications� � � � � � � � � � � � � � � � � � � � � � �
1.4.1 PIO Input and Output Interface� � � � � � � � � � � � � � � � � � � �
Input Section Output Section

Input Voltage 24V DC �10% Load Voltage 24V DC
Peak Load
Input Current 5mA 1circuit 50mA 1circuit
Electric Current
Specification
ON/OFF ON Voltage MIN. 18V DC Residual
2V or less
Voltage OFF Voltage MAX. 6V DC Voltage
Leakage
MAX. 1mA/1point
Current
ACON, DCON ACON, DCON
External Power
Supply 24V DC P24
P24
Internal
Internal
Circuit
Circuit
680
NPN 5.6K Output
Terminal Load
Input
Terminal
15
External Power
N Supply 24V DC
ACON, DCON
Input
Terminal P24
Internal
Circuit
External Power
Internal
Circuit
5.6K Supply 24V DC

PNP 680 Output
Load
Terminal
External Power N
Supply 24V DC
15
N
I/O Cable Refer to 2.1.3 [4] PIO Circuit

Insulated Insulation with Photocoupler
NPN Specification PNP Specification
Pin No. Pin No.
Load Load
33
�
1.4.2 Pulse Train Input Output Interface� � � � � � � � � � � � � � � � � �
Line Driver Input
Sends input pulse from the host unit that is installed with a line
driver 26C31 or equivalent

ACON, DCON
Host Unit
Positioning Unit
PP
/PP
Specification NP
/NP
Pulse Train
Including active high and active low
Form
1.5 Options� � � � � � � � � � � � � � � � � � � � � � � � � � �
1.5.1 Pulse converter : AK-04� � � � � � � � � � � � � � � � � � � � � �
The pulse converter converts command pulses in the open collector mode to those in the
differential mode.
Use this converter if the host controller sends output pulses in the open collector mode.
Item Specification
Input Power 24V DC �10% (MAX. 50mA)
Supply
Input Pulse O/C (Collector current MAX. 12mA)
Input 200kpps or less
Frequency
Output Pulse Differential output equivalent to 26C31 (MAX. 10mA)
Mass 10g or less (excluding cable connector)
Accessories 37104-3122-000FL (e-CON Connector) 2 Units
Cover Color : Yellow
Applicable wire AWGNo.24 to 26 (Less than 0.14 to 0.3mm2,
finished O.D. �1.0 to 1.2mm)
� � Caution :
1) Use the pulse converter in the surrounding temperature range between 0�C and
40�C.
2) The temperature increase of about 30�C occurs during operation. Accordingly,
neither install several pulse converters in close contact nor install them within a
duct. Do not install the pulse converter near other heating devices.
3) If more than one pulse converter are installed, set a pulse converter apart from
another by 10mm or more.
34
�
1.6 Installation and Storage Environment� � � � � � � � � � � � � �
This product is capable for use in the environment of pollution degree 2*1 or equivalent.
*1 Pollution Degree 2 : Environment that may cause non-conductive pollution or transient

conductive pollution by frost (IEC60664-1)
[1] Installation Environment

Do not use this product in the following environment.
� Location where the surrounding air temperature exceeds the range of 0 to 40�C
� Location where condensation occurs due to abrupt temperature changes
� Location where relative humidity exceeds 85%RH
� Location exposed to corrosive gases or combustible gases
� Location exposed to significant amount of dust, salt or iron powder
� Location subject to direct vibration or impact
� Location exposed to direct sunlight
� Location where the product may come in contact with water, oil or chemical droplets
� Environment that blocks the air vent [Refer to 1.7 Noise Elimination and Mounting Method]
When using the product in any of the locations specified below, provide a sufficient shield.
� Location subject to electrostatic noise
� Location where high electrical or magnetic field is present
� Location with the mains or power lines passing nearby
[2] Storage and Preservation Environment

� Storage and preservation environment follows the installation environment. Especially in a
long-term storage, consider to avoid condensation of surrounding air.
Unless specially specified, moisture absorbency protection is not included in the package when
the machine is delivered. In the case that the machine is to be stored in an environment where
dew condensation is anticipated, take the condensation preventive measures from outside of the
entire package, or directly after opening the package.
35
�
1.7 Noise Elimination and Mounting Method� � � � � � � � � � � � �
(1) Noise Elimination Grounding (Frame Ground)
Screw-fixed type DIN rail-fixed type
Connect the ground line Connect the ground cable

together to the main unit using the tapped hole for
using the fixing screw. FG connection on the
main unit.
Copper Wire :
Connect to an ground cable with
2 M3 x 5 nickeled pan head
diameter 1.6mm (2mm ) or more.
machine screw
(enclosure dedicated for
DIN rail-fixed type)
Earth Terminal
(Grounding resistance at 100��or less)
Other
Controller equipment
Other Other
Controller equipment equipment
Do not share the ground wire with or

connect to other equipment. Ground
each controller.
�
�(2) Precautions regarding wiring method
1) Wire is to be twisted for the power supply.
2) Separate the signal and encoder lines from the power supply and power lines.
(3) Noise Sources and Elimination

Carry out noise elimination measures for Surge absorber
electrical devices on the same power path
and in the same equipment. The following R
are examples of measures to eliminate noise Relay C

coil
sources.
1) AC solenoid valves, magnet switches and relays
[Measure] Install a Surge absorber parallel with the
coil. Relay coil
+24V 0V
2) DC solenoid valves, magnet switches and relays

[Measure] Mount the windings and diodes in parallel. + -
Select a diode built-in type for the DC relay. +24V 0V
36
�
(4) Heat Radiation and Installation
Design and Build the system considering the size of the controller box, location of the
controller and cooling factors to keep the surrounding temperature around the controller
below 40�C.

To fix the units in the control box, use the attachment holes on top and bottom of the unit for
the screw-fixed type, and use the DIN rails for the DIN rail-fixed type.
Min. 100mm
Min. 100mm
Ensure enough space
for wiring.
Min. Min. Min. Min.

30mm 30mm 30mm 30mm Min. 50mm
37
38
�
�
Chapter 2 Wiring
2.1 Positioner Mode (PIO Control)� � � � � � � � � � � � � � � � � �
2.1.1 Wiring Diagram (Connection of Devices)� � � � � � � � � � � � � �
Chapter 2 Wiring
Host System
(PLC, etc.…Please prepare separately)
Teaching pendant
Touch Panel Teaching
(to be purchased separately)
Power Source I/O

Control
(24V DC
··· Please
prepare
l )
Actuator
PC Software
(to be purchased separately) Emergency Stop Circuit
Control/Driving Power Supply

(24V DC
··· Please prepare separately)
Caution : Make sure to turn the power to the controller OFF when inserting or removing
the connector that connects the “PC software” or teaching pendant to the
controller. Inserting or removing the connector while the power is turned ON
causes a controller failure.
39
�
2.1.2 PIO Pattern Selection and PIO Signal� � � � � � � � � � � � � � � �
(1) PIO Pattern (Control Pattern) Selection
The controller provides seven “PIO patterns” (control patterns). Set the most suitable “PIO
pattern” with the actual use to Parameter No. 25 “PIO Pattern Select”.
Refer to 3.2 Operation in “Positioner Mode” for the details of “PIO patterns”.
Chapter 2 Wiring
Value set in
Type parameter Mode Overview
No. 25
� Number of positioning points : 64 points
0
PIO Positioning Mode � Position command : binary code
(at the
Pattern 0 (Standard Type) � Zone signal output*1 : 1 point(Note2)
delivery)
� Position zone signal output*2 : 1 point(Note2)
� Position command : binary code
PIO Teaching mode � Position zone signal output*2 : 1 point(Note2)
1
Pattern 1 (Teaching type) � Jog operation enabled by PIO signal
� Writing current position data to position table
enabled by PIO signal
256-point mode � Number of positioning points : 256 points
PIO (Number of � Position command : binary code
2
Pattern 2 positioning points : � Position zone signal output*2 : 1 point(Note2)
256-point type)
512-point mode � Number of positioning points : 512 points
PIO (Number of � Position command : binary code
3
Pattern 3 positioning points : � Zone signal output : None
512-point type)
Solenoid Valve
PIO � Position command : Individual number signal ON
4 Mode 1
Pattern 4 � Zone signal output*1 : 1 point(Note2)
(7-point type)
� Position command : Individual number signal ON
Solenoid Valve
PIO � Completion signal : Signal equivalent to LS
5 Mode 2
Pattern 5 (limit switch) enabled
(3-point type)
� Zone signal output*1 : 1 point(Note2)
� Differential pulse input (MAX. 200kpps)
PIO Pulse Train Control
� Home return function
Pattern 6 6 Mode
� Zone signal output*1 : 2 point
(Note 1) [Refer to 2.2]
� No feedback pulse output
*1 Zone signal output :� Zone range is to be set to either Parameter No.1, 2 or No.23,
24 and it is always available after the home-return operation
is complete.
*2 Position zone signal output�:� This feature is associated with the specified position number.
The zone range is set in the position table. The zone range is
enabled only when the position is specified but disabled if
another position is specified.
(Note 1) “Pulse Train Control Mode” is available only if the “Pulse train type” is indicated (from
PCON-CA-*-PLN and PLP) at the purchase. Also, the PIO pattern at delivery for PLN
and PLP Types are set to 6.
(Note 2) Position Zone Signal can be switched over to Zone Signal with the setting of
Parameter No.149.
40
�
(2) PIO Patterns and Signal Assignment
The signal assignment of I/O flat cable by the PIO pattern is as shown below. Follow the
following table to connect the external equipment (such as host controller).
Parameter No.25 “PIO Pattern Selection”
Category PIO Functions 0 1 2 3
Positioning mode Teaching mode 256-point mode 512-point mode
Number of positioning
64 points 64 points 256 points 512 points
points
Chapter 2 Wiring
Home return signal � � � �
Pin Jog signal � � � �
Input
No. Teaching signal
(Current position � � � �
writing)
Brake release � � � �
Moving signal � � � �
(Note 1) (Note 1)
Output Zone signal � � � �
Position zone signal � � � �
1A 24V P24
2A 24V P24
3A – –
4A – –
5A IN0 PC1 PC1 PC1 PC1
11A IN6 – MODE PC64 PC64
12A IN7 – JISL PC128 P128
Input
13A IN8 – JOG+ – PC256
14A IN9 BKRL JOG- BKRL BKRL
15A IN10 RMOD RMOD RMOD RMOD
16A IN11 HOME HOME HOME HOME
17A IN12 *STP *STP *STP *STP
18A IN13 CSTR CSTR/PWRT CSTR CSTR
19A IN14 RES RES RES RES
20A IN15 SON SON SON SON
1B OUT0 PM1(ALM1) PM1(ALM1) PM1(ALM1) PM1(ALM1)
5B OUT4 PM16 PM16 PM16 PM16
6B OUT5 PM32 PM32 PM32 PM32
7B OUT6 MOVE MOVE PM64 PM64
8B OUT7 ZONE1 MODES PM128 PM128
(Note1)
9B Output OUT8 PZONE/ZONE2 PZONE/ZONE1 PZONE/ZONE1 PM256
10B OUT9 RMDS RMDS RMDS RMDS
11B OUT10 HEND HEND HEND HEND
12B OUT11 PEND PEND/WEND PEND PEND
13B OUT12 SV SV SV SV
14B OUT13 *EMGS *EMGS *EMGS *EMGS
15B OUT14 *ALM *ALM *ALM *ALM
(Note2) (Note2) (Note2) (Note2)
*BALM / *BALM / *BALM / *BALM /
16B OUT15
*ALML *ALML *ALML *ALML
17B – –
18B – –
19B 0V N
20B 0V N
(Note) “*” in codes above shows the signal of the active low.
PM1 to PM8 indicate the alarm binary code output signal when an alarm is generated. [Refer to 3.2.3 [7]
Binary Output of Alarm Data Output]
(Note 1) The mode can be switched over to PZONE with the setting of Parameter No.149 except for PIO Pattern 3.
(Note 2) It is a signal dedicated for ACON-CA.
(Reference) Signal of Active Low
Signal with “*” expresses the signal of active low. A signal of active low is a signal that the input signal is processed
when it is turned OFF, output signal is ordinarily (or just omit) on while the power is ON, and turns OFF when the signal
is output.
41
�
Parameter No.25 “PIO Pattern Selection”

4 5 6
Category PIO Functions
Pulse Train Control
Solenoid Valve Mode 1 Solenoid Valve Mode 2
Mode
7 points 3 points –
points
Home return signal � � �
Pin
Chapter 2 Wiring
Jog signal � � �
No. Input
Teaching signal
(Current position � � �
writing)
Brake release � � �
Moving signal � � �
Output Zone signal � � �
Position zone signal � � �
1A 24V P24
2A 24V P24
3A Pulse –
4A input –
5A IN0 ST0 ST0
6A IN1 ST1 ST1(JOG+)
7A IN2 ST2 ST2(Note 2)
8A IN3 ST3 –
9A IN4 ST4 –
10A IN5 ST5 –
11A IN6 ST6 –
12A IN7 – –
Input
13A IN8 – –
14A IN9 BKRL BKRL
15A IN10 RMOD RMOD
16A IN11 HOME –
17A IN12 *STP –
18A IN13 – –
19A IN14 RES RES
20A IN15 SON SON Refer to Section 2.2 for
1B OUT0 PE0 LS0 the details of Pulse
2B OUT1 PE1 LS1(TRQS) Train Control Mode
3B OUT2 PE2 LS2(Note 3)
4B OUT3 PE3 –
5B OUT4 PE4 –
6B OUT5 PE5 –
7B OUT6 PE6 –
8B OUT7 ZONE1 ZONE1
(Note1)
9B Output OUT8 PZONE/ZONE2 PZONE/ZONE2
10B OUT9 RMDS RMDS
11B OUT10 HEND HEND
12B OUT11 PEND –
13B OUT12 SV SV
14B OUT13 *EMGS *EMGS
15B OUT14 *ALM *ALM
(Note2) (Note2)
*BALM / *BALM /
16B OUT15
*ALML *ALML
17B Pulse –
18B input –
19B 0V N
20B 0V N
(Note) Shown in ( ) after the signal names above tell the functions performed before the home-return operation. “*” in
codes above shows the signal of the active low.
PM1 to PM8 indicate the alarm binary code output signal when an alarm is generated. [Refer to 3.2.3 [7]
Binary Output of Alarm Data Output]
(Note 1) The mode can be switched over to PZONE with the setting of Parameter No.149.
(Note 2) It is a signal dedicated for ACON-CA.
(Note 3) It is invalid before home-return operation.
42
�
(3) List of PIO Signals
The table below lists the functions of PIO signals.
[Refer to the section shown in Relevant Sections for the details of the control.]
Signal Relevant
Category Signal Name Function Description
Abbreviation Sections
Start signal The actuator will start to move to the position set by the
CSTR 3.2.4
(PTP strobe) command position number.
PC1 to Command position
Chapter 2 Wiring
Input (in binary) a number of the position that is desired to move. 3.2.4
PC256 number signal
Brake forcible release
BKRL The brake will forcibly be released. 3.2.3
signal
The operating mode is selectable when the MODE switch of the
Operation mode
RMOD controller is set to AUTO. 3.2.3
changeover signal
(The setting is AUTO when signal is OFF, and MANU when ON.)
When this signal turns OFF while the actuator is moving, the
3.2.4
actuator will decelerate to stop. The remaining
*STP Pause signal 3.2.5
movement is in a hold while the actuator is stopped and will
3.2.6
resume when the signal turns back ON.
3.2.3
An alarm will be reset when this signal is turned ON. Also, when
3.2.4
RES Reset signal it is turned ON in the pause mode (*STP is turned OFF), the
3.2.5
remaining movement amount can be cancelled.
3.2.6
The servo remains ON while this signal is ON, or OFF while this
SON Servo ON signal 3.2.3
signal is OFF.
Input The controller will perform home return operation when this
HOME Home return signal 3.2.3
signal is turned ON.
The operating mode will change to the teaching mode when this
signal is turned ON. The mode will not be switched over unless
MODE Teaching mode signal 3.2.4
CSTR, JOG+ and JOG- are all OFF and the actuator operation is
stopped.
Jog Operation can be performed with JOG+ and JOG- while this
Jog/inching selector signal is OFF.
JISL 3.2.4
signal Inching Operation is performed with JOG+ and JOG- when it is
ON.
Jog Operation is performed to positive direction by detecting ON
edge of JOG+ signal and to negative direction by JOG- signal
JOG + while JISL signal is OFF.
Jog signal 3.2.4
JOG - The actuator will decelerate and stop if OFF edge is detected
while in each Operation.
Inching Operation is performed while JISL signal is ON.
When the write position is specified in the teaching mode and
Current position write
PWRT this signal has remained ON for 26msec or longer, the controller 3.2.4
signal
will write the current position in the specified position field.
The actuator moves to the commanded position with this signal 3.2.5
ST0 to ST6 Start signal
ON during the solenoid valve mode. 3.2.6
�
Signal with “*” expresses the signal of active low. In the controller, the process is held when the input signal is turned OFF.
43
�
Signal Relevant
Category Signal Name Function Description
Abbreviation Sections
Turns ON in the positioning band range after actuator operation.
3.2.3
The INP signal will turn OFF if the position deviation exceeds the
PEND/INP Position complete 3.2.4
in-position range. PEND and INP can be switched over by the
3.2.5
parameter.
PM1 to The position No. reached after the positioning completion, is 3.2.3
Completion Position No.
Chapter 2 Wiring
PM256 output (binary output). 3.2.4

This signal will turn ON when home return has been completed. 3.2.3
HEND Home return completion
It will be kept ON unless the home position is lost. 3.2.6
ZONE1 Turns ON if the current actuator position is within the range set to
Zone 3.2.3
ZONE2 the parameter.
This signal will turn ON when the current actuator position enters
the range specified the position data after position movement.
PZONE Position zone 3.2.3
Even though it can be used together with ZONE1, PZONE will
become only available for operation by the set position number.
Operation Mode Status Outputs the operation mode status. It turns on when the controller
RMDS 3.2.3
Output is on Manual Mode.
Turns ON when the controller is in normal condition, and turns
*ALM Alarm 3.2.3
OFF when an alarm is generated.
ALM1 to The detail of the alarm is output with binary code when an alarm
Alarm Code 3.2.3
ALM8 more than the operation cancel level is issued.
Turns ON during the actuator is moving (including home-return 3.2.3
MOVE Moving
operation and pressing operation). 3.2.4
Output SV Servo ON This signal will remain ON while the servo is ON. 3.2.3
This signal remains ON while the controller is under the
*EMGS Emergency Stop Output emergency stop reset condition and turns OFF when the 3.2.3
emergency stop condition is enabled. (Regardless of alarms.)
This signal will turn ON while the teaching mode is enabled by
MODES Teaching Mode Output the input of the mode signal and will turn OFF when the mode 3.2.4
changes to the normal mode.
It is OFF during the teaching mode and turns ON when the
WEND Writing Complete writing by PWRT Signal is complete. It turns OFF when PWRT 3.2.4
Signal turns OFF.
Current Position In the solenoid valve mode, this signal will turn ON when the
PE0 to PE6 3.2.5
Number actuator completes moving to the target position.
Turns ON when the current actuator position is within the range
of positioning band (�) of the target position. It is output even
LS0 to LS2 Limit Switch Output 3.2.6
before the movement command and the servo is OFF if the
home-return operation is completed.
Outputs when a message level alarm is generated.
*ALML Light Error Output 10.4
(It is necessary to set parameter)
Turns ON when the battery is in the range of normal voltage for
Absolute Battery the actuator of Absolute Type. It is always on when the actuator is
*BALM Incremental Type. 7.5
Voltage Drop Alarm Also, by the setting in Parameter No. 151, it can be turned OFF
when a message level alarm is generated.
Signal with “*” expresses the signal of active low. It is ON when the power is applied to the controller, and turns OFF when the
signal is output.�
44
�
2.1.3 Circuit Diagram� � � � � � � � � � � � � � � � � � � � � � � � � �
Sample circuit diagrams are shown below.
[1] Power Supply and Emergency Stop�
24V 0V
Emergency-stop
Switch on the
Emergency Teaching Pendant
Chapter 2 Wiring
ACON-CA
Stop Reset Emergency DCON-CA
Switch Stop Switch
Power Supply SIO Connector
Connector
S1
(Note 1)
CR1 S2
CR2(Note 2)
MPI
Motor Power Supply
MPO
Control 0V
24V
Power
Supply
CR1(Note 3)
EMG-
Emergency Stop Control Circuit
BKLS (Note 7)
Brake Release Power Supply
Brake Forced
Release Switch
ACON-CA
DCON-CA
Power Supply SIO Connector
Connector
S1
(Note 1)
S2
CR2(Note 2)
MPI
MPO
24V 0V
EMG-
BKLS
Brake Forced
Release Switch
CR1(Note 4)
CR1 CR2
Note 1 : When the teaching pendant is not connected, S1 and S2 become short-circuited inside the
controller.
Note 2 : When the motor driving source is cut off externally for a compliance with the safety category,
connect a contact such as a contactor to the wires between MPI and MPO. [Refer to Chapter 11
“Appendix”]
Note 3 : The rating for the emergency stop signal (EMG-) to turn ON/OFF at contact CR1 is 24V DC and
10mA or less.
Note 4 : For CR1, select the one with coil current 0.1A or less.
Note 5 : When rebooting after shutting down, leave for 1sec or more.
Note 6 : Do not attempt to supply only the motor power without supplying the control power.
Note 7 : When connecting actuator equipped with brake supply 24V power to forcibly release the brake.
Caution : If supplying power with using a 24V DC, having it turned ON/OFF, keep the 0V
connected and have the +24V supplied/cut (cut one side only).
45
�
[2] Connection to the actuator (Motor • Encoder Circuit)
�
1) Connection to the RCA, RCL Series (Incremental Type)
ACON-CA
� Motor Connection
Chapter 2 Wiring
/Encoder Cable(Note 1)
Connector
2) Connection to the RCA Series (Serial Absolute Type)

ACON-CA
/Encoder Cable
(Note 1)
Connector
3) Connection to the RCA2 Series
ACON-CA
(Note 1)
/Encoder Cable
Connector
4) Connection to the RCD Series
DCON-CA
(Note 1)
/Encoder Cable
Connector
Note 1 Applicable Connection Cable Model Codes �� : Cable Length Example) 030 � 3m
Model Name Cable Reference
RCA,
RCL CB-ASEP2-MPA�� Robot cable from 0.5 to 20m
(Incremental Type)
RCA
CB-ASEP2-MPA�� Robot cable from 0.5 to 20m
(Serial Absolute Type)
RCA2 CB-APSEP-MPA�� Robot cable from 0.5 to 20m
CB-CA-MPA�� Standard cable from 0.5 to 20m
RCD
CB-CA-MPA��-RB Robot cable from 0.5 to 20m
46
�
[3] Connection to the Absolute Battery
1) For Simple Absolute Type (ACON-CA Only)
Connect to the “Absolute battery unit” or “Absolute battery” (AB-7).
ACON-CA Absolute Battery

Unit (SEP-ABU)
CB-APSEP
Chapter 2 Wiring
Absolute -AB005
Battery
Connector
(Front panel)
Absolute
Battery
(AB-7)
2) For Serial Absolute Type (ACON-CA Only)

Connect to the “Absolute battery” (AB-5).
ACON-CA
Absolute Absolute Battery (AB-5)

Battery
Connector
(Bottom of the
main unit)
47
�
[4] PIO Circuit
�
1) PIO Pattern 0 ··········· Positioning Mode (Standard Type)
0V(NPN Type) 24V DC(NPN Type)
24V DC(PNP Type) 0V(PNP Type)
ACON, DCON
Chapter 2 Wiring
PIO Connector
BR- 1 1A P24 1B BR- 3
Completed Position No.1
PM1
24V DC RD- 1 2A P24 2B RD- 3
PM2 Completed Position No.2
Supply OR- 1 3A 3B OR- 3
YW- 1 4A PM8
4B YW- 3
Command Position No.1
GN- 1 5A PC1 PM16
5B GN- 3
BL- 1 6A PC2 PM32
6B BL- 3
PL- 1 7A PC4 MOVE
7B PL- 3
Moving
GY- 1 8A PC8 ZONE1 8B GY- 3
Zone
WT- 1 9A PC16 PZONE 9B WT- 3
Position Zone/Zone 2
/ZONE2
BK- 1 10A PC32 RMDS 10B BK- 3
Operating Mode Status (Manual Mode)
BR- 2 11A HEND
11B BR- 4
Home Return Completion
RD- 2 12A PEND
12B RD- 4
Position Completion
OR- 2 13A SV
13B OR- 4
Servo ON Status
Brake Control Release
YW- 2 14A BKRL *EMGS 14B YW- 4
Emergency Stop Status
Operation Mode Changeover
GN- 2 15A RMOD *ALM 15B GN- 4
Alarm
Home Return
BL- 2 16A HOME *BALM 16B BL- 4
Absolute Battery Voltage
Pause
PL- 2 17A *STP /*ALML 17B PL- 4 Drop Alarm (ACON-CA)
Start
GY- 2 18A CSTR 18B GY- 4 /Light Error Alarm
Reset
WT- 2 19A RES 19B WT- 4
N
BK- 2 20A SON 20B BK- 4 0V
Servo ON N
Supply
“*” in codes above shows the signal of the active low. Processing occurs when
an input signal of the type is turned OFF. An output signal of the type is normally
ON in the power-on status and turned OFF at signal output.
� Use the attached cable for the I/O connection.

Model : CB-PAC-PIO�� (�� indicates the cable length L. Example. 020 � 2m)
BK-4 (20B)
No treatment B 20A 20B
conducted
BR-3 (1B)
BK-2 (20A)
No treatment 1A 1B
conducted A
BR-1 (1A)
Flat Cable (20-core) × 2
48
�
2) PIO Pattern 1 ············ Teaching mode (Teaching type)

ACON, DCON
PIO Connector
BR- 1 1A P24 1B BR- 3
Chapter 2 Wiring
24V DC RD- 1 2A P24 2B RD- 3
YW- 1 4A PM8
4B YW- 3
GN- 1 5A PC1 PM16
5B GN- 3
BL- 1 6A PC2 PM32
6B BL- 3
PL- 1 7A PC4 MOVE
7B PL- 3
Moving
GY- 1 8A PC8 PZONE 8B GY- 3
/ZONE1 Teaching Mode Status
Teaching Mode
BR- 2 11A MODE HEND 11B BR- 4
Home Return Completion
Jog/inching Changeover
RD- 2 12A JISL PEND/WEND 12B RD- 4
Position Writing Completion
Jog Move +
OR- 2 13A JOG+ SV
13B OR- 4
Servo ON Status
Jog Move -
YW- 2 14A JOG- *EMGS 14B YW- 4
Alarm
Home Return
BL- 2 16A HOME *ALML 16B BL- 4
Light Error Alarm
Pause
PL- 2 17A *STP 17B PL- 4
GY- 2 18A CSTR/PWRT 18B GY- 4
Reset
WT- 2 19A RES 19B WT- 4
N
BK- 2 20A SON 20B BK- 4 0V
Servo ON N
Supply
�

BK-4 (20B)
conducted
BR-3 (1B)
BK-2 (20A)
No treatment 1A 1B
conducted A
BR-1 (1A)
49
�
3) PIO Pattern 2 ············ 256-point mode (Number of positioning points : 256-point type)
ACON, DCON
PIO Connector
BR- 1 1A P24 1B BR- 3
PM1
24V DC RD- 1 2A P24 2B RD- 3
Chapter 2 Wiring

YW- 1 4A PM8
4B YW- 3
GN- 1 5A PC1 PM16
5B GN- 3
BL- 1 6A PC2 PM32
6B BL- 3
PL- 1 7A PC4 PM64
7B PL- 3
GY- 1 8A PC8 PM128
8B GY- 3
/ZONE1
BR- 2 11A 11B BR- 4
PC64 HEND Home Return Completion
RD- 2 12A PEND
12B RD- 4
PC128 Position Completion
OR- 2 13A SV
13B OR- 4
Servo ON Status
Alarm
Home Return
/*ALML Absolute Battery Voltage
Pause
PL- 2 17A *STP 17B PL- 4 Drop Alarm (ACON-CA)
Start
Reset
WT- 2 19A RES 19B WT- 4
N
BK- 2 20A SON 20B BK- 4 0V
Servo ON N
Supply

BK-4 (20B)
conducted
BR-3 (1B)
BK-2 (20A)
No treatment 1A 1B
conducted A
BR-1 (1A)
50
�
4) PIO Pattern 3 ············ 512-point mode (Number of positioning points : 512-point type)�
ACON, DCON
PIO Connector
BR- 1 1A P24 1B BR- 3
PM1
24V DC RD- 1 2A P24 2B RD- 3
Chapter 2 Wiring
YW- 1 4A PM8
4B YW- 3
GN- 1 5A PC1 PM16
5B GN- 3
BL- 1 6A PC2 PM32
6B BL- 3
PL- 1 7A PC4 PM64
7B PL- 3
GY- 1 8A PC8 PM128
8B GY- 3
WT- 1 9A PC16 9B WT- 3
PM256
BR- 2 11A 11B BR- 4
PC64 HEND Home Return Completion
RD- 2 12A PEND
12B RD- 4
PC128 Position Completion
OR- 2 13A SV
13B OR- 4
PC256 Servo ON Status
Alarm
Home Return
Pause
Start
Reset
WT- 2 19A RES 19B WT- 4
N
BK- 2 20A SON 20B BK- 4 0V
Servo ON N
Supply

BK-4 (20B)
conducted
BR-3 (1B)
BK-2 (20A)
No treatment 1A 1B
conducted A
BR-1 (1A)
51
�
5) PIO Pattern 4 ············· Solenoid Valve Mode 1 (7-point type)
ACON, DCON
PIO Connector
BR- 1 1A P24 1B BR- 3
Current Position No.0
PE0
24V DC RD- 1 2A P24 2B RD- 3
Chapter 2 Wiring
PE1 Current Position No.1

PE2 Current Position No.2
YW- 1 4A PE3
4B YW- 3
Start Signal 0
GN- 1 5A ST0 PE4
5B GN- 3
Start Signal 1
BL- 1 6A ST1 PE5
6B BL- 3
Start Signal 2
PL- 1 7A ST2 PE6
7B PL- 3
Start Signal 3
GY- 1 8A ST3 ZONE1 8B GY- 3
Zone
WT- 1 9A ST4 PZONE 9B WT- 3
Start Signal 4 /ZONE2 Position Zone/Zone 2
BK- 1 10A ST5 RMDS
10B BK- 3
Start Signal 5
BR- 2 11A ST6 HEND
11B BR- 4
Start Signal 6 Home Return Completion
RD- 2 12A PEND
12B RD- 4
Position Completion
OR- 2 13A SV
13B OR- 4
Servo ON Status
Alarm
Home Return
Pause
GY- 2 18A 18B GY- 4 /Light Error Alarm
Reset
WT- 2 19A RES 19B WT- 4
N
BK- 2 20A SON 20B BK- 4 0V
Servo ON N
Supply

BK-4 (20B)
conducted
BR-3 (1B)
BK-2 (20A)
No treatment 1A 1B
conducted A
BR-1 (1A)
52
�
6) PIO Pattern 5 ············· Solenoid Valve Mode 2 (3-point type)
ACON, DCON
PIO Connector
1A P24 LS0 1B
BR- 1 BR- 3 Backward End Detection
24V DC RD- 1 2A P24 LS1 2B
RD- 3
Chapter 2 Wiring
Forward End Detection
LS2 Intermediate Position Detection
YW- 1 4A 4B YW- 3
Start Signal 0
GN- 1 5A ST0 5B GN- 3
Start Signal 1
BL- 1 6A ST1 6B BL- 3
Start Signal 2
PL- 1 7A ST2 7B PL- 3
GY- 1 8A ZONE1
8B GY- 3 Zone
WT- 1 9A PZONE 9B WT- 3
/ZONE2
BK- 1 10A RMDS
10B BK- 3 Operating Mode Status (Manual Mode)
BR- 2 11A HEND
11B BR- 4 Home Return Completion
RD- 2 12A 12B RD- 4
OR- 2 13A SV
13B OR- 4 Servo ON Status
Brake Control Release YW- 2 14A BKRL *EMGS 14B YW- 4 Emergency Stop Status
Operation Mode Changeover GN- 2 15A RMOD *ALM 15B GN- 4
Alarm
BL- 2 16A *BALM 16B BL- 4
PL- 2 17A 17B PL- 4 Drop Alarm (ACON-CA)
GY- 2 18A 18B GY- 4 /Light Error Alarm
Reset
WT- 2 19A RES 19B WT- 4
N
BK- 2 20A SON 20B BK- 4 0V
Servo ON N
Supply

BK-4 (20B)
conducted
BR-3 (1B)
BK-2 (20A)
No treatment 1A 1B
conducted A
BR-1 (1A)
53
�
2.2 Pulse Train Control Mode� � � � � � � � � � � � � � � � � � � �
2.2.1 Wiring Diagram (Connection of devices)� � � � � � � � � � � � � � �
Host System
Chapter 2 Wiring
(PLC, etc.…Please prepare separately)

Teaching pendant
Power Source I/O Control

(24V DC
AK-04 ··· Please prepare separately)
AK-04 (to be purchased
separately)
Necessary when host positioning
unit is open collector output.
Actuator
PC Software
Emergency Stop Circuit
Control/Driving Power Supply

(24V DC
··· Please prepare separately)
Caution : Make sure to turn the power to the controller OFF when inserting or removing the
connector that connects the “PC software” or teaching pendant to the controller.
Inserting or removing the connector while the power is turned ON causes a
controller failure.
54
�
2.2.2 I/O Signals in Pulse Train Control Mode� � � � � � � � � � � � � � �
The table below shows the signal assignment of the flat cable in the “Pulse train control mode”.
Follow the following table to connect the external equipment (such as host unit).
Pin Signal Relevant
Category I/O No. Signal Name Function Description
No. Abbreviation Sections
Chapter 2 Wiring
1A 24V P24 Power Supply Power Supply for I/O +24V
2A 24V P24 Power Supply Power Supply for I/O +24V
Differential Pulse Train Input the differential pulse from the host.
3A PP
Pulse Input (+) Input is available up to 200kpps at maximum. 2.2.3 [4]
input Differential Pulse Train 3.3.3 [1]
4A /PP
Input (-)
The servo remains ON while this signal is ON, or
5A IN0 SON Servo ON 3.3.2 [5]
OFF while this signal is OFF.
6A IN1 RES Reset Turn the signal ON to reset the alarm. 3.3.2 [8]
The controller will perform home return operation
7A IN2 HOME Home Return 3.3.2 [6]
when this signal is turned ON.
Applies torque limit to the motor with the signal ON
8A IN3 TL Torque Limit Select 3.3.3 [3]
and the value set to the parameter.
Turning it ON continuously for more than 16ms
forcibly stops the actuator.
9A IN4 CSTP Compulsory Stop 3.3.2 [4]
The actuator decelerates then stops with the torque
set in the controller and then turns the servo OFF.
10A IN5 DCLR Deviation Counter Clear Clears the deviation counter. 3.3.3 [4]
11A Input IN6 BKRL Brake Release The brake will forcibly be released. 3.3.2 [10]
The operating mode is selectable when the MODE
Operation Mode switch of the controller is set to AUTO.
12A IN7 RMOD 3.3.2 [3]
Changeover (The setting is AUTO when signal is OFF, and
MANU when ON.)
13A IN8 NC – Not used
It turns ON when the control becomes available
1B OUT0 PWR System Ready 3.3.2 [1]
after the main power is supplied.
2B OUT1 SV Servo ON Status This signal will remain ON while the servo is ON. 3.3.2 [5]
Turned ON when the remaining moving pulses in
3B OUT2 INP Position Complete the deviation counter enters within the positioning 3.3.3 [2]
band.
This signal will turn ON when home return has been
4B OUT3 HEND Home return completion 3.3.2 [6]
completed.
Turns ON if the torque reaches the limit value
5B OUT4 TLR Torque Under Control 3.3.3 [3]
during torque limit.
Turns ON when controller in normal condition, and
6B OUT5 *ALM Controller Alarm Status 3.3.2 [8]
OFF when alarm is generated.
Output
Turns ON when the controller emergency stop is
7B OUT6 *EMGS Emergency Stop Status 3.3.2 [2]
cancelled, and OFF during the emergency stop.
The operating mode status will be output. It turns
8B OUT7 RMDS Operation Mode Status 3.3.2 [3]
ON when the controller is on Manual Mode.
9B OUT8 ALM1 The alarm code is output together with the alarm
10B OUT9 ALM2 signal output.
Alarm Code Output Signal 3.3.2 [9]
11B OUT10 ALM4 Refer to Alarm List for details.
12B OUT11 ALM8
13B OUT12 *ALML /Light Error Alarm Outputs when a message level alarm is generated. 10.4
14B OUT13 NC – Not used
15B OUT14 ZONE1 Zone Signal 1 This signal will turn ON when the current actuator
3.3.2 [7]
16B OUT15 ZONE2 Zone Signal 2 position enters the range set by the parameters.
Differential Pulse Train Input the differential pulse from the host.
17B NP
Pulse Input (+) Input is available up to 200kpps at maximum. 2.2.3 [4]
input Differential Pulse Train 3.3.3 [1]
18B /NP
Input (-)
19B 0V N Power Supply Power Supply for I/O 0V
20B 0V N Power Supply Power Supply for I/O 0V
Signal with “*” expresses the signal of active low. It is ON when the power is applied to the controller, and
turns OFF when the signal is output.
55
�
2.2.3 Circuit Diagram� � � � � � � � � � � � � � � � � � � � � � � � � �
Sample circuit diagrams are shown below.
[1] Power Supply and Emergency Stop Control Circuit
Note 1 : When the teaching pendant is not connected, S1 and S2 become short-circuited inside the
controller.
Chapter 2 Wiring
Note 2 : When the motor driving source is cut off externally for a compliance with the safety category,
connect a contact such as a contactor to the wires between MPI and MPO. [Refer to Chapter 11
“Appendix”]
Note 3 : The rating for the emergency stop signal (EMG-) to turn ON/OFF at contact CR1 is 24V DC and
10mA or less.
Note 4 : For CR1, select the one with coil current 0.1A or less.
Note 5 : When rebooting after shutting down, leave for 1sec or more.
Note 6 : Do not attempt to supply only the motor power without supplying the control power.
Note 7 : When connecting actuator equipped with brake supply 24V power to forcibly release the brake.
Caution : If supplying power with using a 24V DC, having it turned ON/OFF, keep the 0V
56
�
[2] Connection to the actuator (Motor • Encoder Circuit)
�
1) Connection to the RCA, RCL Series (Incremental Type)
ACON-CA
Chapter 2 Wiring
/Encoder Cable(Note 1)
Connector
2) Connection to the RCA Series (Serial Absolute Type)

ACON-CA
/Encoder Cable
(Note 1)
Connector
3) Connection to the RCA2 Series
ACON-CA
(Note 1)
/Encoder Cable
Connector
4) Connection to the RCD Series
DCON-CA
(Note 1)
/Encoder Cable
Connector
Note 1 Applicable Connection Cable Model Codes �� : Cable Length Example) 030 � 3m
Model Name Cable Reference
RCA,
RCL CB-ASEP2-MPA�� Robot cable from 0.5 to 20m
(Incremental Type)
RCA
CB-ASEP2-MPA�� Robot cable from 0.5 to 20m
(Serial Absolute Type)
RCA2 CB-APSEP-MPA�� Robot cable from 0.5 to 20m
CB-CA-MPA�� Standard cable from 0.5 to 20m
RCD
CB-CA-MPA��-RB Robot cable from 0.5 to 20m
57
�
[3] PIO Circuit
ACON, DCON
PIO Connector
BR- 1 1A P24 1B BR- 3
System Ready
PWR
Chapter 2 Wiring
Differential Pulse Supply 24V DC RD- 1 2A P24 2B RD- 3

SV Servo ON Status
[Refer to the next page for OR- 1 3A PP INP
3B OR- 3
Position Completion
the details of wiring.] YW- 1 4A /PP 4B YW- 3
HEND Home Return Completion
Servo ON
GN- 1 5A SON TLR
5B GN- 3
Torque Under Control
BL- 1 6A RES *ALM
6B BL- 3
Alarm
Reset
PL- 1 7A HOME *EMGS 7B PL- 3
Home Return
GY- 1 8A TL RMDS
8B GY- 3
Operating Mode Status
Torque Limit Select
WT- 1 9A CSTP ALM1 9B WT- 3
Compulsory Stop Alarm Code Output 1
BK- 1 10A DCLR ALM2 10B BK- 3
Deviation Counter Clear Alarm Code Output 2
BR- 2 11A BKRL ALM4 11B BR- 4
Alarm Code Output 4
RD- 2 12A RMOD ALM8 12B RD- 4
Alarm Code Output 8
Operation Mode
13A NC/*ALML 13B
OR- 2 OR- 4 None/Light Error Alarm Output
YW- 2 14A 14B YW- 4
15A ZONE1 15B
GN- 2 GN- 4
Zone 1
BL- 2 16A ZONE2
16B BL- 4
Zone 2
17A NP 17B
PL- 2 PL- 4
18A /NP 18B
GY- 2 GY- 4
WT- 2 19A 19B WT- 4
N
BK- 2 20A 20B BK- 4 0V
N
Differential Pulse Supply
[Refer to the next page for
the details of wiring.]

BK-4 (20B)
conducted
BR-3 (1B)
BK-2 (20A)
No treatment 1A 1B
conducted A
BR-1 (1A)
58
�
[4] Circuits for Pulse Train Control
� When Host Unit is Differential System

It is recommended that PP and
/PP and also NP and /NP are ACON, DCON
Host Unit twisted with each other so the
Chapter 2 Wiring
system can be run safely. PIO Connector
Positioning Unit
3A
PP
Pulse Command 4A
/PP
(Line Driver: 17B
26C31 or equiv.) NP
18B
/NP
19B
0V
20B
0V
0V
Caution : Make short-circuit between the host (positioning unit) and the 0V on PIO
connector.
� When Host Unit is Open Collector System

AK-04 (to be purchased separately) is required for pulse train input.
Pulse Converter
AK-04
Host Unit 24V (to be purchased separately) ACON, DCON
Positioning Unit DC 0V PIO Connector
1 24V PP 1 3A
PP
2 0V /PP 2 4A
/PP
3 PP NP 3 17B
NP
Pulse 4 NP /NP 4 18B
Command /NP
19B
0V
20B
0V
0V 0V
Caution : 1) Use the same power source for the host open collector input and output,
AK-04.
2) Have the cables as short as possible between the host unit and AK-04.
59
�
2.3 Wiring Method� � � � � � � � � � � � � � � � � � � � � � � �
2.3.1 Wiring Layout of Power Supply Connector� � � � � � � � � � � � �
The wires of the power supply and the emergency stop circuit are to be connected to the
enclosed connector (plug).
Strip the sheath of the applicable wires for 10mm and insert them to the connector. Push a
Chapter 2 Wiring
protrusion beside the cable inlet with a small slotted flathead screwdriver to open the inlet. After
inserting a cable, remove the flathead screwdriver from the protrusion to fix the cable.
BKRLS
S1
S2
MPI
MPO
Accessory
Connector 24V
(Plug) 0V
EMG-
When inserting wires
Power Supply Connector Model Remarks

Cable Side FMC1.5/8-ST-3.5 Enclosed in standard package
Controller Side MC1.5/8-G-3.5
Signal
Pin No. Contents Applicable cable diameter
Name
1 EMG- Input of emergency stop status signal KIV0.5mm2 (AWG20)
2 0V Power supply input
KIV1.25mm2 (AWG16)
3 24V (24V DC �10%) (Note1)
4 MPO
Motor drive power line KIV1.25mm2 (AWG16)
5 MPI
6 S2 Teaching pendant
KIV0.5mm2 (AWG20)
7 S1 Signal of emergency stop push button
Brake release power supply input (Note2)
8 BKRLS KIV0.5mm2 (AWG20)
(24V DC �10% 150mA)
(Note1) If supplying power with using a 24V DC, having it turned ON/OFF, keep the 0V
(Note2) The brake is forcibly released when +24V is supplied. Make the 0V in common with
the 0V of the power input.
60
�
2.3.2 Connection to Actuator� � � � � � � � � � � � � � � � � � � � � �
Connect the cables to the motor • encoder connectors.
�
Motor • Encoder Connector Model Remarks
Cable Side PADP-24V-1-S
Chapter 2 Wiring
Controller Side S24B-PADSS-1
[1] ACON-CA
Signal Name
Applicable
Pin No. Serial Absolute Other than Serial Contents
cable diameter
Type Absolute Type
1 U U Motor drive phase U
2 V V Motor drive phase V
(*1) (*1)
3 - -
(*1) (*1)
4 - -
5 W W Motor drive phase W
(*1) (*1)
6 - -
7 BK+ BK+ Positive side of the brake release
Negative side of the brake
8 BK- BK-
release
9 LS+ LS+ Positive side of the limit switch
10 LS- LS- Negative side of the limit switch
Encoder positive A-phase
11 -(*1) ENA
differential input
(*1) Encoder negative A-phase
12 - /ENA
differential input
(*1) Encoder positive B-phase Cable
13 - ENB
differential input dedicated for
Encoder negative B-phase IAI products
14 -(*1) /ENB
differential input
SRD+ : Serial communication +
15 SRD+ ENZ ENZ : Encoder Z-phase
differential input
SRD- : Serial communication -
16 SRD- /ENZ /ENZ : Encoder Z-phase
differential input
17 5V 5V Encoder power
BAT- : Battery-
18 BAT- /PS /PS : Encoder line driver enable
output
19 GND GND Ground
20 LSGND LSGND Ground for limit switch
(*1)
21 BAT+ - Battery+
(*1) (*1)
22 - -
(*1) (*1)
23 - -
24 FG FG Grounding
*1 Not used
61
�
[2] DCON-CA
Applicable
Pin No. Signal Name Contents cable
diameter
1 U Motor drive phase U
2 V Motor drive phase V
Chapter 2 Wiring
(*1)
3 -
4 -(*1)
5 W Motor drive phase W
(*1)
6 -
(*1)
7 -
(*1)
8 -
9 LS+ Positive side of the limit switch
10 LS- Negative side of the limit switch
Encoder positive A-phase
11 ENA
differential input
Encoder negative A-phase
12 /ENA Cable
differential input
dedicated for
Encoder positive B-phase IAI products
13 ENB
differential input
Encoder negative B-phase
14 /ENB
differential input
15 HS1 Hall IC Input
17 5V Encoder power
18 /PS Encoder line driver enable output
19 GND Ground
(*1)
21 -
(*1)
22 -
23 -(*1)
24 FG Grounding
*1 Not used
62
�
2.3.3 Connection of PIO� � � � � � � � � � � � � � � � � � � � � � � � �
Conduct the connection of I/O to the controller is to be carried out using the dedicated I/O cable.
The cable length is shown in the model code of the controller. Please check the controller
model code. There are 2m for standard, 3m and 5m as an option. Up to 10m I/O cables are
sold separately. [Refer to 1.1.5 How to read the model]
Also, the end of the cable harness to be connected to the host controller is just cut and no
treatment is conducted so the wiring layout can be performed freely.
Chapter 2 Wiring
Model : CB-PAC-PIO��
(�� indicates the cable length L. Example. 020 = 2m)
No treatment
conducted 20A 20B
No treatment
conducted 1A 1B
Half Pitch MIL Socket

HIF6-40D-1.27R (Hirose Electric)
Cable Cable
No. Wiring No. Wiring
Color Color
1A BR-1 1B BR-3
2A RD-1 2B RD-3
3A OR-1 3B OR-3
4A YW-1 4B YW-3
5A GN-1 5B GN-3
6A BL-1 6B BL-3
7A PL-1 7B PL-3
8A GY-1 8B GY-3
9A WT-1 9B WT-3
Flat Cable �
A Flat Cable �
B
10A BK-1 10B BK-3
(Press Welding)� (Press Welding)�
11A BR-2 11B BR-4
AWG28 AWG28
12A RD-2 12B RD-4
13A OR-2 13B OR-4
14A YW-2 14B YW-4
15A GN-2 15B GN-4
16A BL-2 16B BL-4
17A PL-2 17B PL-4
18A GY-2 18B GY-4
19A WT-2 19B WT-4
20A BK-2 20B BK-4
For the signal assignment of each wire, refer to the following considering the operation mode.
1) Positioner Mode······················· 2.1.3 [4] PIO Circuit
2) Pulse Train Control Mode ·········· 2.2.3 [3] PIO Circuit
63
�
2.3.4 Connection of Pulse Train Signal� � � � � � � � � � � � � � � � � �
Pulse train is input to PIO connector.
Insert the wires to the indicated pin numbers.
[Refer to 2.2.3 [4] Circuits for Pulse Train Control]
If the output pulse of the host controller is open collector type, use the following pulse converter.
� Pulse converter : AK-04 (to be purchased separately)

Chapter 2 Wiring
It converts the command pulse of the open collector type to the differential type.
Host Controller
IAI controller
(PLC etc.)
e-CON Connector e-CON Connector

37104-3122-000FL (3M or equivalent) 37104-3122-000FL (3M or equivalent)
� � Caution :
1) Pay attention not to insert wrongly because it is the same e-CON connector as input and
output. Putting the power on with the insertion being wrong will burn AK-04.
2) Use the pulse converter in the ambient temperature range between 0�C and 40�C.
3) The temperature increase of about 30�C occurs during operation. Accordingly, neither
install several pulse converters in close contact nor install them within a duct. Do not
install the pulse converter near other heating devices.
4) If more than one pulse converters are installed, set a pulse converter apart from another by
10mm or more.
5) Make the wiring between the host controller and AK-04 as short as possible.
Long wires make it easy to pick up noise. Also make the wiring between AK-04 to
controller as short as possible.
Place AK-04 close to the host controller.
A recommended installation sample is shown in the figure below.

• Make the cable length between the host • Keep pulse converters separated for 10mm or
controller and pulse converter as short as more from each other.
possible.
Host Controller
Wiring length :
50mm or shorter recommended
10mm or more
If this installation cannot be

10mm or more
avoided, shorten the length of
the wiring with the host
controller as much as possible.
64
�
2.3.5 SIO Connector Connection� � � � � � � � � � � � � � � � � � � � �
SIO connectors can be used not only for the connection of teaching tool, but also for the
connection of the host controller (PLC, touch panel and PC).
For the operation, refer to the instruction manual of each module.
[Refer to 1.1.3 Instruction manuals related to this product, which are contained in the instruction
manual (CD/DVD).]
Teaching Pendant
Chapter 2 Wiring
PC
� � Caution : If the controller is connected with a teaching tool, set the “Operation mode
setting switch” to “MANU”.
If the teaching pendant is removed with the power supply being ON, the
condition will become the transient emergency stop and the operated
actuator will stop.
Do not disconnect the teaching pendant during the operation.
65
Chapter 2 Wiring
66
�
�
Chapter 3 Operation
3.1 Basic Operation� � � � � � � � � � � � � � � � � � � � � � � �
3.1.1 Basic Operation Methods� � � � � � � � � � � � � � � � � � � � �

There are two types, “Positioner Mode” and “Pulse Train Control Mode”, for the operation.
Select the suitable one considering the system function.
There are various types of actuators including slider, rod. The same operation control method is
Chapter 3 Operation
applicable unless particular descriptions are contained in this manual.
(1) Positioner Mode
Host Controller
Position Number
+
Completion
Start Signal Signal
Signal Signal
Enter a data including
position, velocity,
No. Position Velocity Acceleration Deceleration acceleration or
[mm] [mm/s] [G] [G]
deceleration, etc.
0
1 100.00 100.00 0.30 0.30
2 200.00 200.00 0.30 0.30 Edit Position
Table of
controller
Actuator Controller Teaching Tool
� � �Operation Ready • • Registration of Position Data (Example of Registration of PC software)

• Procedure 1 : Turn ON the controller.
• Procedure 2 : Start up a teaching tool such as “PC Software”, and connect to the controller.
Automatically connected to Press the OK. Startup PC Software

connectable controller (Connection mode check)
67
�
• Procedure 3 : Turn the servo ON, and have a home-return operation.
Select Position � Edit / 1) Press the Servo

Teaching in Menu Open Position Table 2) Turn on the Servo Lamp
Chapter 3 Operation
3) Press the Home

4) Turn on the Home Lamp (after
actuator is stopped)
• Procedure 4 : Define the destination (position) of the slider or rod of the actuator.
The destination can be defined by using the following two methods:
1) Read out the coordinate values from such a tool as CAD.
2) Drive the slider or rod with the JOG operation to the destination, and set the
position data directly.
• Procedure 5 : Type the destination in the column of Position in Position Table. Once the
position is filled, the maximum settable values for Speed and
Acceleration/Deceleration are automatically input.
� Set position directly with JOG operation
� � � � � JOG (Backward)� � � � � � � � � � � � JOG (Forward)

� � � � � � � � � �
• Procedure 6 : Transfer the information such as Position that is written in Position Table to the
controller.
Written in red Turns to black after

before transferred transfer complete
Press “Transfer to
Controller”
Press the OK
�Operation • • Example for parameters (PIO Patterns) at delivery � � � � � � � � � � � �
• Procedure 1 : Input the position number at which positioning is desired to be performed in the
binary data (PC1 to PC32) from a tool such as the host controller, and then turn
the start signal (CSTR) ON.
• Procedure 2 : The actuator is placed at the proper coordinate value (destination) according to
the positioning information in the specified position number.
• Procedure 3 : If the positioning is completed, the binary data (PM1 to PM32) of the position
number is output. The completion signal (PEND) is also output.
The above procedure describes the basic operation method in the “Positioner mode”.
68
�
(2) Pulse Train Control Mode
Host Controller
Command Complete
Pulse Signal
Chapter 3 Operation
Signal
Enter an electronic
gear ratio.
Edit
Parameters of
controller
Actuator Controller Teaching Tool
�Operation • • Example for when the parameter settings at delivery� � � � � � � � � � � �

• Procedure 1 : Establish the settings for the pulse train form and electronic gear ratio (to
determine how many millimeters the actuator moves when 1 pulse is given) to
the controller parameters by using a teaching tool such as “PC Software”.
Movement direction indication mode
by signal
Positive-Logic Pulse Input
Electronic Gear Ratio = 2048/125 � 16.4 times

(Operation made in Unit movement amount per pulse * 16.4)
• Procedure 2 : Send the pulse corresponding to the movement amount of the actuator to the
controller from a tool such as the host controller (positioning unit).
• Procedure 3 : The controller calculates the movement amount by multiplying the electronic
gear ratio to the number of the pulse input to the controller. Operation made in
the movement amount from the current position.
The speed fluctuates in response to the speed of the pulse (frequency) to be
input.
• Procedure 4 : Once the positioning is complete, the completion signal (INP) is output.
The above procedure describes the basic operation method in the “Pulse train control mode”.
69
�
3.1.2 Parameter Settings� � � � � � � � � � � � � � � � � � � � � � � �
Parameter data should be set to be suited to the system or application. Parameters are
variables to be set to meet the use of the controller in the similar way as settings of the ringtone
and silent mode of a cell phone and settings of clocks and calendars.
(Example)
Soft Stroke Limit : Set a proper operation range for definition of the stroke end,
prevention of interferences with peripherals and safety.
Zone Output : Set to require signal outputs in an arbitrary position zone within the
Chapter 3 Operation
operation zone.
Parameters should be set to meet the use of the controller prior to operation. Once set, they
may not set every operation.
Refer to Chapter 9 for the parameter types and the details.
70
�
3.2 Operation in Positioner Mode� � � � � � � � � � � � � � � � � �
This controller can switch over the mode between “Positioner mode” and “Pulse train control
mode” with the parameters. In the “positioner mode”, the following 6 types of “PIO pattern” can
be selected with a proper parameter.
This Operational “PIO pattern” cannot be switched over after the system is finished to be
established or during the actuator operation. Choose the optimum pattern beforehand
considering the system operation specifications and prepare the cables and sequence design.
[1] PIO Pattern Selection and Main Functions � : Valid function
Chapter 3 Operation
PIO Pattern
0 1 2 3 4 5 6
(Parameter No.25)
Solenoid Solenoid Pulse train
Positioning Teaching 256-point 512-point
Mode valve valve control
mode mode mode mode
mode 1 mode 2 mode
64 64 256 512 7 3
points
Operation with the
� � � � � �
Position No. Input
Position No. direct
� � � � � �
command operation
Positioning � � � � � �
Velocity change during
� � � � � �
the movement
Pressing (tension) � � � � � �
Major functions
Pitch Feeding
� � � � � �
(relative moving feed) Refer to
Home return signal input � � � � � � 3.3
(Note 1)
Pause � � � � � �
Jog moving signal � � � � � �
Teaching signal input
(Current Position � � � � � �
Writing)
Brake release signal
� � � � � �
input
Moving Signal Output � � � � � �
Zone signal output � � � � � �
Position zone signal
� � � � � �
output
Note 1 The pause signal is not provided. [Refer to 3.2.6 [5].]
�
(Reference)
Zone signal output signal : The zone range is set to the Parameters No.1 and 2 and No.23 and 24,
and becomes always effective after the home return is complete.
Position zone signal : This feature is associated with the specified position number. The zone
range is set in the position table. The zone range is enabled only when
the position is specified but disabled if another position is specified.
71
�
[2] Overview of major Functions
Major functions Description
Number of positioning points Number of positioning points which can be set in the position table.
Operation with the Position No. Normal operation started by turning the start signal ON after position
Input No. is entered with binary data.
Position No. direct command Operation enabled by turning the signal directly corresponding to a
operation position No. ON.
Positioning Positioning enabled at an arbitrary position by the data set in the
position table.
Chapter 3 Operation
Velocity change during the Velocity change enabled by activating another position No. during
movement movement.
Pressing (Tension) Operation by an arbitrary pressing (tensile) force set in the position
table enabled.
Pitch Feeding Pitch feed by an arbitrary moving distance set in the position table
(Relative moving feed) enabled.
Home return signal input Input signal exclusively used for home return. Set to ON to start home
return.
Pause The operation can be interrupted or continued by setting this signal to
ON or OFF, respectively.
Jog moving signal The actuator can only be moved while the input is set to ON.
Teaching signal input (Current Setting the input signal to ON allows the coordinate value in the stop
Position Writing) state to be written to the position table.
Brake release signal input The brake (option) can only be released while the input is set to ON.
Moving signal output The output signal is set to ON while the actuator is moved.
Zone signal output The output signal is set to ON while the actuator is entered within the
zone defined by the coordinate values set as parameters.
Position zone signal output The output signal is set to ON while the actuator is entered within the
zone defined by the coordinate values set in the position table.
72
�
3.2.1 Set of Position Table (This section is not required in selection of pulse
train control mode.)
The values in the position table can be set as shown below. For only positioning, only the
position data may be written if specifying the speed, acceleration, and deceleration is not
required. The speed, acceleration, and deceleration are automatically set to the data defined by
the relevant parameters. Therefore, setting the speed, acceleration, and deceleration data
often used to the relevant parameters makes input easy.
1)� 2)� 3)� 4)� 5)� 6)� 7)� 8)� 9)� 10) 11)� 12) 13)� 14)� 15)� �
Chapter 3 Operation
Position Speed ACC DCL Push Loth Pos.band Zone + Zone - ACC/DCL ABS Gain Stop VibSup
No� Comment
[mm]� [mm/s]� [G]� [G]� [%]� [%]� [mm]� [mm] [mm] mode� INC set� mode� ��
0� 0.00 � 100.00 � 0.30 0.30 � 0 � 0 � 0.10 0.00 0.00 0� 0� 0� 0� 0� � �
1� 100.00 � 100.00 � 0.30 0.30 � 0 � 0 � 0.10 0.00 0.00 0� 0� 0� 0� 0� � �
2� 150.00 � 200.00 � 0.30 0.30 � 50 � 0 � 30.00 0.00 0.00 0� 0� 0� 0� 0� � �
3� 300.00 � 400.00 � 1.00 1.00 � 0 � 0 � 0.10 0.00 0.00 0� 0� 0� 0� 1� � �
4� 200.00 � 200.00 � 0.30 0.30 � 0 � 0 � 0.10 250.00 230.00 0� 0� 0� 0� 2� � �
5� 500.00 � 50.00 � 0.10 1.00 � 0 � 0 � 0.10 0.00 0.00 0� 0� 0� 0� 0� � �
6� � � � � � � � � � � � � � � � � � � � � � � � �
7� � � � � � � � � � � � � � � � � � � � � � � � �
1) No.······················· The number is specified by PLC at start.

� � Caution : Do not use position No.0 if available positions remains enough.
At the first servo ON after power ON, the completed position No.
output is 0 even if the actuator is not located at position No.0. The
actuator enters into the same state as that at positioning to position
No.0. The completed position No. output is 0 during movement of the
actuator. To use position No.0, get the command history by using the
sequence program to check completed position No.0 based on the
history.
2) Position [mm] ········· Positioning coordinate value. Enter it as the distance from the home
position.
For pitch feed (relative movement = incremental feed), enter the pitch
width.
A value with – indicates that the actuator moves toward the home
position. A value without – indicates that the actuator moves to be
away from the home position.
Caution : In the case of a Gripper Type:
There are actuators in two standards, two-finger-ended standard and
one-finger-ended standard. [Refer to the catalog and the instruction
manuals for details.]
3) Speed [mm/s] ········· Set the velocity in the operation.

Do not attempt to input a value more than the maximum velocity
[Refer to the caution note below] or minimum velocity (Note 1).
Note 1 The minimum velocity differs depending on the type of the
actuator. Refer to the values stated in the appendix in
Chapter 11 or the following for the calculation.
Min. Speed [mm/s] = Lead Length [mm] / No. of Encoder Pluses /
0.001[s]
73
�
4) Acceleration [G] ······· Set the acceleration at start.
5) Deceleration [G]········Set the deceleration at stop.
(Reference)�How to set the acceleration is described below. The same idea
can be applied to the deceleration.
1G=9800mm/s2: Accelerated to 9800mm/s per second
0.3G: Accelerated to 9800mm/s × 0.3 = 2940mm/s per second
Velocity
9800mm/s
Chapter 3 Operation
1G
2940mm/s
0.3G
Time
1s
� � Caution : (1) Set the velocity, acceleration and deceleration so that they do not
exceed the rating values described in the brochure or the instruction
manual of the actuator. Failure to follow this may cause the life of the
actuator to be shortened extremely.
(2) If shocks and/or vibrations appear on the actuator and/or the work,
lower the acceleration and/or the deceleration. In such cases, do not
continue the use of the actuator, otherwise the product life may be
shortened extremely fast.
(3) If the payload is extremely lighter than the rated payload, increase
accel..., acceleration/deceleration to larger than their rated values to
shorten the operation time. Please contact IAI for the settings in such
situation. Inform us of the weight, shape and mounting method of the
work and the installation conditions of the actuator.
(4) For the actuator of gripper type, set the velocity, acceleration and
deceleration on the single finger basis. Note that the relative velocity,
acceleration and deceleration between both the fingers are as twice as
the setting values.
6) Push [%]··············Setting proper data here allows “Pressing operation” to be done. Set a
pressing torque (limit current value) in %. If the value is set to 0, the
normal “Positioning operation” is performed.
The speed for the “Pressing operation” is set in Parameter No.34.
If the setting of 3) is lower than the “Pressing velocity”, the pressing
process will be conducted with the velocity of 3).
Caution : If the pressing velocity is changed, the pressing force may differ from that
specified in 11.5 “List of Specifications of Connectable Actuators”.
When the pressing velocity is changed, make sure to measure the actual
pressing force before start using.
7) Loth [%]············It cannot be used on this controller.
74
�
8) Pos.band [mm]···············For positioning in “PIO patterns”*1 0 to 4, the positioning
complete signal is output if the remaining moving distance is
entered within the zone set here.
For “Pressing operation”, the actuator is moved at the setup
velocity and acceleration/deceleration in the same way as
normal positioning to the position of the coordinate value set in
2) and then performs pressing movement by the data set here.
For the positioning band, make its width at least 4 times larger
than the minimum unit of the movement (movement amount of
Chapter 3 Operation
1 pulse of the encoder) of the used actuator.
For “PIO pattern” 5, the positioning band is not the complete
signal output range against positioning command. Despite the
specified position number, the relevant output signal (LS*) is
turned ON when the actuator reaches the setting range. The
operation is accomplished as if a sensor were installed to
detect the actuator. “PIO pattern” 5 does not correspond to the
pressing operation.
*1 PIO pattern : This is the operation pattern of “Positioner
mode”.
[Refer to 3.2 “Operation in Positioner Mode”]
[Example of PIO pattern 5]

The figure below shows the position table and the position at which each of the LS signals is
turned ON. If the actuator passes any of the positioning bands in the operation by another
position number or manual operation in the servo-off state, the relevant LS signal is always
turned ON.
150mm 70mm Home=0mm
LS2 is ON LS1 is ON LS0 is ON

150±5mm 70±10mm 0±5mm
9) Zone + [mm] ·········· Set the coordinate value on the positive side at which “Position zone”
output signal PZONE is turned ON. PZONE is set to ON in the zone
between this value and the coordinate value on the negative side set
in 10).
The feature follows the specified position number. It is valid only
when the position is specified but invalid in another position
operation.
10) Zone - [mm]···············Set the coordinate value on the negative side at which “Position
zone” output signal PZONE is turned ON.
75
�
11) Acceleration / Deceleration mode··········Select a proper acceleration/deceleration pattern
depending on the load.
Set Acceleration/
Operation
Value Deceleration Pattern
0 Trapezoid Velocity
Time
Chapter 3 Operation
1 S-shaped Motion
(Refer to Caution at Velocity
S-shaped Motion)
Time
Set the S-shaped Motion rate with parameter
No.56.
2 First-Order Velocity
Lag Filter
Time
Set the delay time constant with parameter No.55.
Caution at S-shaped Motion :

1) Since it requires a speed change during the operation, even if having the position
command or direct command that “S-shaped motion” is set while the actuator is
moving, “S-shaped motion” control cannot be performed and will be the “Trapezoid
control”.
Make sure to make a command while the actuator is stopped.
2) Do not use “S-shaped motion” if the setting of the acceleration time or the
deceleration time exceeds 2 seconds. It will not provide the right operation.
3) Do not pause on the move during acceleration or deceleration. It will change the
speed (acceleration) and may cause a danger.
� � Caution on First-Order Lag Filter :

Even if the position command or direct value command is conducted with
“First-Order Lag Filter” being set while the actuator is operated in order to have a
speed change during an operation, it will not make “First-Order Lag Filter” control,
but will make “Trapezoid Control”.
Make sure to issue the command while the actuator is stopped.
76
�
12) ABS INC··············· Set to 1 for pitch feed (relative movement = incremental feed).
The value set for the position in 1) indicates the pitch feed distance.
With the value set to 0, positioning is defined to the position in 1)
based on the absolute coordinate system.
Caution : In the pitch feed, do not perform a command with a pitch smaller than the
minimum encoder resolution (lead/encoder pulse number) or that less
than positioning accuracy repeatability.
There would be no deviation to occur even with the command because it
is an operation command to the same position as the positioning
Chapter 3 Operation
complete condition, but the positioning control cannot be performed
properly.
When solenoid valve mode 2 is selected, set this to 0. Setting this to 1
causes the position data error to occur.
13) Gain Set····················The six parameters necessary for the servo-motor gain adjustment
(ACON only) are put together and made as one set. Four types of sets are
available to register, and the servo-motor gain can be switched at
every positioning operation. By using “Offboard Tuning Function(Note)”
in “PC Software”, a setting near the optimum can be obtained.
(Note)� Refer to Chapter 11 “Appendix Connectable Actuator” for the
applicable models.
There may be a case that establishment of “Home-Return
Gain Set” is necessary if the setting is made to have
high-speed operation or transported weight of more than the
rating with this function being used.
Refer to “RC PC Software Instruction Manual” for how to set
up and caution.
[Parameters to be contracted in 1 set]
• Servo-Motor Gain Number (Position Gain)
• Position Feed Forward Gain
• Speed Loop Proportional Gain
• Speed Loop Integral Gain
• Torque Filter Time Constant
• Current Control Band Number
Set the number of “Gain Set” that corresponds to the position number
desired for an operation with the indicated “Gain Set”.
[Refer to Section 9.3 “Servo Adjustment” for details of each gain
parameter]
Setting Parameter Set Select Parameter No.
0 Gain Set 0 7, 31 to 33, 54, 71
1 Gain Set 1 120 to 125
2 Gain Set 2 126 to 131
3 Gain Set 3 132 to 137
77
�
14) Stop mode···············Automatic servo OFF is enabled after a certain period from the
completion of positioning for power saving.
A proper period can be selected from three parameters.
Setting Operation after completion of operation Parameter No.
0 Servo ON not changed –
1 Automatic servo OFF after certain period 36
Chapter 3 Operation
� � Caution : (1) No retaining torque is provided in automatic servo OFF. Pay sufficient
attention to the setting because the actuator may be moved by external
force applied to it.
(2) Do not use the automatic servo OFF if the next moving command is
relative distance specification (pitch feed). Failure to follow it may cause
position shift to occur.
(3) Do not use the automatic servo OFF in pressing. If used, the pressing
force is lost.
(4) Automatic Servo OFF would not function in the operation with teaching
mode of PC software.
�
15) VibSup No.········It controls the vibration (resonance) of the load attached on the actuator.
It can be applicable for three types of vibration.
Four parameters are available to each type of vibration and
they are gathered as one set.
A parameter set corresponding to the position number that
requires vibration control is to be set to the position table.
[Refer to Chapter 5 “Vibration Control Function”]
Control Frequency
Setting Parameter No.
(Natural Frequency)
0 Ordinary Position Control –
(No vibration control)
1 Vibration Control Parameter Set 1 97 to 100
� � Caution : (1) The vibration frequency (corresponding specific frequency) that can be
controlled is between 0.5Hz to 30Hz.
(2) It is applicable for the vibration of the load evoked by the actuator
connected to this controller.
Any vibration caused by other factors cannot be controlled.
(3) It is applicable for the vibration in line with the direction of the actuator
operation. Any vibration in other directions cannot be controlled.
(4) Home-return and pressing operations are not in consideration.
(5) If is not applicable for “Pulse Train Control Mode”.
(6) The operation time may get long if the vibration frequency is set low. The
positioning termination time is 150ms or more at 6Hz and less.
�
�
78
�
3.2.2 Control of Input Signal� � � � � � � � � � � � � � � � � � � � � � �
The input signal of this controller has the input time constant of 6ms considering the prevention
of wrong operation by chattering and noise.
Therefore, input each input signal for 6ms or more (Note) continuously. The signal cannot be
identified if it is less than 6ms.
6ms
Identify
Chapter 3 Operation
Input Signal
Not Identify
Input Signal
(Note) It is necessary to input 26ms or more for PWRT Signal of PIO Pattern 1.
[Refer to 3.2.4 “Operation with the Position No. Input = Operations of PIO Patterns 0 to
3”]
3.2.3 Operation Ready and Auxiliary Signals = Common to Patterns 0 to 5�

�
[1] Emergency stop status (EMGS)
Output
PIO signal
*EMGS
Common to
�
Patterns 0 to 5
� : Available, �: Unavailable
1) The emergency stop status EMGS is turned ON when in normal condition and turned OFF
when EMG terminal on 2.1.3 [1] “Power Supply Connector” is 0V (emergency stop
condition or disconnected).
2) It turns back ON once the emergency stop condition is released and EMG terminal goes up
to 24V DC.
Have an appropriate safety treatment such as interlock with this signal for the host
controller.
(Note) EMGS is different from the emergency stop output caused by a controller alarm.
79
�
[2] Operation Mode (RMOD, RMDS)
Input Output
PIO signal
RMOD RMDS
Common to
� �
Patterns 0 to 5
Two operation modes are provided so that the operation by PIO signals does not overlap with
Chapter 3 Operation
the operation by a teaching tool such as “PC software” through SIO (serial) communication.
The mode change is done by the “Operation mode setting switch” ON the front panel of the
controller.
AUTO···········Operation by PIO signals is valid.

MANU·········· Operation through SIO (serial) communication is valid.
(Note 1)
However, when having the controller in link connection and the teaching tool such as “PC
software” being connected using “SIO converter”, there is a case the controller and “PC
software” the teaching tool are placed far from each other. In such a case, the controller can be
entered into the “MANU” mode by setting PIO signal RMOD to ON.
Because the RMDS signal is set to ON with the “MANU” mode selected by using the signal,
make the operation sequence interlocked.
The table below lists the “Operation mode setting switch”, the modes selected by the RMOD
signal and the corresponding output states of the RMDS signal.
Note 1 For the details of the link connection, refer to 11.1 “Way to Set Multiple Controllers
with 1 Teaching Tool”.
�: Selected or set to ON
Condition Status
PIO Operation
� � � � � � � �
Teaching tool such as Invalid (Note 2)
PC software PIO Operation
� � � � � � � �
Allowed (Note 2)
Switches ON AUTO � � � � � � � �
front panel MANU � � � � � � � �
PIO Input RMOD � � � � � � � �
PIO Output RMDS � � � � � � � �
PIO valid: �, PIO invalid:� � � � � � � � �
Operation by normal PIO
(Note 2) “PIO Operation Allowed” or “PIO Operation Invalid” is the function to select a
restriction while the teaching tool such as “PC software” is connected.
� � Caution : (1) Note that selecting “PIO Operation Allowed” by using the teaching tool
such as “PC software” makes all PIO signals valid to enable operation
however the states of the switches and RMOD signal input may be. In
this status, the actuator may be started depending on the signals from
PLC.
(2) If the teaching tool such as PC software is disconnected from the
controller, “PIO Operation Allowed” or “PIO Operation Invalid” holds
the state selected before. After teaching operation or debugging is
terminated, select “PIO Operation Allowed” and disconnect the
teaching tool such as PC software from the controller.
80
�
[3] Servo ON (SON, SV, PEND)
Input Output
PIO signal
SON SV PEND
Other than pattern 5 � � �
Pattern 5 � � �
1) Servo ON signal SON is the input signal making the servo motor of the actuator operable.
2) If the servo-on is performed to enable operation, the SV output signal is turned ON.
Chapter 3 Operation
Concurrently positioning completion signal PEND is turned ON.
3) With the power being supplied, then controller cannot be operated while the SV signal
remains OFF. If the SON signal is turned OFF under operation of the actuator, the actuator
is decelerated and stopped with the “Emergency stop torque”. After the stop, the servo
OFF occurs to enter the motor into the free running state.
The brake (option) is of release-in-excitation type. Therefore, making the excitation ON will
release the brake (release) while making it OFF will lock the brake (lock).
�
�
SON
SV
Lock 50ms
Brake
Excitation Release 50ms
50ms 100ms
Varies depending on operational
and load conditions
(Note)
PEND �
�
�
� � � (Note) PEND would not turn ON in the pause condition.
�
�
81
�
[4] Home Return (HOME, HEND, PEND, MOVE)
Input Output
PIO signal
HOME HEND PEND MOVE
Patterns 0 and 1 � � � �
Patterns 2 to 4 � � � �
(Note1)
Pattern 5 � � � �
Note 1: For pattern 5, the home return by the HOME signal is not allowed. Refer to 3.2.6 [1]
Chapter 3 Operation
Home return (ST0, HEND) for how to perform a home-return operation.
The HOME signal is intended for automatic home return. The HOME signal is caught at the
rising edge (ON edge) to start the home return. At completion of the home return, home return
completion signal HEND is turned ON. The home-return complete signal HEND is kept on
unless the memory of origin point is lost for a reason such as alarm. During the home return
operation, positioning completion signal PEND and moving signal MOVE are set to OFF and
ON, respectively.
Home Return Signal

HOME
(PLC→Controller)
Homing Completion Signal

HEND
(Controller→PLC)
Positioning Completion Signal

PEND
(Controller→PLC)
Moving Signal
MOVE
(Controller→PLC)
82
�
[Operation of Slider Type/Rod Type Actuator]
Mechanical end
Home
2)
1)
Chapter 3 Operation
1) With the HOME signal being ON, the actuator moves toward the mechanical end at the
home return speed.
The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators.
Refer to the instruction manual of each actuator.
2) The actuator is turned at the mechanical end and stopped at the home position. The
moving distance is the value set by Parameter No.22 “Home return offset level”.
� � Caution: In the “Home reverse specification”, the actuator moves in the reverse
direction.
Make sure to refer to Section 9.2 [15] when a change to Parameter No.22
“Home return offset level” is required.
[Operation of the Gripper]
� � � � � � � � � � � � �
Finger Attachment (Note)
2)
1)
2)
1) If the HOME signal is turned ON, the actuator moves toward the mechanical end (to end
side) at the home return speed (20mm/s).
Caution: Make sure to refer to Section 9.2 [15] when a change to Parameter No.22
(Note) Finger attachment is not included in the actuator package. Please prepare
separately.
83
�
[5] Zone Signal and Position Zone Signal (ZONE1, ZONE2, PZONE)
Output
PIO signal
ZONE1 ZONE2(Note 2) PZONE(Note 2)
Pattern 1 �(Note 2) × �
Pattern 2 �(Note 2) × �
(Note 1)
Pattern 3 × × ×
Chapter 3 Operation
Note 1 Pattern 3 does not have the zone signal output feature.
Note 2 In Parameter No.149 Zone Output Switchover, ZONE can be selected instead of
PZONE.
Zone output signal
2) 3)
Velocity
1) 4) 5)
Time
1) 2) 3) 4) 5)
The relevant signal can be turned ON while the actuator passes or stops in the zone range in
either of the following 2 types:
1) Zone signal (ZONE1, ZONE2) ····The output signal is turned ON at the position set by the
proper parameter.
2) Position zone signal (PZONE) ····The output signal is turned ON at the position set in the
position table.
The feature can play a role as the sensor for judging whether the completion position is good or
not at completion of pressing, setting the continuous operation zone in pitch feed or interlocking
operations of other units in the setting zone.
(1) Zone signal (ZONE1, ZONE2)

Set the zone range to the relevant parameter.
1) Parameter No.1 : Zone boundary 1+

2) Parameter No.2 : Zone boundary 1-
3) Parameter No.23 : Zone boundary 2+
4) Parameter No.24 : Zone boundary 2-
The zone signal ZONE is kept effective also during the emergency stop unless the memory of
the origin is lost due to alarm.
84
�
(2) Position zone signal (PZONE)
Chapter 3 Operation
Setting of zone range
Zone ranges should be set in the position table.

While the operation corresponding to a position number is executed, the zone range set for the
position number is valid. It is kept effective also during the emergency stop unless the actuator
is operated or the memory of the origin is lost due to alarm.
(3) Setting values and signal output range

The zone output range varies depending on the difference between the value set for the
positive side of the zone and that for the negative side.
1) Value set for positive side > value set for negative side: The output signal is set to ON in the
range and OFF out of the range.
2) Value set for positive side < value set for negative side: The output signal is set to OFF in
the range and ON out of the range.
[Example of Line Axis]

0mm 30mm 70mm 100mm
Current
Position
Set Value
Zone Signal Output ON Zone setting + : 70mm
Zone setting - : 30mm
Set Value
Zone Signal Output ON ON Zone setting + : 30mm
Caution : (1) Since this signal becomes effective after the coordinate system is
established after the home return is completed, it would not be output just
with the power turned ON.
(2) The zone detection range would not turn ON unless the value exceeds
that of the minimum resolution (actuator lead length/encoder resolution).
85
�
[6] Alarm, Alarm Reset (*ALM, RES)
Input Output
PIO signal
RES *ALM
Common to
� �
Patterns 0 to 5
1) Alarm signal *ALM is set to ON in the normal status but turned OFF at the occurrence of an
Chapter 3 Operation
alarm at a level equal to or higher than the “Operation release level”.

2) Turning reset signal RES ON under occurrence of an alarm at the “Operation release level”
allows the alarm(Note 1) to be released. The action is taken at the rising edge (ON edge).
3) The alarm reset should be done after the cause of the alarm is confirmed and removed. If
alarm reset and restart are repeated many times without removal of the cause, a severe
failure such as motor burnout may occur.
Note 1 Check the 10.4 Alarm List for details of alarms.
Caution : Reset signal RES has two features, or alarm reset under occurrence of
an alarm and operation interruption (cancellation of remaining moving
distance) under temporary stop.
For the operation interruption under temporary stop, refer to the
description of the operation in each pattern.
86
�
[7] Binary Output of Alarm Data Output (*ALM, PM1 to 8)
Output
PIO signal
*ALM PM1 to 8
Common to
� �
Patterns 0 to 3
Pattern 4(Note 1) � �
Pattern 5(Note 1) � �
Chapter 3 Operation
(Note 1) Patterns 4 and 5 do not have this function.
1) If an alarm at a level equal to or higher than the “Operation release level” occurs,
“Completed position number output” signals PM1 to PM8 output the alarm information in
the binary code format.
2) The host controller can read the binary code of alarm signal *ALM as the strobe signal to
refer to alarm information.
�: ON �: OFF
ALM8 ALM4 ALM2 ALM1
*ALM Binary Code Description: Alarm code is shown in ( ).
(PM8) (PM4) (PM2) (PM1)
� � � � � – Normal
Software reset during servo ON (090)
Position number error during teaching (091)
� � � � � 2 PWRT signal detected during movement (092)
PWRT signal detected before completion of home
return (093)
Move command during servo OFF (080)
Position Command in Incomplete Home Return
(082)
Absolute position move command when home
return is not yet completed (083)
� � � � � 3 Movement Command during Home Return
Operation (084)
Position No. error during movement (085)
Move command while pulse train input is effective
(086)�
Command deceleration error (0A7)�
FAN error detection (0D6)�
� � � � � 4 Field bus module not detected (0F3)
Mismatched PCB (0F4)
Field bus link error (0F1)
� � � � � 5
Field bus module error (0F2)
Parameter data error (0A1)
Position data error (0A2)
� � � � � 6
Position command data error (0A3)
Unsupported motor/encoder type (0A8)
Z-Phase position error (0B5)
Z-phase detection timeout (0B6)
� � � � � 7 Magnetic pole undefined (0B7)
Home sensor non-detection (0BA)
Home return timeout (0BE)
(Note) *ALM Signal is an active low signal. It is ON when the power is applied to the controller,
and turns OFF when the signal is output.
87
�
�: ON �: OFF
ALM8 ALM4 ALM2 ALM1
*ALM Binary Code Description: Alarm code is shown in ( ).
(PM8) (PM4) (PM2) (PM1)
� � � � � 8 Actual speed excessive (0C0)
Overcurrent (0C8)
Overheat (0CA)
Current sensor offset adjustment error (0CB)
� � � � � 9
Control power source voltage error (0CC)
Drop in control supply voltage (0CE)
Chapter 3 Operation
Drive source error (0D4)

Command counter overflow (0A4)
Deviation Overflow (0D8)
� � � � � 11
Software stroke limit exceeded (0D9)
Pressing motion range over error (0DC)
Electric angling mismatching (0B4)
Illegal control system transition command (0C5)
� � � � � 12 Motor power source voltage excessive (0D2)
Overload (0E0)
Driver logic error (0F0)
Encoder sent error (0E4)
Encoder receipt error (0E5)
Encoder counter error (0E6)
A and B-phase Wire Breaking (0E8)
� � � � � 13
P and S-phase Wire Breaking(0EC)
Absolute encoder error detection 1 (0ED)
Absolute encoder error detection 2 (0EE)
Absolute encoder error detection 3 (0EF)
CPU Error (0FA)
� � � � � 14
Logic Error (0FC)
Nonvolatile memory write verify error (0F5)
� � � � � 15 Nonvolatile memory write timeout (0F6)
Nonvolatile memory data destroyed (0F8)
and turns OFF when the signal is output.�
88
�
[8] Brake release (BKRL)
Input
PIO signal
BKRL
Pattern 0 �
Pattern 1(Note 1) �
Pattern 2 to 5 �
(Note 1) Pattern 1 does not have this feature
Chapter 3 Operation
The brake can be released while the brake release signal BKRL is ON. If a brake is installed in
the actuator, the brake is automatically controlled by servo ON/OFF. Releasing the brake may
be required to move the slider and/or the rod by hand in case of installation of the actuator in
the machine or direct teach*1.
This operation can be conducted with “Brake Release Switch” on the front panel of the
controller as well as with the brake release signal BKRL.
*1 Direct teaching : This operation is intended to get coordinate values to the position by
moving the slider and/or the rod by hand.
� � Warning : (1) Take sufficient care to release the brake. Inappropriate brake release
may cause people to be injured and/or the actuator, the work and/or the
machine to be damaged.
(2) After the brake is released, always make the brake applied again. Any
operation with the brake remaining released is extremely dangerous.
The slider or rod may drop to cause people to be injured and/or the
actuator, the work and/or the machine to be damaged.
(3) Make certain that this signal is turned OFF (brake is activated) when the
power is supplied to the controller.
(4) It is prohibited to switch over between AUTO and MANU while this
signal is ON (brake is released).
89
�
3.2.4 Operation with the Position No. Input = Operations of PIO Patterns 0
to 3
This section describes the methods of operations of “PIO patterns” 0 to 3. These patterns
provide normal controller operation methods in which the controller is operated by turning the
start signal ON after a position No. is entered.
The control methods of positioning, pitch feed, and pressing are the same as those described
before.
[1] Positioning [Basic] (PC1 to PC**, CSTR, PM1 to PM**, PEND, MOVE)
Chapter 3 Operation
Input Output
PIO signal
PC1 to PC** CSTR PM1 to PM** PEND MOVE
PIO pattern 0 PC1 to 32 � PM1 to 32 � �
(Note) For incremental type, operation without home return leads the operation based on the
data of the specified position No. after automatic home return. If one or more problems
are found, interlock by home return complete signal HEND is required. Operation to the
specified position number would not take place under the condition that the home
position data is lost in the simple absolute type, but only the home-return operation will
be conducted.
90
�
� Sample use
1) 2) 3) 4) 5) 6) 7) 8)
Velocity
Chapter 3 Operation
1) 2) 3) 4)
Positioning
Completion
Signal Output
5) 6) 7) 8)
Positioning
Completion
Signal Output
� Control method
1) First enter command position No. PC1 to PC** with binary data. Next turn start signal
CSTR ON. Then the actuator starts acceleration depending on the data in the specified
position table for positioning to the target position.
2) At operation start, positioning complete signal PEND is turned OFF. Always turn the CSTR
signal OFF. Without it, the completed position number is not output and the positioning
complete signal is not turned ON at the completion of positioning.
3) When the positioning is completed, the positioning complete position numbers are output
from complete position No.PM1 to PM** with binary data and also positioning complete
signal PEND is turned ON.
4) Moving signal MOVE is turned ON as soon as the operation is started and turned OFF at
the completion of positioning.
5) Positioning complete signal PEND is turned ON if the remaining moving distance enters
into the positioning width. PEND Signal will be kept ON once it is turned ON unless the
(Note)
start signal CSTR is turned back ON, servo is turned OFF or the actuator is out of the
(Note)
positioning band width range .
91
�
Command position No.
PC1 to PC**
(PLC�Controller)
T1�6ms
Turned OFF by
Start signal CSTR turning PEND OFF
(PLC�Controller)
Completed position
PM1 to PM** PM1 to PM**�0(Note 1) PM1 to PM**�0(Note 1)
Chapter 3 Operation
(Controller�PLC)
Turned ON after Target Position
Positioning Completion Signal entering into
PEND positioning width zone
(Controller�PLC)
Moving Signal MOVE

(Controller�PLC)
(Note 1) The “Completion position No.” output is set to 0 during movement of the actuator.
� � Caution :
(1) Set the period taken from entering position No. to turning CSTR ON to 6ms or larger. In spite of
6ms timer process in the PLC, commands may be input to the controller concurrently to cause
positioning to another position. Establish the setting considering also the scan time of PLC.
Establish the setting in the same manner also in case PLC conducts the readout of the
completion position.
(2) At the completion of positioning, positioning complete signal PEND is not turned ON if start
signal SCTR remains ON. If this occurs, turn CSTR OFF then PEND is turned ON immediately.
Therefore, create the sequence program so that turning PEND ON makes CSTR turned OFF
and the PLC waits for the state in which PEND is turned ON.
(3) At the positioning to the position same as that specified in the stop (complete) position number,
PEND is turned OFF once but moving signal MOVE is not turned ON.
Therefore, use PEND to turn CSTR OFF.
(4) MOVE turns on at the same time as PEND turns OFF, and turns OFF when a movement
command is finished or PEND is turned ON. Therefore, when the positioning band setting is
wide, the signal may turn OFF even in the actuator operation, and may turn off prior to PEND if
the positioning band setting is narrow.
� Binary data � : ON � : OFF

Command position No. PC256 PC128 PC64 PC32 PC16 PC8 PC4 PC2 PC1
Completed position No. PM256 PM128 PM64 PM32 PM16 PM8 PM4 PM2 PM1
0 � � � � � � � � �
1 � � � � � � � � �
2 � � � � � � � � �
3 � � � � � � � � �
4 � � � � � � � � �
5 � � � � � � � � �
6 � � � � � � � � �
7 � � � � � � � � �
8 � � � � � � � � �
9 � � � � � � � � �
•••
•••
•••
•••
•••
•••
•••
•••
•••
•••
509 � � � � � � � � �
510 � � � � � � � � �
511 � � � � � � � � �
92
�
[2] Speed change during the movement
� Sample use
5)
4)
1) 2) 3) 6) 7)
Positioning complete width at position 2
Chapter 3 Operation
Velocity
1) 2) 3)
Positioning
Completion
Signal Output
4) 5) 6) 7)
3 Positioning
Completion
Signal Output
Accele- Decele- Thresh- Positioning Acceleration/

Position Velocity Pressing Zone+ Zone- Incre- Stop
No. ration ration old width Deceleration Gain set
[mm] [mm/s] [%] [mm] [mm] mental mode
[G] [G] [%] [mm] mode
0
1 150.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 0.00 50.00 0.20 0.20 0 0 100.00 0.00 0.00 0 0 0 0
3 0.00 100.00 0.20 0.20 0 0 0.10 0.00 5.00 0 0 0 0
� Control method
The speed of the actuator can be changed while it moves. Positions are used by the number of
speeds. The method of controlling the operation to each position is the same as that described
in [1] Positioning.
The example below describes the case of 2 speeds:

1) In this example, the speed is changed while the actuator moves from the position of
150mm to the position of 0mm. At first, set the positioning to the target position at the first
speed in position No.2. In the positioning width, set the distance from the speed change
position to the target position. The value is set to 100mm in the example. Thus, for position
No.2, positioning complete signal PEND is turned ON at the position before the target
position by 100mm.
2) Set the positioning to the target position at the second speed in position No.3.
3) Start position No.2. Then start position No.3 successively when PEND in position No.2 is
turned ON. In normal positioning, position data specified later has always a priority over
position data specified earlier. Thus, the operation in position No.3 is started on the way of
the operation in position No.2.
In this example, the target positions No.2 and 3 are equal with each other. They may not be the
same. However, setting the target positions to be equal with each other allows the distance
from the speed change position to the target position to be known easily.
To increase in the number of speed change steps, add a position number and operation
sequence, set the speed change position in the positioning width and operate the actuator
continuously.
93
�
[3] Pitch Feeding (relative movement = incremental feed)
� Sample use
1) 2) 3)
Chapter 3 Operation
Velocity
4)
100
1) 2) 3) 4)

[G] [G] [%] [mm] mode
0
1 100.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 25.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 1 0 0
(Position No.2 sets pitch feed.)
� Control method
1) The method of controlling pitch feed is the same as that described in [1] Positioning except
the setting of the position table. Repeat the positioning of a specific position No.
2) For pitch feed, the position set in the position table indicates the pitch. Set the pitch
(relative moving distance = incremental moving distance) in column “Position”.
3) If the operation command is issued, the actuator moves from the current stop position by
“Position” in the position table. To perform continuous movement, repeat the operation. Any
accumulation error does not occur because the home position (coordinate value 0) is
specified as the base point.
Caution : In the pitch feed, do not perform a command with a pitch smaller than the
minimum encoder resolution (lead/encoder pulse number) or that less than
positioning accuracy repeatability.
There would be no deviation to occur even with the command because it is an
operation command to the same position as the positioning complete condition,
but the positioning control cannot be performed properly.
94
�
� � Caution : (1) If the actuator reaches the software limit corresponding to the stroke end in the
pitch feed operation, the actuator stops at the position and “Positioning
complete” signal PEND is turned ON.
(2) Note that, in pitch feed just after pressing operation (to be in the pressing state),
the start position is not the stop position at the completion of pressing but the
coordinate value entered in “Position” of the pressing position data. The
movement to the base point is added to the first pitch feed.
Chapter 3 Operation
Pressing operation Approach Pressing
Pitch feed in reverse pressing Base point of pitch Current stop position
Pitch feed in same

Movement to base point of pitch feed + direction as pressing
pitch feed distance
Second and following

pitch feed
= setting value
Second and following
Return to base point and first pitch pitch feed
= setting value
(3) If the position number for pitch feed is started (CSTR ON) during normal
positioning, the actuator moves to the position of the coordinate resulting from
adding the pitch feed distance to the target coordinate of the positioning.
Repeating the start of pitch feed several times allows the pitch feed distance to
be added to the target position by the number of repeats. Do not use the pitch
feed function in such a way, because the PLC cannot confirm the complete
position.
(4) Note that, if pitch feed is started (CSTR ON) repeatedly during pause, the
actuator moves continuously by the distance based on the number of starts. In
such a case, cancel the remaining moving distance by turning reset signal RES
to ON in the pause state or take interlock so that the start signal is not turned ON
during pause.
(5) At software limit (stroke end) in pitch feed, the actuator is decelerated to be
stopped and positioning complete output PEND is output.
(6) MOVE is turned ON as soon as PEND is turned OFF and turned ON as soon as
PEND is turned ON. Accordingly, with a large positioning width being set, MOVE
may be turned OFF while the actuator is moved.
(7) Pressing is enabled by using the pitch feed function. However, do not make
control of changing to pitch feed on the way of normal positioning (before PEND
turning ON). Pressing is interrupted by using the pitch feed function as soon as
start signal CSTR is turned ON. The PLC cannot manage the position of the
actuator any more.
95
�
[4] Pressing operation
� Sample use
3)
Chapter 3 Operation
1) 2) 4) 5)
Positioning width 50
Velocity
Press-fitting process
1) 2) 3) 4) 5)
Caulking process

[G] [G] [%] [mm] mode
0
1 0.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 100.00 250.00 0.20 0.20 50 0 50.00 0.00 0.00 0 0 0 0
(Position No.2 sets pressing operation.)
� Control method
1) The method of controlling the pressing operation is the same as that described in [1]
Positioning except the setting of the position table. Any setting of “Pressing” in the position
table allows the pressing operation to be done. “Positioning width” is assumed as pressing
operation distance.
2) The actuator moves at the setting speed and rating torque to the position of the coordinate
set in “Position” in the similar way as normal positioning. Then the operation changes to
pressing. The moving distance in pressing is the value set in “Positioning width”. The
pressing is performed with the torque (current limit value) set in percent in “Pressing” of
PIO patterns 1 to 3 being the upper limit.
3) The control method is the same as that in [1] Positioning. However, the processing of
positioning complete signal PEND is different from that in [1] Positioning.
PEND is output when the shaft is stopped by pressing (pressing complete). If the work is
not subject to pressing (miss-pressing), the actuator moves by the value set in “Positioning
width” to stop but PEND is not turned ON.
96
�
PC1 to PC**
(PLC�Controller)
T1�6ms(Note 1)
Turned OFF by
Start signal CSTR turning PEND OFF
(PLC�Controller)
Completed position
PM1 to PM** PM1 to PM**�0(Note 2) PM1 to PM**�0(Note 2)
Chapter 3 Operation
(Controller�PLC)
Positioning Completion Signal Not turned ON for

miss-pressing
PEND
(Controller�PLC)
Moving Signal MOVE

(Controller�PLC)
Pressing Pressing
Operation of actuator Approach operation
operation Completion
Positioning be setting Movement by Stop of
positioning
of coordinate Value width pressing
(Note 1) Set the period taken from entering the position number to turning CSTR ON to 6ms or
longer. Because 6ms timer process on the PLC is also entered to the controller,
positioning at another position may occur. Take the PLC scan time into account.
(Note 2) The “Completion position No.” output is set to 0 during movement of the actuator.
97
�
� � Caution: (1) The speed during pressing operation is set in Parameter No.34. Check the
11.5 List of Specifications of Connectable Actuators for the pressing
“Operation speed”.
Do not set any value larger than the value in the list. If the speed set in the
position table is equal to or less than the “Pressing speed”, the pressing is
performed at the setup speed.
(2) The approach start position of “Operation pressing” should be located at or
before the pressing start position (coordinate 100mm or less in the above
example) If not, the moving direction varies depending on the start position
Chapter 3 Operation
to be dangerous.
For example, “Operation pressing” at coordinate larger than the pressing
end position (larger than 150mm) is performed in the direction from the
current position to the pressing end “Operation pressing”. Note that
pressing after positioning to the position of coordinate 100mm does not
take place.
Pressing start position Pressing end position
100mm 100 + 50 = 150mm
Approach operation Pressing operation

CSTR Pressing operation
Pressing operation CSTR
CSTR
CSTR: Start position
(3) The work is pressed after the pressing is completed. The work may moves
backward or forward. If the actuator is moved backward before the
approach position, alarm code 0DC “Pressing motion range over error”
occurs to stop the actuator. In movement of the work in the pressing
direction, PEND is turned OFF if the load current becomes lower than the
current limit (pressing (%)). Miss-pressing occurs when the actuator moves
by the pressing moving distance set in “Positioning width”.
(4) Do not make control of changing to “Operation pressing” on the way of
normal positioning (before PEND turning ON). Depending on the position at
which start signal CSTR is turned ON, the pressing is performed
improperly. Then the PLC cannot manage the position of the actuator.
(5) If the actuator gets pressed to the work during the approach operation, 0DC
“Pressing Operation Range Over Error” would be issued.
98
�
Judging completion of pressing operation
The operation monitors the torque (current limit value) in percent in “Pressing” of the position
table and turns pressing complete signal PEND ON when the load current satisfies the
condition shown below during pressing. PEND is turned ON at satisfaction of the condition if
the work is not stopped.
(Accumulated time in which current reaches pressing value [%])
– (accumulated time in which current is less than pressing value [%])
� 255 ms (Parameter No.6)�
Decrease in current due
Chapter 3 Operation
Current to movement of work
Pressing [%]
Time
200ms 20ms 75ms
Operation Approach end
start Pressing start 295ms
Contactiong wark 200ms + 75ms – 20ms � 255ms

Pressing complete (PEND output)
99
�
[5] Tension Operation�
� Image diagram
Position No.1
Position No.2
Chapter 3 Operation

[G] [G] [%] [mm] mode
0
1 100.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 80.00 250.00 0.20 0.20 50 0 –50.00 0.00 0.00 0 0 0 0
3
Tension start position Tension end position

80mm 80 – 50 = 30mm
Tension Operation
CSTR
Approach Operation Tension Operation
CSTR
CSTR : Start position

� Control method
The method of controlling the tension operation is the same as that described in [4] Pressing
operation. The control method is explained below by using the sample position table shown
above.
1) Position No.2 indicates the settings of tension operation. The settings of “Position” and
“Positioning width” show the tension start position and the tension quantity, respectively.
Attach – (minus sign) to the tension quantity. Specify the upper limit of the torque required
for tension in percent (limited current value) in “Pressing”. The speed, acceleration, and
deceleration are the conditions of positioning to the coordinate value (80mm) set in
“Position”.
2) Position No.1 indicates the tension start preparation position. Specify a value larger than
the coordinate value at which the tension provided by position No.2 ends (80 – 50 = 30mm)
in “Position”.
100
�
3) First define the positioning in position No.1. Next, the operation in position No.2 moves the
actuator to the position of 80mm at the setting speed and rating torque and change to the
tension operation. The actuator moves by 50mm in the negative direction in the tension
operation. The upper limit of the tensile force is the torque set in percent.
4) In the similar way as pressing, the positioning complete signal is output when the shaft is
stopped by tension (pressing complete). If the actuator cannot be stopped during
movement within the setting positioning width (miss-pressing), it moves by the setting
distance to stop but PEND is not turned ON.
Chapter 3 Operation
Caution: (1) The speed during tension operation is set in Parameter No.34. Check the
11.5 List of Specifications of Connectable Actuators for the pressing speed.
The speed for pulling operation is same as that for pressing operation.
position table is equal to or less than the tension speed, the tension
operation is performed at the setup speed.
(2) The tension ready position should be the tension start position or forward. If
not, the moving direction varies depending on the start position to be
dangerous.
The tension operation from a coordinate (coordinate 80 – 50 = 30mm in the
example) located before the end position (less than 30mm) changes to the
pressing operation from the current position to the tension end position.
Note that the tension operation after positioning to the position of 80mm
does not take place.
Tension end position

Tension start position
80 – 50 = 30mm
80mm

CSTR Pressing Operation
CSTR
Tension Operation
CSTR
CSTR: Start position
(3) The work is pulled also after completion of the tension. The work is drawn
back or pulled further if the work is moved. When the work is drawn back
before the approach position, alarm code 0DC “pressing operation range
error” occurs to stop the work. When the work is moved in the tension
direction and the load current becomes less than the current limit value
(pressing in percent), PEND is turned OFF. Naturally, the work reaches the
tension moving distance set in “Positioning width” to cause miss-pressing.
(4) Do not make control of changing to tension operation on the way of normal
positioning (before PEND turning ON). Depending on the position at which
start signal is turned ON, the tension operation is performed improperly.
Then the PLC cannot manage the position of the actuator.
101
�
[6] Multi-step pressing
� Image diagram
Chapter 3 Operation
Position No.1
Position No.2
Position No.3

[G] [G] [%] [mm] mode
0
1 0.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 50.00 250.00 0.20 0.20 30 0 20.00 0.00 0.00 0 0 0 0
3 50.00 250.00 0.20 0.20 50 0 20.00 0.00 0.00 0 0 0 0
4
� Control method
After pressing, the pressing pressure can only be changed in the pressing state.
The method of controlling multi-step pressing is the same as that described in [4] Pressing
operation.
1) Set the weak pressing (30%) in position No.2 and perform the pressing operation.
2) If pressing complete signal PEND is turned ON, start the pressing operation with pressing
pressure (50%) greater than the first pressure set in position No.3.
The position data in position No.3 should be the same as that in position No.2 except the
setting in “Pressing”.
3) To add a pressing step with another pressing pressure, add a sequence consisting of a
position number and a “Pressing operation”.
102
�
[7] Teaching by PIO (MODE, JISL, JOG+, JOG-, PWRT, MODES, WEND)�
Input Output
PIO signal
MODE JISL JOG+ JOG- PWRT MODES WEND
Other than
� � � � � � �
pattern 1
Pattern 1 � � � � � � �
�: Existence of signal, �: No signal
(Note) The feature is available only in pattern 1.
Chapter 3 Operation
Teaching by PIO is enabled.
It is possible to select the “Teaching mode”, move the actuator to the target position with jog or
inching operation, and write the coordinate value into any position number.
(1) Teaching Mode Selecting

1) To select the “Teaching mode”, set teaching mode signal MODE to ON. If the teaching
mode is selected, mode status signal MODES is turned ON.
� While the actuator is operating, MODE signal input is invalid. Therefore, after the
operation is completed, the MODES signal is turned ON.
� With the MODES signal being ON, the CSTR signal is changed to teaching signal PWRT.
Therefore, it is not possible to operate the actuator by specifying a position No.
2) To cancel the “Teaching mode” to return to the normal “Operation mode”, set the MODE
signal to OFF. If the MODE signal is turned OFF, the MODES signal is turned OFF to return
to the normal “Operation mode”.
Teaching Mode Signal
MODE
(PLC�Controller)
Mode Status Signal

MODES
(Controller�PLC) Teacing mode selected
(2) Jog/inching switch and jog input

*1
1) Jog/inching switching signal JISL indicates whether the jog operation or inching
*2
operation is performed by the jog input signal.
JISL signal OFF: ··········· Jog operation
JISL signal ON: ············ Inching operation
2) There are two jog input signals, or JOG+ for operation in the positive direction and JOG- for
operation in the negative direction.
*1 Jog operation: The actuator is moved while the jog input signal is set to ON.
� JOG+···· While JOG+ is set to ON, the actuator is moved in the positive direction. If JOG+ is
turned OFF, the actuator is decelerated and then stopped.
� JOG- ···· While JOG- is set to ON, the actuator is moved in the negative direction. If JOG- is
turned OFF, the actuator is decelerated and then stopped.
� Velocity ···························· Value set in Parameter No.26 “PIO jog speed”.
� Acceleration/Deceleration····· Rating acceleration/deceleration of actuator
� Pause Signal *STP ············· Enabled
*2 Inching operation: Once the jog input signal is turned ON, the actuator is moved by a certain
distance.
� JOG+···· Once JOG+ is turned ON, the actuator is moved by a certain distance in the
positive direction.
� JOG- ···· Once JOG- is turned ON, the actuator is moved by a certain distance in the
negative direction.
� Moving distance ················ Value set in Parameter No.48 “PIO inching distance”.
� Velocity ···························· Value set in Parameter No.26 “PIO jog speed”.
� Acceleration/Deceleration····· Rating acceleration/deceleration of actuator
� Pause Signal *STP ············· Enabled
103
�
�
Warning : (1) In home return incomplete state, software limit cannot stop the actuator.
Take interlock and prohibit the operation or perform the operation carefully.
(2) If the JISL signal is changed during inching operation, the inching being
operated is continued. If JISL is changed during job operation, the jog is
stopped.
(3) Writing current data to position table

1) The feature is valid only when the “Teaching mode” is selected (with the MODES signal
Chapter 3 Operation
being ON).
2) Specify the position number to which the current data is written in the binary data format in
command position No.PC1 to PC32. Turn current value writing signal PWRT ON.
3) The coordinate value of the current position is written into the position table for the
controller.
If position data is written previously, only the coordinate value in “Position” is only rewritten.
If nothing is written, the values set in the parameters below are written as the speed,
acceleration/deceleration, positioning width, acceleration/deceleration mode and stop
mode. Other data is set to “0”.
� Velocity······························ Parameter No.8 “Default speed”
� Acceleration ························ Parameter No.9 “Default acceleration/deceleration”
� Deceleration ······················· Parameter No.9 “Default acceleration/deceleration”
� Positioning width·················· Parameter No.10 “Default positioning width (in-position)”
� Acceleration/deceleration mode ·· Parameter No.52 “Default acceleration/deceleration mode”
� Stop mode ·························· Parameter No.53 “Default stop mode”�
4) At the completion of writing, controller write complete signal WEND is output. Then turn the
PWRT signal OFF.
5) When the PWRT signal is turned “OFF” the WEND signal is also turned “OFF”.
Turn OFF PWRT after confirming WEND is turned ON.
Turning it OFF before turning ON disturbs the proper data writing.

PC1 to PC**
(PLC�Controller)
T1 � 6ms Turned OFF by turning
WEND ON
Current value write signal
PWRT
(PLC�Controller)
Current coordinate
writing prosess
(Controller)
Turned OFF by
Writing Completion Signal turning PWRT OFF
WEND
(Controller�PLC)
104
�
� � Caution :
(1) Set the period taken from entering position No. to turning the PWRT ON to 6ms or longer. In
spite of 6ms timer process in the PLC, commands may be input to the controller concurrently
to cause writing to another position. Take the scanning time in the PLC into account, set a
period as 2 to 4 times as the scanning time.
(2) Turning the PWRT signal ON in the state in which home return is not completed (the HEND
signal is set to ON) causes alarm 093 “PWRT signal detected before completion of home
return” to occur.
Chapter 3 Operation
(3) Turning PWRT signal OFF before turning WEND signal ON disturbs the proper data writing.
(4) Writing processing with position table screen remaining open on a teaching tool such as PC
software cannot lead the data on the screen to be updated. To update and confirm writing
data, take the following actions:
1) PC software ···· Left-click the button.
2) Teaching Pendant····· Change to user adjustment screen, input “4” in adjustment N O
and return to the position table screen after software reset.
Check the relevant Instruction Manual for details of operation.�
�
[8] Pause and Operation Interruption (*STP, RES, PEND, MOVE)
Input Output
PIO signal
*STP RES PEND MOVE
Pattern 0 to 1 � � � �
Pattern 2 to 3 � � � �
�: Existence of signal, �: No signal
2)
Velocity 1) 3) 4) 5)
1) 2) 3) 4) 5)
Positioning
Completion
Signal Output
105
�
� Control method
Pause is possible during movement. In addition, the moving distance can be cancelled to
interrupt the operation.
The pause signal is an input signal always set to ON. So, it is normally used to remain ON. Use
this function for interlock in case where an object is invaded into the moving direction of the
actuator being moved.
1) If pause signal *STP is turned OFF during operation of the actuator, the actuator is
decelerated to a stop. The deceleration is defined by the value set in the position table.
2) During pause, moving signal MOVE is set to OFF but positioning complete signal PEND is
Chapter 3 Operation
not turned ON.

3) If pause signal *STP is returned to ON, the actuator continues the remaining movement.
The acceleration is the value set in the position table.
4) Turning reset signal RES ON during pause (*STP being ON) allows the remaining
movement to be cancelled to interrupt the operation.
Pause signal *STP

(PLC�Controller)
PEND not
turned ON
PEND
(Controller�PLC)
PEND turned
OFF
Moving Signal MOVE
(Controller�PLC)
Before operation Temp. Cont. Position

Operation of actuator Operation
Positioning complete state stop Op. complete
Turning RES ON here allows

continuous operation to be cancelled
� � Caution : (1) At occurrence of an alarm in the release level(Note 1), RES can reset
the alarm. Cancel the remaining moving distance after confirmation
that alarm signal *ALM (being ON in normal state and OFF at
occurrence of an alarm) is set to ON.
Note 1: Check the 10.4 Alarm List for details of alarms.
(2) Turning *STP OFF with the actuator being in the positioning
complete state causes PEND to be turned OFF. Note that this
situation may not occur when a sequence program is created.
106
�
3.2.5 Direct Position Specification (Solenoid Valve Mode 1) = Operation of
PIO Pattern 4
The start signal is provided for every position number. Only turning ON the relevant input signal
according to the table shown below allows the operation based on the data in the target
position number to be performed. The operation mode is called the “Solenoid valve mode”
because solenoid valves can directly drive air cylinders.
At the completion of positioning, every completed position number is output as well as the
positioning complete signal.
Positioning, pressing, and pitch feed are possible. Their control methods are the same as those
Chapter 3 Operation
of other patterns.
[1] Positioning [Basic] (ST0 to ST6, PE0 to PE6, PEND)
Position No. Input Output
0 ST0 PE0 PEND
1 ST1 PE1 PEND
2 ST2 PE2 PEND
3 ST3 PE3 PEND
4 ST4 PE4 PEND
5 ST5 PE5 PEND
6 ST6 PE6 PEND
[Caution] � Speed change is not allowed during movement.
� � For “Incremental type”, if start signal ST* is issued without home return, the home
return operation is automatically done before the operation based on the data of
the specified position number. When this specification is not desired, interlock by
home return complete signal HEND is required. Operation to the specified
position number would not take place under the condition that the home position
data is lost in the “Simple absolute type”, but only the home-return operation will
be conducted.
�
�
� Sample use
1) 2) 3) 4) 5) 6)
Velocity
1) 2) 3)
4) 5) 6)

[G] [G] [%] [mm] mode
0 0.00 100.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
1 70.00 100.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 150.00 200.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
107
�
� Control method
1) When start signal ST* is turned ON, the actuator starts acceleration based on the data in
the specified position table for positioning to the target position.
2) At the completion of positioning, positioning complete signal PEND is turned ON as well as
current position No. PE* of the specified position.
3) After PEND is turned ON, turn the ST* signal OFF.
4) Current position No. PE* and positioning completion signal PEND are turned ON if the
remaining moving distance is entered into the positioning width zone. The current position
number PE* and PEND Signal will be kept ON once it is turned ON unless the start signal
Chapter 3 Operation
ST* is turned back ON, servo is turned OFF (Note) or the actuator is out of the positioning
band width range (Note). When the pause signal *STP is turned OFF in this condition, the
current position number PE* and PEND Signal will also be turned OFF.
(Note) It can be switched over with Parameter No.39.
Turned OFF by
turning PEND ON
Start signal
ST*
Turned ON after
(PLC�Controller)
entering into
positioning width zone
Current Position No.
PE*
(Controller�PLC)

PEND
(Controller�PLC)
Target Position
� � Caution : (1) If the ST* signal is turned ON for the position after completion of
positioning, both the PE* and PEND signals remain ON (except
the pitch feed operation).
(2) Both the PE* and PEND signals are set to ON in the positioning
width zone. Accordingly, they may be turned ON under operation
of the actuator if a large positioning width is set.
(3) Interlock should be taken so that two or more ST* signals are set
to ON simultaneously.
1) Entering the ST* signal of another position during positioning
is invalid. If the ST* signal of another position is turned ON
during positioning, the operation is terminated after the
completion of the positioning being operated.
2) Entering the ST* signal of another position with the ST* signal
of the current position remaining ON after the completion of
positioning allows the positioning to the other position to be
executed.
(4) If Parameter No.27 “Move command type” is set to “0” (factory
setting), turning ST* OFF during positioning caused the operation
to be interrupted.
108
�
[2] Pitch Feeding (relative movement = incremental feed)
� Sample use
1) 2) 3)
Chapter 3 Operation
Velocity
4)
1) 2) 3) 4)
Stocker up/down, pallet movement, etc.

[G] [G] [%] [mm] mode
0
1 100.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 25.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 1 0 0
(Position No.2 sets pitch feed.)

� Control method
1) The method of controlling pitch feed is the same as that described in [1] Positioning except
the setting of the position table. Repeat the positioning of a specific position No.
2) For pitch feed, the position set in the position table indicates the pitch. Set the pitch
(relative moving distance = incremental moving distance) in column “Position”.
3) If the operation command is issued, the actuator moves from the current stop position by
“Position” in the position table. To perform continuous movement, repeat the operation. Any
accumulation error does not occur because the home position (coordinate value 0) is
specified as the base point.
109
�
� � Caution :
(1) Because pitch feed is repeated, turning ON the ST* signal of the same position after
completion of positioning causes both the PE* and PEND signals to be turned OFF at
operation start and turned ON again at completion of positioning in the same way as [1]
Positioning.
(2) If the actuator reaches the software limit (stroke end) in pitch feed, the actuator is
decelerated to be stopped and current position No. PE* and positioning complete
signal PEND are turned ON at the stop position.
Chapter 3 Operation
(3) Both the PE* and PEND signals are set to ON in the positioning width zone.
Accordingly, they may be turned ON under operation of the actuator if a large
positioning width is set.
(4) Interlock should be taken so that two or more ST* signals are set to ON simultaneously.
1) Entering the ST* signal of another position during positioning is invalid. If the ST*
signal of another position is turned ON during positioning, the operation is
terminated after the completion of the positioning being operated.
2) Entering the ST* signal of another position with the ST* signal of the current position
remaining ON after the completion of positioning allows the positioning to the other
position to be executed.
(5) If Parameter No.27 “Move command type” is set to “0” (factory setting), turning ST*
OFF during positioning caused the operation to be interrupted.
(6) Note that, when Parameter No.27 “Move command type” is set to “1”, starting (ST* ON)
pitch feed repeatedly during pause causes the actuator to be moved successively by
the number of starts. If this situation is supposed, cancel the remaining moving
distance by turning reset signal RES ON in the pause state or take interlock so that
start signals are not turned on during pause.
(7) The pressing operation is enabled by using the pitch feed function.
(8) In the pitch feed, do not perform a command with a pitch smaller than the minimum
encoder resolution (lead/encoder pulse number) or that less than positioning accuracy
repeatability.
There would be no deviation to occur even with the command because it is an
operation command to the same position as the positioning complete condition, but the
positioning control cannot be performed properly.
110
�
[3] Pressing operation
� Sample use
2)
Chapter 3 Operation
1) 3) 4) Positioning width 50
Press-fitting process Velocity
1) 2) 3) 4)
Positioning
Completion
Caulking process

[G] [G] [%] [mm] mode
0
1 0.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 100.00 250.00 0.20 0.20 50 0 50.00 0.00 0.00 0 0 0 0
(Position No.2 sets pressing operation.)
� Control method
1) The method of controlling the pressing operation is the same as that described in [1]
Positioning except the setting of the position table. Any setting of “Pressing” in the position
table allows the pressing operation to be done. “Positioning width” is assumed as pressing
operation distance.
2) The actuator moves at the setting speed and rating torque to the position of the coordinate
set in “Position” in the similar way as normal positioning. The operation is executed with the
value set in “Positioning Band” for the amount of movement in the pressing operation, and
the torque (current limit) set in % in “Pressing” for the pressing operation as the upper limit.
3) The control method is the same as that in [1] Positioning. However, the processing of
positioning complete signal PEND is different from that in [1] Positioning.
PEND is output when the shaft is stopped by pressing (pressing complete). If the work is
not subject to pressing (miss-pressing), the actuator moves by the value set in “Positioning
width” to stop but PEND is not turned ON. The current position No. PE* is turned ON at the
completion of pressing and even in miss-pressing.
111
�
Turned OFF by
turning PEND ON
Start signal
ST*
(PLC�Controller)
Turned ON even
Current Position No. in miss-pressing
PE*
(Controller�PLC)
Chapter 3 Operation
Not turned ON for

miss-pressing
PEND
(Controller�PLC)
Pressing Pressing
Operation of actuator Approach operation
operation Completion
Movement by Stop of
Positioning be setting positioning
of coordinate Value width pressing
� � Caution: (1) The speed during pressing operation is set in Parameter No.34. Check the
operation speed.
position table is equal to or less than the pressing speed, the pressing is
performed at the setup speed.
(2) The approach start position of pressing should be located at or before the
pressing start position (coordinate 100mm or less in the above example) If
dangerous.
For example, pressing at coordinate larger than the pressing end position
(larger than 150mm) is performed in the direction from the current position
to the pressing end position. It would not proceed to the pressing operation
at 150mm point after positioning at 100mm point.
Pressing start position Pressing end position

100mm 100 + 50 = 150mm
Approach operation Pressing operation

ST* Tensile operation
Pressing operation ST*
ST*
ST*:Start position
(3) The work is pressed after the pressing is completed. The work may moves
backward or forward. If the actuator is moved backward before the
approach position, alarm code 0DC “Pressing motion range over error”
occurs to stop the actuator. In movement of the work in the pressing
direction, PEND is turned OFF if the load current becomes lower than the
current limit (pressing (%)). Miss-pressing occurs when the actuator moves
by the pressing moving distance set in “Positioning width”.
(4) If the actuator gets pressed to the work during the approach operation, 0DC
“Pressing Operation Range Over Error” would be issued.
112
�
Decrease in current due
Chapter 3 Operation
Current to movement of work
Pressing [%]
Time
200ms 20ms 75ms

Pressing complete (PEND output)
113
�
[4] Tension Operation�
� Image diagram
Position No.1
Chapter 3 Operation
Position No.2

[G] [G] [%] [mm] mode
0
1 100.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 80.00 250.00 0.20 0.20 50 0 –50.00 0.00 0.00 0 0 0 0
3
Tension start position Tension end position

80mm 80 – 50 = 30mm
Tension Operation
ST*
ST*
ST*: Start position
� Control method
The method of controlling the tension operation is the same as that described in [3] Pressing
operation. The control method is explained below by using the sample position table shown
above.
1) Position No.2 indicates the settings of tension operation. The settings of “Position” and
“Positioning width” show the tension start position and the tension quantity, respectively.
Attach – (negative sign) to the tension quantity. Specify the upper limit of the torque
required for tension in percent (limited current value) in “Pressing”. The speed,
acceleration, and deceleration are the conditions of positioning to the coordinate value
(80mm) set in “Position”.
2) Position No.1 indicates the tension start preparation position. Specify a value larger than
the coordinate value at which the tension provided by position No.2 ends (80 – 50 = 30mm)
in “Position”.
114
�
3) First define the positioning in position No.1. Next, the operation in position No.2 moves the
actuator to the position of 80mm at the setting speed and rating torque and change to the
tension operation. The actuator moves by 50mm in the negative direction in the tension
operation. The upper limit of the tensile force is the torque set in percent.
4) In the similar way as pressing, the positioning complete signal is output when the shaft is
stopped by tension (pressing complete). If the actuator cannot be stopped during
movement within the setting positioning width (miss-pressing), it moves by the setting
distance to stop but PEND is not turned ON. The current position No. PE* is turned on at
the completion of pressing and even in miss-pressing.
Chapter 3 Operation
� � Caution: (1) The speed during tension operation is set in Parameter No.34. [Refer to
speed.]
position table is equal to or less than the tension speed, the tension
operation is performed at the setup speed.
(2) The tension ready position should be the tension start position or forward. If
dangerous.
The tension operation from a coordinate (coordinate 80 – 50 = 30mm in the
example) located before the end position (less than 30mm) changes to the
pressing operation from the current position to the tension end position.
Note that the tension operation after positioning to the position of 80mm
does not take place.
Temsion end position

Tension start position
80 – 50 = 30mm
80mm

ST* Pressing Operation
ST*
Tension Operation
ST*
ST*: Start position

(3) The work is pulled also after completion of the tension. The work is drawn
back or pulled further if the work is moved. When the work is drawn back
before the approach position, alarm code 0DC “pressing operation range
error” occurs to stop the work. When the work is moved in the tension
direction and the load current becomes less than the current limit value
(pressing in percent), PEND is turned OFF. Naturally, the work reaches the
tension moving distance set in “Positioning width” to cause miss-pressing.
115
�
[5] Multi-step pressing
� Image diagram
Chapter 3 Operation
Position No.1
Position No.2
Position No.3
[G] [G] [%] [mm] mode
0
1 0.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 50.00 250.00 0.20 0.20 30 0 20.00 0.00 0.00 0 0 0 0
3 50.00 250.00 0.20 0.20 50 0 20.00 0.00 0.00 0 0 0 0
4
� Control method
After pressing, the pressing pressure can only be changed in the pressing state.
The method of controlling multi-step pressing is the same as that described in [3] Pressing
operation.
1) Set the weak pressing (30%) in position No.2 and perform the pressing operation.
2) If pressing complete signal PEND is turned ON, start the pressing operation with pressing
pressure (50%) greater than the first pressure set in position No.3.
In this particular operation, turn ON ST3 after completion of ST2, and turn OFF ST2 when
PEND is turned OFF. In usual case, do not turn ON two or more ST* signals simultaneously.
The position data in position No.3 should be the same as that in position No.2 except the
setting in “Pressing”.
3) To add a pressing step with another pressing pressure, add a sequence consisting of a
position number and a pressing operation.
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�
[6] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND)
Pause is possible during movement. In this mode, the following two methods are possible for
pause.
1) Use of pause signal *STP
Turning reset signal RES ON during the pause allows the remaining moving distance to be
cancelled to interrupt the operation.
2) Use of start signal ST*
This method is valid when Parameter No.27 “Move command type” is set to “0” (factory
setting). The actuator can only be moved while the ST* signal is set to ON and stopped if
Chapter 3 Operation
ST* is turned OFF. Since setting the ST* signal to OFF is assumed as interrupt of operation,
the remaining moving distance may not be cancelled.
(1) Use of pause signal *STP
2)
1) 2) 3) 4) 5)
Positioning
Completion
Signal Output
� Control method
The pause signal is an input signal always set to ON. So, it is normally used to remain ON. Use
this function for interlock in case where an object is invaded into the moving direction of the
actuator being moved.
1) If pause signal *STP is turned off during operation of the actuator, the actuator is
decelerated to a stop. The deceleration is defined by the value set in the position table.
2) During pause, current position No. PE* and positioning complete signal PEND are not
turned ON.
3) If pause signal *STP is returned to ON, the actuator continues the remaining movement.
The acceleration is the value set in the position table.
4) Turning reset signal RES ON during pause (*STP during OFF) allows the remaining
movement to be cancelled to interrupt the operation.
Pause signal�*STP
(PLC�Controller) PEND and PE
not turned ON
PEND
(Controller�PLC)
PEND turned
OFF
PE*
(Controller�PLC)
Before operation Temp. Cont. Position

Operation of actuator Operation
Positioning complete state stop Op. complete
Turning RES ON here allows

continuous operation to be canceled
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�
� � Caution : (1) At occurrence of an alarm in the release levelNote 1, RES can reset
the alarm. Cancel the remaining moving distance after
confirmation that alarm signal *ALM (being ON in normal state and
OFF at occurrence of an alarm) is set to ON.
Note 1: [Refer to 10.4 Alarm List for details of alarms.]
(2) Turning *STP OFF with the actuator being in the positioning
complete state causes PEND to be turned OFF. Note that this
situation may not occur when a sequence program is created.
Chapter 3 Operation
(2) Use of start signal ST*
2)
1) 2) 3) 4) 5)
Positioning
Completion
Signal Output
� Control method
If start signal ST* is turned OFF during movement, the actuator can be paused.
Use the control method for interlock in case where an object is invaded into the moving
direction of the actuator being moved.
1) If the ST* signal is turned OFF during movement, the actuator is paused. The deceleration
is the value set in the position table.
2) Turning the ST* signal OFF causes the positioning to be interrupted and deemed complete
signal PEND to be turned ON.
3) If the ST* signal is turned ON again, the remaining movement is continued. The
acceleration is the value set in the position table.
Start signal
ST*
PEND turned
(PLC�Controller)
ON
PEND
(Controller�PLC)
PE* not
turned ON
PE*
(Controller�PLC)
Before operation
Temp. Cont. Position
Operation of actuator Positioning Operation
stop Op. complete
complete state
118
�
3.2.6 Direct Position Specification (Solenoid Valve Mode 2) = Operation of
PIO Pattern 5
The start signal is provided for every position number. Only turning ON the relevant input signal
according to the table shown below allows the operation based on the data in the target
position number to be performed. The operation mode is called the “Solenoid valve mode”
because solenoid valves can directly drive air cylinders. At invasion of the actuator into the
positioning width set for each position, the output signal is turned ON in the operation of any
position number or manual operation of the actuator in servo OFF status as if a sensor were
installed.
Chapter 3 Operation
Positioning and speed change during operation are possible. Their control methods are the
same as those of other patterns.
� � Caution : This pattern does not allow pressing and pitch feed.
[1] Home return (ST0, HEND)

The I/O of PIO varies as shown in the table below depending on the position number before
home return.
0 ST0 LS0
1 ST1 � JOG+ LS1
2 ST2 � Invalid LS2 � Invalid
Before home return, start signal ST0 works as JOG- moving to the home return direction while
it is set to ON and ST1 works as JOG+ while it is set to ON. By using this function, move the
actuator to a position at which home return can be done safely. The speed of ST1 is the home
return speed.
After the home return is fully prepared, turn the ST0 signal ON to start the home return. At the
completion of the home return, home return complete signal HEND is turned ON. Turn the ST0
signal OFF if HEND is turned ON. HEND remains ON unless the home is lost due to
occurrence of an alarm.
If a certain home positioning is required, Set “Position” of position No.0 to 0 mm and the ST0
signal is not changed by the HEND signal to remain ON. After the home return is completed,
positioning is provided for position No.0. [Refer to 3.2.6 [3] Positioning.]
Home return signal

ST0
(PLC�Controller)
If a certain precision is required. Set
"Position" of position No.0 to 0 mm and
Homing Completion Signal ST0 is not chaged by HEND to remain ON.
HEND
(Controller�PLC)
� � Warning : (1) Use this pattern with Parameter No.27 “Move command type” set to “0”
(factory setting). When Parameter No.27 is set to “1”, the home return is
started as soon as the ST0 signal is turned ON and the operation cannot
be stopped even if ST0 is turned OFF.
(2) If “Position” in position No.0 is set to other than 0mm, the operation is
continued without change to provide positioning after home return.
119
�
Mechanical end
Home
2)
1)
Chapter 3 Operation
1) With the ST0 signal being ON, the actuator moves toward the mechanical end at the home
return speed.
Check the instruction manual of actuator.
Caution : In the home reverse specification, the actuator moves in the reverse
direction.
[Operation of Actuator of Gripper Type]

2)
1)
2)
Caution : Make sure to refer to Section 9.2 [15] when a change to Parameter No.22
(Note) Finger attachment is not included in the actuator package. Please prepare
separately.
120
�
[2] Features of LS signals (LS0 to 2)
The LS* signals are not complete signals for positioning commands such as those for other PIO
patterns. Despite the specified position No., the corresponding LS* signal is turned ON when
the actuator is entered into the setup value range as if the actuator were detected by a sensor
installed.
(Example) The figure below shows the position table and the position at which each of the LS
signals is turned ON. If the actuator passes any of the positioning widths in the
operation by another position number or manual operation in the servo OFF state,
Chapter 3 Operation
the relevant LS signal is always turned ON.
[G] [G] [%] [mm] mode
0 0.00 250.00 0.20 0.20 0 0 5.00 0.00 0.00 0 0 0 0
1 70.00 250.00 0.20 0.20 0 0 10.00 0.00 0.00 0 0 0 0
2 150.00 250.00 0.20 0.20 0 0 5.00 0.00 0.00 0 0 0 0
150mm 70mm Home=0mm
LS2 is ON LS1 is ON LS0 is ON

150�5mm 70�10mm 0�5mm
Caution : LS* signal would not be output if the positioning width is set less than the
minimum resolution.
121
�
[3] Positioning [Basic] (ST0 to ST2, LS0 to LS2)�
0 ST0 LS0
1 ST1 LS1
2 ST2 LS2
[Caution] Pressing and pitch feed are unavailable.
� Sample use
Chapter 3 Operation
200mm/sec
100mm/sec
1) 2) 3) 4) 5) 6)
Velocity
1) 2) 3)
4) 5) 6)

[G] [G] [%] [mm] mode
0 0.00 100.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
1 70.00 100.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 150.00 200.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
� Control method
1) When start signal ST* is turned ON, the actuator starts acceleration based on the data in
the specified position table for positioning to the target position. Turning the ST* signal OFF
on the way causes the actuator to be decelerated and stopped. So, make the ST* signal
remain ON until the actuator reaches the target position.
2) At the completion of positioning, position detection output LS* of the specified position is
turned ON.
3) Position detection output LS* is turned ON if the remaining moving distance enters into the
positioning width. LS* is set to ON if the current position is located within the positioning
width zone or OFF if the current position is located out of the positioning width zone (the
same situation occurs in the servo OFF status).
4) Leave the ST* signal to be ON until the actuator is moved to another position and turn off it
at the next ST* signal. If the ST* signal is turned OFF at the LS* signal, the actuator is
decelerated to a stop in the positioning width and thus the actuator may not reach the
target position. In continuous operation, turn on the next ST* signal by setting the
positioning width within the required precision range or setting the period taken from
detection of the LS* signal to reaching the target position.
122
�
(Example) Repetition of ST1 � ST2 � ST1 �
Insert timer �t if necessary.
Start signal �t �t
ST1
(PLC�Controller)
�t
Start signal
ST2
Chapter 3 Operation
(PLC�Controller)
Position sensing output

LS1
(Controller�PLC)
Turned ON after
Position sensing output entering into
LS2 positioning width zone
(Controller�PLC)
Target Position
�t : Time required to certainly reach the target position after the position sensing output LS1 or 2 is turned ON.
[Example of stop position when the ST* signal is turned OFF by the LS* signal]
If the positioning width is set at a position before the original deceleration start position, the
actuator cannot reach the target position.
Start signal
ST1
Turned ON after
(PLC�Controller) entering into
positioning width zone
Position sensing output
LS1 Positioning
(Controller�PLC) width
Velocity
Orignal deceleration
Operation of actuator start position
Deceleration
start Move
distance
Stop before target position Target

Position
� � Caution : (1) If the ST* signal for the position is turned ON after the completion of
positioning, the LS* signal remains ON.�
(2) Both the LS* and PEND signals are set to ON in the positioning width zone.
Accordingly, they may be turned ON under operation of the actuator if a large
positioning width is set.
(3) Interlock should be taken so that two or more ST* signals are set to ON
simultaneously. If two or more ST* signals are input simultaneously, they will
be executed according to the following priorities: ST0�ST1�ST2
(4) LS* signal would not be output if the positioning width is set less than the
minimum resolution.
123
�
[4] Speed change during the movement
� Sample use
1) 2) 3) 4) 5)
Chapter 3 Operation
Positioning complete width at position 1
Velocity
1) 2) 3) 4) 5)

Position Velicoty Pressing Zone+ Zone- Incre- Stop
[G] [G] [%] [mm] mode
0 0.00 100.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
1 0.00 50.00 0.20 0.20 0 0 100.00 0.00 0.00 0 0 0 0
2 150.00 200.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
� Control method
The speed of the actuator can be changed while it moves. The operation control method is the
same as that in [3] Positioning. This pattern prioritizes the start signal specified later over the
previous signal. Accordingly if another position No. is started during operation, then the new
operation begins. This can be used to change the speed.
1) In this example, the speed is changed while the actuator moves from the position of
150mm to the position of 0mm. At first, set the positioning to the target position at the first
speed in position No.1. In the positioning width, set the distance from the speed change
position to the target position. The value is set to 100mm in the example. Thus, for position
No.1, position sensing signal LS1 is turned ON at the position before the target position by
100mm.
2) Set the positioning to the target position at the second speed in position No.0.
3) Then start position No.1 (ST1 signal) and use position sensing output signal LS1 of
position No.1 to start position No.0 (ST0 signal). Since this pattern prioritizes the signal
specified later over the previous signal, the operation of No.1 is changed to the operation
of No.0 during the operation of No.1.
4) Use position sensing signal LS0 of position No.0 to turn the ST1 signal OFF.
In this example, the target positions No.0 and 1 are equal with each other. They may not be the
same. However, setting the target positions to be equal with each other allows the distance
from the speed change position to the target position to be known easily.
Depending on the timing when the actuator accepts the input signal, the speed change may be
delayed a little. Changing the positioning width can adjust the timing.
124
�
The timing chart shown below indicates that the actuator changes its speed while it moves to
position No.1 after the completion of positioning at position No.2 and moves to position No.0.
Start signal
ST0
(PLC�Controller)
Start signal
ST1
Chapter 3 Operation
(PLC�Controller)
Start signal
ST2
(PLC�Controller)
Position sensing Output

LS0
(Controller�PLC)

LS1
(Controller�PLC)
Set of positioning Target position of
Position sensing Output width of position position No.0 and
LS2 No.1 to shift change No.1
(Controller�PLC) start position
Completion of
Stop at position Moving at speed of Moving at speed of positioning at
Operation of actuator No.2 Position No.1 position No.0 position No.0
125
�
[5] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND)
Turning start signal ST* OFF allows the actuator to be paused while it is moved. To restart it,
turn the same ST* signal ON.
Chapter 3 Operation
Velocity
� Control method
If start signal ST* is turned OFF during movement, the actuator can be paused.
Use the control method for interlock in case where an object is invaded into the moving
direction of the actuator being moved.
1) If the ST* signal is turned OFF during movement, the actuator is decelerated to a stop. The
deceleration is the value set in the position table.
2) If the ST* signal is turned ON again, the remaining movement is continued. The
acceleration is the value set in the position table.
Start signal
ST*
(PLC�Controller)
LS* not
turned ON
LS*
(Controller�PLC)
Before operation
Operation of actuator Positioning Temp. Cont. Position
Operation
complete stop Op. complete
state
126
�
3.3 Pulse Train Control Mode (for Pulse Train Type)� � � � � � � � �
This controller (Pulse train type) can switch over the mode between “Positioner mode” and
“Pulse train control mode” with the parameters. In “Pulse train control mode”, the actuator can
be operated by the pulse train output of the host controller positioning control function. This
operation mode is not to be changed after the system is complete to be established or during
an operation.
Caution : In “Pulse train control mode”, the operation is performed corresponding to the
Chapter 3 Operation
� �
input pulse.
Input Pulse Value � Moving distance
Input pulse frequency � Velocity
Change in Input Pulse Frequency � Velocity change and acceleration/deceleration
Do not use the actuator above the specifications for the commands of the
movement amount, acceleration and deceleration from the host controller. Doing
so may cause an abnormal noise or malfunction.
� Main Functions
Function Name Name
1 Dedicated home return signal When this function (signal) is used, home return(Note 1) can be
performed without using a complex sequence or an external
sensor, etc.
2 Brake control function Since the controller controls the brake, there is no need to
program a separate sequence.
The electromagnetic brake power is supplied to the controller
from a power supply different from the main power.
Accordingly, the electromagnetic brake can be released freely
after the main power has been cut off.
3 Torque limiting function The torque can be limited (a desired limit can be set by a
parameter) using an external signal. When the torque reaches
the specified level, a signal will be output. This function
(signal) permits pressing and press fitting operations.
4 Position-command primary Soft start and stop can be achieved even when the actuator is
filter function operated in the command-pulse input mode where
acceleration and deceleration are not considered.
Note 1 In the “Pulse train control mode”, even the actuator of absolute specification needs home
return because it operates as that of incremental specification.
127
�
3.3.1 I/O Signal Controls� � � � � � � � � � � � � � � � � � � � � � � � �
The input signals of this controller incorporate an input time constant to prevent malfunction
due to chattering, noise, etc. Make sure to input the signals continuously for 6ms or more.
(Note) Command pulse train inputs (PP•/PP, NP•/NP) do not have input time constants. Also, it
is necessary to input 16ms or more for CSTP Signal.
Identify
Chapter 3 Operation
Input Signal
6ms
Does not identify
Input Signal
Caution : To use I/O signals, be sure to tilt the “Operation mode setting switch” on the
front panel of the controller to the “AUTO” position.
3.3.2 Operation Ready and Auxiliary Signals� � � � � � � � � � � � � � � �

[1] System Ready (PWR)�
Output
PIO signal
PWR
The signal is turned ON if the controller can be controlled after main power-on.
It is turned ON once the initialization terminates normally after main power-on and this
controller can be controlled regardless of alarm and servo status.
Even in the alarm condition, when the this controller can control the system, it is turned “ON”.
[2] Emergency stop status (*EMGS)

Output
PIO signal
*EMGS
1) The emergency stop status EMGS is turned ON when in normal condition and turned OFF
when EMG terminal on “2.1.3 [1] Power Supply and Emergency Stop Circuit” is 0V
(emergency stop condition or disconnected).
2) It turns back ON once the emergency stop condition is released and EMG terminal goes
up to 24V DC. Have an appropriate safety treatment such as interlock with this signal for
the host controller (PLC, etc.).
Caution : It is not an emergency stop output due to an alarm generation of the

controller.
128
�
[3] Operation Mode (RMOD, RMDS)
Input Output
PIO signal
RMOD RMDS
Two operation modes are provided so that the operation by PIO signals does not overlap with
the operation by a teaching tool such as PC software through SIO (serial) communication.
The mode change is normally done by the “Operation mode setting switch” on the front panel of
the controller.
Chapter 3 Operation
AUTO ········Operation by PIO signals is valid.
MANU ·······Operation through SIO (serial) communication is valid.
(Note 1)
However, the controller is subject to link connection to connect with a teaching tool such
as “PC software” by using a “SIO converter”, the controller may be far apart from the teaching
tool. In such a case, the controller can be entered into the “MANU” mode by setting PIO signal
“RMOD” to ON.
Because the RMDS signal is set to ON with the MANU mode selected by using the signal,
make the operation sequence interlocked.
The table below lists the switches on the front panel, the modes selected by the RMOD signal
and the corresponding output states of the RMDS signal.
Note 1 For the details of the link connection, refer to “11.1 Way to Set Multiple Controllers
with 1 Teaching Tool”.
�: Selected or set to ON
Condition Status
PIO Operation
(Note 2) � � � � � � � �
Teaching tool such as Invalid
PC software PIO Operation
� � � � � � � �
Allowed (Note 2)
Switches on AUTO � � � � � � � �
front panel MANU � � � � � � � �
PIO Input RMOD � � � � � � � �
PIO Output RMDS � � � � � � � �
PIO valid: �, PIO invalid:� � � � � � � � �
Operation by normal PIO
Note 2 “PIO Operation Allowed” or “PIO Operation invalid” is the function to select a
restriction while the teaching tool such as “PC software” is connected.
� � Caution : (1) Note that selecting “PIO start enable” by using the teaching tool such as
“PC software” makes all PIO signals valid to enable operation however
the states of the switches and RMOD signal input may be. In this status,
the actuator may be started depending on the signals from PLC.
(2) If the teaching tool such as PC software is disconnected from the
controller, “PIO Operation Allowed” or “PIO Operation invalid” holds the
state selected before. After teaching operation or debugging is
terminated, select “PIO Operation Allowed” and disconnect the teaching
tool such as “PC software” from the controller.
129
�
[4] Compulsory Stop (CSTP)
Input
PIO signal
CSTP
This signal is used to forcibly stop the actuator.

Input the CSTP signal continuously for 16ms or longer. Once the CSTP signal is received, the
actuator decelerates and stops with the maximum torque, and then turns the servo OFF. At this
time, the deviation counter is cleared.
Chapter 3 Operation
[5] Servo ON (SON, SV)

Input Output
PIO signal
SON SV
1) Servo ON signal SON is the input signal making the servo motor of the actuator operable.
2) If the servo-on is performed to enable operation, the SV output signal is turned ON.
Concurrently positioning completion signal INP is turned ON.
3) With the power being supplied, then controller cannot be operated while the SV signal
remains OFF. If the SON signal is turned OFF under operation of the actuator, the actuator
is decelerated and stopped with the maximam torque. After the stop, the servo OFF occurs
to enter the motor into the free running state.
The brake (option) is of release-in-excitation type. Therefore, making the excitation on will
release the brake (release) while making it off will lock the brake (lock).
SON
SV
Brake Lock 50ms

Excitation Release 50ms
50ms 100ms
Varies depending on operational
and load conditions
INP
� Servo OFF status

1. Once the actuator stops, no retaining torque will be supplied.
2. The pulse train input, HOME (home return signal), TL (torque-limiting selection signal)
and CSTP (external forced stop signal) are all ignored.
3. Output signals SV (ready signal), HEND (home return complete signal) and TLR (torque
limiting signal) are all cleared (turned OFF).
4. INP (Positioning Completion Signal)
The INP (Positioning Completion Signal) is OFF when the servo is OFF.
130
�
[6] Home Return (HOME, HEND)
Input Output
PIO signal
HOME HEND
The HOME signal is intended for automatic home return.

When the HOME signal is turned ON, the command will be processed at the leading edge (ON
edge) of the signal and the actuator will perform home return operation automatically.
Once the home return is completed, the HEND (home return completion) signal will turn ON.
Set the home (enter “0”) in the current value register of the host controller (PLC) using the
Chapter 3 Operation
current value preset function, etc., when the HOME signal turns ON.
Caution :
(1) The HOME signal is given priority over any pulse train command. Even when the
actuator is moving with a pulse train command, it will start home return once the
HOME signal is turned ON.
(2) The HOME signal is processed only at the leading edge (ON edge) of the signal.
(3) If the SON signal is turned OFF or an alarm is detected during home return, the home
return operation will stop. If the servo is turned OFF, the home return command will be
cancelled even when the HOME signal remains ON. To perform home return again,
therefore, turn the HOME signal OFF and then turn it ON again.
(4) The actuator can be operated without using this function. If this function is not used,
however, management of position data will solely be dependent on the host controller
(monitoring soft stroke limit is effective in the home return complete status).
Therefore, take the necessary measures to prevent an over-stroke, such as not
sending pulse commands with travel distances exceeding the effective stroke or
providing external limit switches for stroke end detection, etc., to forcibly stop the
actuator.
(5) Servo-off or deviation counter clearing causes HEND to be turned OFF. Perform home
return again.

Mechanical end
Home
2)
1)
1) With the HOME signal being ON, the actuator moves toward the mechanical end at the
home return speed.
Check the instruction manual of each actuator.
Caution : In the home reverse specification, the actuator moves in the reverse
direction.
131
�
[Operation of the Gripper]
� � � � � � � � � � � � �
2)
1)
Chapter 3 Operation
2)
Caution : Make sure to refer to Section 9.2 [15] when a change to Parameter No.22
(Note) Finger attachment is not included in the actuator package. Please prepare separately.
132
�
[7] Zone (ZONE1, ZONE2)
Output
PIO signal
ZONE1 ZONE2
Each of the signals turns ON when the current actuator position is inside the range specified by
the relevant parameter.
Two zones, ZONE1 and ZONE2, can be set.
When the current position of the actuator is in ZONE1, it is turned ON if it is in the range of
Parameter No.1 “Zone 1 Positive Side” and Parameter No.2 “Zone 1 Negative Side”, while is
Chapter 3 Operation
OFF when out of the range. These signals are always enabled in the home return complete
state and not affected by the servo status or alarm status. (The ZONE2 signal turns ON/OFF
according to Parameter No.23 “Zone 2+” and Parameter No.24 “Zone 2-”.
�
��Setting values and signal output range
The zone output range varies depending on the difference between the value set for the plus
side of the zone and that for the minus side.
1) Value set for plus side > value set for minus side: The output signal is set to ON in the
range and OFF out of the range.
2) Value set for plus side < value set for minus side: The output signal is set to OFF in the
range and ON out of the range.
[For Straight Slide Actuators]

0mm 30mm 70mm 100mm
Current
Position
Set Value
Zone Signal Output ON Zone setting + : 70mm
Set Value
Zone Signal Output ON ON Zone setting + : 30mm
Caution : (1) These signals become effective after the coordinate system is
established following home return. Turning on the power is not enough
to output these signals.
(2) These signals are not available if the home return function of the
controller is not used.
(3) The zone detection range would not turn ON unless the value exceeds
that of the minimum resolution (actuator lead length/800).
133
�
[8] Alarm, Alarm Reset (*ALM, RES)
Input Output
PIO signal
RES *ALM
1) Alarm signal *ALM is set to ON in the normal status but turned OFF at the occurrence of an
alarm at a level equal to or higher than the operation release level.
2) Turning reset signal RES ON under occurrence of an alarm at the operation release level
allows the alarm(Note 1) to be released. The action is taken at the rising edge (ON edge).
3) The alarm reset should be done after the cause of the alarm is confirmed and removed. If
Chapter 3 Operation
alarm reset and restart are repeated many times without removal of the cause, a severe
failure such as motor burnout may occur.
Note 1 Check the 10.4 Alarm List for details of alarms.
Caution : An alarm of the cold start level cannot be cancelled by RES. Confirm the
cause, remove it, and then reboot the unit.
134
�
[9] Binary Output of Alarm Data Output (*ALM, ALM1 to 8)
Output
PIO signal
*ALM ALM1 to ALM8
1) If an alarm at a level equal to or higher than the operation release level occurs, alarm
output signals ALM 1 to 8 output the alarm information in the binary code format.
2) The host controller can read the binary code of alarm signal *ALM as the strobe signal to
check the alarm information.
�: ON �: OFF
Chapter 3 Operation
*ALM ALM8 ALM4 ALM2 ALM1 Binary Code Description: Alarm code is shown in ( ).
� � � � � – Normal
Software reset during servo ON (090)
Position No. error in teaching (091)
� � � � � 2 PWRT signal detection during movement (092)
PWRT signal detection in incomplete home return
(093)
Move command during servo OFF (080)
Position command in incomplete home return (082)
Absolute position move command when home
return is not yet completed (083)
Movement Command during Home Return
� � � � � 3
Operation (084)
Position No. error during movement (085)�
Move command while pulse train input is effective
(086)
Command Deceleration Error (0A7)�
FAN error detection (0D6)�
� � � � � 4 Field bus module not detected (0F3)
Mismatched PCB (0F4)
Field bus link error (0F1)
� � � � � 5
Field bus module error (0F2)
Parameter data error (0A1)
Position data error (0A2)
� � � � � 6
Position command information data error (0A3)
Unsupported motor/encoder type (0A8)
Z-Phase position error (0B5)
Z-phase detection timeout (0B6)
� � � � � 7 Magnetic pole undefined (0B7)
Home sensor non-detection (0BA)
Home return timeout (0BE)
� � � � � 8 Actual speed excessive (0C0)
Overcurrent (0C8)
Overheat (0CA)
Current sensor offset adjustment error (0CB)
� � � � � 9
Control power source voltage error (0CC)
Drop in control supply voltage (0CE)
Drive source error (0D4)
135
�
�: ON �: OFF
*ALM ALM8 ALM4 ALM2 ALM1 Binary Code Description: Alarm code is shown in ( ).
Command counter overflow (0A4)
Deviation Overflow (0D8)
� � � � � 11
Software stroke limit exceeded (0D9)
Pressing motion range over error (0DC)
Electric angling mismatching (0B4)
Illegal control system transition command (0C5)
� � � � � 12 Motor power source voltage excessive (0D2)
Chapter 3 Operation
Overload (0E0)
Driver logic error (0F0)
Encoder sent error (0E4)
Encoder receipt error (0E5)
Encoder counter error (0E6)
A and B-phase Wire Breaking (0E8)
� � � � � 13
P and S-phase Wire Breaking(0EC)
Absolute encoder error detection 1 (0ED)
Absolute encoder error detection 2 (0EE)
Absolute encoder error detection 3 (0EF)
CPU Error (0FA)
� � � � � 14
Logic Error (0FC)
Nonvolatile memory write verify error (0F5)
� � � � � 15 Nonvolatile memory write timeout (0F6)
Nonvolatile memory data destroyed (0F8)
[10] Brake Forcible Release (BKRL)

Output
PIO signal
BKRL
The brake can be released while BKRL signal is turned ON.

For the actuator equipped with a brake, the brake can be controlled by turning the servo
ON/OFF, however, a release of the brake may be necessary in the case of installing the unit to
a system so the slider or rod can be moved by hand.
This operation can be performed not only by the “Brake release switch” on the front panel of the
controller, but also by the brake release signal BKRL.
� � Warning : (1) Take sufficient care to release the brake. Inappropriate brake release
may cause people to be injured and/or the actuator, the work and/or the
machine to be damaged.
(2) After the brake is released, always make the brake applied again. Any
operation with the brake remaining released is extremely dangerous.
The slider or rod may drop to cause people to be injured and/or the
actuator, the work and/or the machine to be damaged.
(3) Make certain that this signal is turned OFF (brake is activated) when the
power is supplied to the controller.
(4) It is prohibited to switch over between “AUTO” and “MANU” while this
signal is ON (brake is released).
136
�
3.3.3 Pulse Train Input Operation� � � � � � � � � � � � � � � � � � � � �
[1] Command Pulse Input (PP•/PP, NP•/NP)�
In the differential type, it is able to have 200kpps of pulse train input at maximum. When the
host controller possesses only the pulse output function of the open collector, it is able to by
connecting AK-04 (option).
6 types of command pulse train can be selected. Set the pulse train format in Parameter No.63
and active high/low in Parameter No.64. [Refer to 3.3.4 Settings of Basic Parameters Required
for Operation]
Chapter 3 Operation
Caution :
(1) The directions in which the actuator moves upon receiving forward and reverse pulses
conform to the pulse count direction set in Parameter No.62.
(2) As for the forward/reverse directions, pay attention to the host controller setting or
PP•/PP and NP•/NP connections.
(3) Set the actuator acceleration/deceleration on the host controller side.
(4) The actuator acceleration/deceleration should not exceed the rated
acceleration/deceleration of the applicable actuator. [Refer to the actuator’s catalog or
the appendix in this Instruction Manual for the rated acceleration/deceleration of each
actuator.]
* The rotating direction of the motor is defined so that the counterclockwise direction
as viewed from the end of the load shaft represents the forward direction.
Command Pulse Input

Train Mode Terminal In Normal Rotation In Reverse Rotation
Normal Rotation
PP•/PP
Pulse Train
Reverse Rotation
Pulse Train NP•/NP
The normal rotation pulse train shows the motor rotation amount in normal direction, and
reverse rotation pulse train shows the motor rotation amount in reverse direction.
Negative Logic
Pulse Train PP•/PP
Symbol NP•/NP Low High
The command pulse shows the motor rotation amount and the command symbol shows the
rotation direction.
PP•/PP
A/B Phase
Pulse Train
NP•/NP
The A/B Phase 4-fold Pulse with the phase difference of 90° shows the commands for
the rotation amount and direction.
Normal Rotation
PP•/PP
Pulse Train
Reverse Rotation
NP•/NP
Positive Logic
Pulse Train
Symbol NP•/NP High Low
A/B Phase PP•/PP

Pulse Train
NP•/NP
137
�
Caution : Consider the electric gear ratio of the host side and that of the controller
side via the following calculation.
(Reference) Acceleration/deceleration settings of general positioning device

Chapter 3 Operation
Motor Rotation
Velocity [mm/s]
Motor Rotation [rpm] = � 60
Ball Screw • Lead Length [mm/rev]
Time Constant
2
1G = 9800mm/s : Acceleration capable to accelerate up to 9800mm/s per second
0.3G : Acceleration capable to accelerate up to 9800mm/s × 0.3 = 2940mm/s per
second
Velocity
9800mm/s
1G
2940mm/s
0.3G
1s Time
Caution : Set the acceleration/deceleration speed not to exceed the maximum

acceleration/deceleration speed of the actuator. An operation with exceeding
condition may cause a malfunction.
[2] Position complete (INP)�

Output
PIO signal
INP
This signal will turn ON when the remaining travel pulses (accumulated pulses) on the
deviation counter enters the positioning width.
When the servo is ON, this signal turns ON when the accumulated pulses on the deviation
counter are within the number of pulses set in Parameter No.10 “Default positioning width”.
This signal is OFF while the servo is OFF.
Caution :
(1) This signal will turn ON when the servo turns ON (because positioning is executed at
the current position where the servo is ON).
(2) This signal turns ON in response to the deviation (servo lag pulses) and the variance
to the command pulse in 1ms.
Even if the deviation is within the positioning width, the signal would not turn ON if
there is a variance to the command pulse in 1ms.
138
�
[3] Torque Limit Select (TL, TLR)
Input Output
PIO signal
TL TLR
This signal is used to limit the torque of the motor.

While the TL signal is ON, the actuator thrust (motor torque) can be limited to the torque set
in Parameter No.57 “Torque limit”.
With the TL signal being ON, the TLR signal (torque limiting) will turn ON when the actuator
thrust reaches the torque limit.
Chapter 3 Operation
The TL signal is disabled during home return or forced stop.
Caution :
• Do not turn the TL signal OFF while the TLR signal is ON.
• An excessive deviation (accumulated pulses) may generate while torque is being limited
(TL signal is ON) (for example, the actuator may receive a load just like it receive a
pressing force in pressing operation and therefore become no longer operable). If the TL
signal is turned OFF in this condition, actuator control will start at the maximum torque the
moment the signal changes, thus causing the actuator to move suddenly or run
uncontrollably. After turning TLR signal ON, perform an operation in the reversed way to
confirm TLR signal turns OFF. If the condition is difficult for the reversed movement, turn
the servo OFF or clear the deviation counter (by turning DCLR ON).
[4] Deviation Counter Clear (DCLR)

Input
PIO signal
DCLR
This is the signal to clear the deviation counter that stores the specified pulse until its process
is completely finished (positioning is completed) once a command pulse is input.
It is used when the deviation is desired to be cleared after the pressing by TL signal is
complete (TLR signal ON). Once the deviation is cleared, TLR signal turns OFF and the
condition can be made as it is positioned at the point where the pressing is complete.
Caution : DCLR signal is a signal that is processed at the startup (ON edge).
Therefore, input the pulse train while DCLR signal is on and the actuator will
operate. Turn this signal ON only when the deviation counter is to be cleared.
139
�
3.3.4 Settings of Basic Parameters Required for Operation� � � � � � � � �
It is a mandatory parameter to perform an operation.
(The parameters listed in the table below may only be set if the actuator performs only
positioning operation.)
Parameter No. Parameter Name Details

65 Electronic Gear Numerator This parameter determines the unit travel distance of
Chapter 3 Operation
66 Electronic Gear Denominator the actuator per command pulse train input 1 pulse.
63 Command Pulse Mode Specifies the command pulse train input mode.
Command Pulse Mode Input Sets the type of active high/low of the specified pulse
64 Polarity train
[1] Electronic Gear Setting

This parameter determines the unit travel distance of the actuator per command pulse train
input 1 pulse.
User Parameter No.65/No.66 Electronic Gear Numerator/Denominator

Initial Value
Name Symbol Unit Input Range
(For reference)
Electronic Gear
CNUM – 1 to 4096 2048
Numerator
Electronic Gear
CDEN – 1 to 4096 125
Denominator
Determine the movement amount and calculate value for the electronic gear setting by
following the formula below:
Linear Axis Unit Travel Distance: Min. Travel Distance Unit (1, 0.1, 0.01mm etc.)/pulse
� Electronic Gear Formula:
Electronic Gear
Numerator (CNUM) No. of Encoder Pulses(Note 1) [pulse/rev]
= � Unit Travel Distance [mm/pulse]
Electronic Gear Actuator Lead Length [mm/rev]
Denominator (CDEN)
Note 1 : Refer to 11.5 “List of Specifications of Connectable Actuators” for the encoder pulse
of each actuator.
� Formula for velocity:

The velocity of the actuator can be figured out with the following formula.
Velocity = Unit Travel Distance � Input Pulse Frequency [Hz]
140
�
� Examples of electronic gear calculations:
To set the unit travel distance to 0.01 (1/100) mm for an actuator a ball screw lead of 3mm,
equipped with an encoder of 800pulses/rev.
Electronic Gear
Numerator (CNUM) No. of Encoder Pluses [pulse/rev]
= � Unit Travel Distance [deg/pulse]
Electronic Gear Ball Screw Lead Length [mm/rev]
Denominator (CDEN)
800 1 8
= � =
3 100 3
Chapter 3 Operation
The electronic gear numerator (CNUM) is calculated as 8, while the electronic gear
denominator (CDEN) is calculated as 3. Based on these settings, the travel distance per
command pulse train input pulse becomes 0.01mm.
Caution:
� The fraction has to be completely reduced so both the electric gear numerator
(CNUM) and electric gear denominator (CDEN) can be 4096 or less and make them
to be integral numbers. (Do not stop reducing the fraction on the way.)
� CNUM and CDEN on the line axis have to satisfy the following relative formulas.
Stroke Length [mm]
231 � � No. of Encoder Pluses [pulse] � CNUM
Ball Screw Lead Length [mm/rev]
Stroke Length [mm]

231 � � No. of Encoder Pluses [pulse] � CDEM
� Do not set the minimum movement unit out of the encoder resolution ability. If this
setting is conducted, the actuator would not start moving until enough command
pulse is stored in the encoder resolution error.
Encoder resolution [mm/pulse] =
No. of Encoder Pluses [pulse/rev]
� Pay attention not to exceed the specification limit when setting the velocity,
acceleration and deceleration.
141
�
[2] Format Settings of Command Pulse Train
Set the format of command pulse train in Parameter No.63 and active high/low in No.64.
(1) Command Pulse Mode

User Parameter No.63 Command PulseInput Mode
Name Symbol Unit Input Range Initial Value
Command Pulse
CPMD – 0 to 2 1
Input Mode
Chapter 3 Operation
Command Pulse Input Setting Value

Train Mode Terminal In Normal Rotation In Reverse Rotation of Parameter
No. 63
Normal Rotation
PP•/PP
Pulse Train
2
Reverse Rotation
Pulse Train NP•/NP
The normal rotation pulse train shows the motor rotation amount in normal direction, and
reverse rotation pulse train shows the motor rotation amount in reverse direction.
Negative Logic

1
Symbol NP•/NP Low High
The command pulse shows the motor rotation amount and the command symbol shows the
rotation direction.
PP•/PP
A/B Phase 0
Pulse Train
NP•/NP
The A/B Phase 4-fold Pulse with the phase difference of 90° shows the commands for
the rotation amount and direction.
Normal Rotation
PP•/PP 2
Pulse Train
Reverse Rotation
NP•/NP
Positive Logic
Pulse Train
Pulse Train PP•/PP 1
Symbol NP•/NP High Low
A/B Phase PP•/PP 0

Pulse Train
NP•/NP
(2) Command Pulse Mode Input Polarity

User Parameter No.64 Command Pulse Input Mode Polarity
Name Symbol Unit Input Range Initial Value
Command Pulse
Input Mode CPMD – 0 to 1 0
Polarity
Set Value
Positive logic : 0
Negative logic : 1
142
�
3.3.5 Parameter Settings Required for Advanced Operations� � � � � � � �
Depending on systems and/or loads, set the following parameters if necessary.
[1] Position command primary filter time constant

Input Initial
No. Name Symbol Unit
Range Value
Position command primary 0.0 to
55 PLPF msec 0.0
filter time constant 100.0
Chapter 3 Operation
The acceleration/deceleration of the actuator can be set in S-shaped curve with this parameter
setting. (It is not the S-shaped acceleration/deceleration function.)
If command pulse train is input at a certain frequency, the actuator is accelerated/decelerated
slowly depending on the time constant.
The actuator moves by the number of command pulses.
Even if the host controller (PLC etc.) has no acceleration/deceleration function or the
frequency of command pulses varies rapidly, the actuator can be accelerated/decelerated
smoothly.
The delay in positioning stabilizing time requires approximately 3 times longer than the set
value after the command pulse input stop. If the set value is 100ms, the stabilizing time would
be approximately 300ms.
Pulse Train
Velocity
[2] Torque Limit�

Input Initial
Range Value
57 Torque Limit TQLM % 0 to 70 70
Set a desired torque limit used in the torque limit input signal (TL), which is an external input
signal.
Set a desired torque as a percentage of the rated thrust representing 100% (the rated thrust is
specified in the catalog).
When the external torque-limit input signal (TL) turns ON, the torque will be limited according
to the setting.
Once the torque current reaches a level corresponding to the specified torque limit, the torque
limiting signal (TLR) will be output as an external output signal.
[3] Clearing deviation during servo OFF or alarm stop�

Input Initial
Range Value
Clearing deviation during servo OFF
58 SDCR – 0 to 1 1
or alarm stop
You can select whether to enable or disable the function to clear the deviation when the servo
is OFF or the actuator is stopped due to an alarm.
0: Disable
1: Enable
143
�
[4] Error monitor during torque limiting�
Input Initial
Range Value
59 Error monitor during torque limiting FSTP – 0 to 1 0
You can select whether to enable or disable the function to monitor deviation while torque is
being limited (the TL signal is ON).
By enabling this function, you can have the controller output an error while torque is being
limited, if a deviation equal to or exceeding the specified value.
0: Disable
Chapter 3 Operation
1: Enable
[5] Deviation Counter Clear Input�

Input Initial
Range Value
60 Deviation Counter Clear Input DCLR – 0 to 1 0
You can select whether to enable or disable the function to clear the deviation.
Disable this function in conditions where torque must be limited (pressing is not performed).
0: Disable
1: Enable
[6] Torque limit command input�

Input Initial
Range Value
61 Torque limit command input TL – 0 to 1 0
Torque control of the motor with the value set in Parameter No. 57 Torque Control Value can
be performed with PIO (TL Signal ON) from the host system. In this parameter, a choice can
be made from using (make activated) TL Signal (Torque Limiting Signal) and not using (make
inactivated) the signal.
0: Disable
1: Enable
[7] Pulse count direction�

Input Initial
Range Value
Set
62 Pulse count direction CPR – 0 to 1
individually
You can set the direction in which the motor turns according to command pulses.
0: Forward rotation
1: Reverse rotation
[8] Compulsory Stop Input�

Input Initial
Range Value
67 Compulsory Stop Input CSTP – 0 to 1 0
Compulsory stop of the actuator can be performed with PIO (CSTP Signal ON) from the host
system. In this parameter, a choice can be made from using (make activated) CSTP Signal
(Compulsory Stop Input Signal) and not using (make inactivated) the signal.
0: Disable
1: Enable
144
�
Chapter 4 Field Network
Are applicable for the field networks shown in the list below.
Except for RS485 (Modbus), it is the option which can be selected when purchasing. It cannot be
changed after the product is delivered.
Also, for the field networks other than RS485, PIO cannot be equipped. And “Pulse Train Control
Mode” cannot be operated.
Field Network Name Description Details

DeviceNet Control of the actuator is available with I/O Refer to the other

communication using the control signals ME0256 (Note1)
CC-Link same as those for PIO or the numerical data Refer to the other
communication. ME0254 (Note1)
PROFIBUS-DP Refer to the other
ME0258 (Note1)
CompoNet Refer to the other
ME0220 (Note1)
MECHATROLINK-�/� Refer to the other
ME0221 (Note1)
EtherCAT Refer to the other
ME0273 (Note1)
EtherNet/IP Refer to the other
ME0278 (Note1)
RS485 Actuator is controlled with using a general Refer to the other
protocol “Modbus” communication. ME0162 (Note1)
Note 1 This controller is the slave units (slave stations). Check the instruction manual of the host
controller for the details of each network.
For the instruction of the field network, the instruction manual is provided separately. Use
the manual together with this manual.
145
146
Chapter 5 Vibration Suppress Control Function
(ACON-CA Dedicated Function)
The “Vibration suppress control function” suppresses vibrations of loads induced by our
actuators.
The function can suppress vibrations in the same direction as the movement of the actuator in
the frequency range from 0.5Hz to 30Hz.
Measure the frequency of the generated vibration and set it to the parameter. Three
frequencies can be defined as parameters. Specify the parameters in the position table to
reflect them on suppression of vibrations generated by the operation. For a single moving
command (position data), only a single parameter can be set.
�Note) : Before this function can be used, you must read the cautions described on the
Chapter 5 Power-saving Function (Automatic Servo-off and Full Servo Functions)

next page.
[Functional Operation Image]
The figure below shows an example in which two actuators are subject to 2-axis combination.
Actuator A is moved to cause actuator B corresponding to a joint to be vibrated. Measure the
vibrations of B in the direction in which A is moved and make proper vibration suppress control
in the direction to suppress the vibrations of B. Vibrations of Actuator B caused by the
movement of B cannot be suppressed by Actuator A.
�
�No setting of vibration suppress control �Setting of vibration suppress control
Vibration in axis
moving direction
B
(Joint)
B
(Joint)
A A
147
� � Caution :
� Use of Anti-Vibration Suppress Control
It is necessary to obtain a key file if you wish to use the frequency analysis tool for
anti-vibration control included in the PC software.
For the key file, contact IAI.
� Vibrations subject to vibration suppress control
It is the vibration of the load generated by IAI actuator, and is in the same directions as the
actuator movement.
� Vibrations not subject to vibration suppress control
1) Vibration whose source is not the operation of the actuator
2) Vibration in a direction different from the direction in which the actuator, or the vibration
source, is moved.
3) Vibration of vibrating object itself (This function moves objects easily vibrated without
vibrations and cannot suppress vibrations already generated.)
� Conditions in which vibration suppress effect can hardly be obtained
1) When the frequency to control is the same value as the mechanical angle of the motor
(motor rotation) or the electrical angle of the motor
Frequency of motor’s mechanical angle (motor revolution):
operation speed [mm/s]/lead length [mm]
Frequency of motor’s electric angle:
4 times of frequency of mechanical angle for servo motor installation axis
� � � � � � � Same value as frequency of mechanical angle for linear actuator
Example 1: Servo motor installation axis
For lead length 20mm and operation speed 100mm/s:
Frequency of mechanical angle (motor revolution) : 5Hz
Frequency of electric angle (four times of frequency of mechanical angle) : 20Hz
Example 2: Linear Actuator
For lead length 50mm and operation speed 1000mm/s:
Frequency of mechanical angle : 20Hz
Frequency of electric angle (frequency of mechanical angle) : 20Hz
2) When a higher speed response is required for the vibration control than the set speed
control response, the speed response is not able to catch up with the vibration control.
� Vibration suppress control unavailable in home return and pressing operations
Home return and pressing operations cannot suppress vibrations. Operating the vibration
suppress control function in pressing causes 0A2 “position data error” to occur.
� Prohibition of simultaneous use of vibration suppress control with feed forward gain
The vibration suppress control function cannot be used with feed forward gain
simultaneously.
� Prohibition of switch to use vibration suppress control during moving operation
Switching between vibration suppress control and normal positioning is disabled during
movement of the actuator. Any switching command causes 0C5 “Illegal control system
transition command error” to occur.
� Response of vibration suppress control
Vibration suppress control has time lag from speed command in the operation plan. This
makes takt time longer.
Lower the setting frequency is, longer the time lag is.
� Use of pulse train control mode forbidden
“Pulse train control mode” cannot be used.
� Consideration of servo gain
If the servo gain setting is not conducted properly, the effect of the anti-vibration control
may get dropped. First adjust the servo gain prior to setting of vibration suppress control.
148
5.1 Setting Procedure� � � � � � � � � � � � � � � � � � � � � � �
To use the vibration suppress control function, make proper measurements and settings
depending on the procedure described below.
Before setting vibration suppress control 1) Provide start setting

1) Are steps up to trial adjustment 2 in according to Starting
Starting Procedure/Positioner Mode Procedure/Positioner
completed? �No Mode.
2) Is the key file stored in the folder that the 2) It is necessary to obtain a
PC Software startup file is stored if the key file aside from the
specific frequency is to be measured software if you wish to use
using the vibration control frequency the frequency analysis
analysis tool stored in the “PC tool for anti-vibration
Software”? control included in the “PC

Software”. Please contact
� Yes us for the details.
Confirmation of vibration to be suppressed This function cannot suppress
Is vibration source our actuator? Is vibration �No the vibration. Take other
direction the same as moving direction? measures.
� Yes
Measurement of Natural frequency
Measure the Natural frequency by any of the following methods:
� Use of tool equipped in “PC Software”
[Refer to the Instruction Manual of the RC PC software.]
� Use of measuring instrument such as vibration meter or
acceleration pickup
� Calculation from video image data
�
Setting of parameter for vibration suppress control
[See next page.]
� Set the measured natural frequency in the parameter.
Note: With the installed in the PC software, it is able to write
parameters from the tool.
� Set related parameters.
�
Setting of vibration suppress control parameter set No.
Set the anti-vibration control parameter set number to be used in
“Anti-Vibration No.” of the position number that requires
anti-vibration control in the position table.
�
Test run (check of vibration suppress effect) �No

Operate the actuator.
Is sufficient vibration suppress effect obtained?
� Yes
Now the settings are completed.
149
5.2 Settings of Parameters for Vibration Suppress Control� � � � � �
Set the parameters associated with vibration suppress control, which are listed in the table below.
Parameter Parameter Default
Parameter Name Unit Input Range
No. Set No. value
Damping Characteristic
97 Rate 10 0 to 1000
Coefficient 1
98 1 Rate 1000 0 to 1000
Coefficient 2�
99 Natural Frequency 1/1000Hz 10000 500 to 30000
100 Notch Filter Gain Rate 9990 1 to 20000
101 Rate 10 0 to 1000
Coefficient 1
102 2 Rate 1000 0 to 1000
Coefficient 2�
103 Natural Frequency� 1/1000Hz 10000 500 to 30000

105 Rate 10 0 to 1000
Coefficient 1
106 3 Rate 1000 0 to 1000
Coefficient 2�
107 Natural Frequency� 1/1000Hz 10000 500 to 30000
109 � Default Vibration Suppress No. 0 0 to 3
110 � Stop Method at Servo OFF 0 0, 1
[1] Damping Characteristic Coefficient 1,2 (Parameter No.97�98, 101�102, 105�106)

Do not change.�
[2] Natural Frequency [1/1000Hz] (Parameter No.99, 103, 107)
Set the natural frequency of the load measured. It can be input directly to the parameter from
the frequency analysis tool for anti-vibration control included in the “PC software” if the tool is
already used. [Refer to the Instruction Manual of the PC software.]
Set the specific frequency of the loaded object close to the setting so a higher anti-vibration
performance can be obtained.�
�
[Reference] Other vibration measuring methods
� Use of measuring instrument such as vibration meter and acceleration
pickup
� Calculation from video image data
�
[3] Notch filter gain (Parameter No.100, 104 and 108)
Set the notch filter gain following the table below in response to the measured specific
frequency of the loaded object. See the table below for reference. Provide fine adjustment if
overshooting occurs.
If the notch filter gain setting is too high, overshooting would occur during the settling time.
If the notch filter gain setting is too low, undershooting would occur during the settling time.�
Measured Setting Value of Notch Filter Gain

Natural
Frequency [Hz] Other than Linear Actuator Linear Actuator
0.5 9900 9880
1 9980 9970
2 to 30 9990 9990
�
150
[4] Default Vibration Suppress No.�(Parameter No.109)�
When a position is written into a position table not registered yet, the value set to this
parameter is automatically entered in the “Vibration suppress No.” field. To change the
setting, edit the position table later.
0: Normal position control (default)
1: Use Anti-Vibration Control Parameter Set 1
2: Use Anti-Vibration Control Parameter Set 2
3: Use Anti-Vibration Control Parameter Set 3�
� �
[5] Stop Method at Servo OFF�(Parameter No.110)�
The table below shows the relationship between the values of Parameter setting and stop
commands.�

Stop Process
0 1
Stop Command Vibration Normal Vibration Normal
suppress positioning suppress positioning
control control control control
Anti-vibration Normal
Pause deceleration deceleration
stop and stop
Anti-vibration Normal
Servo OFF
deceleration deceleration
Emergency Stop stop and stop
Sudden stop by
Error emergency stop torque
(Operation-cancellation
level alarms)
Error
Sudden stop by emergency stop torque
(Cold start)
151
5.3 Setting of Position Data� � � � � � � � � � � � � � � � � � � �
To make the anti-vibration control effective, set the parameter set number to be used in
“Anti-Vibration Number” Column in Position Data.
(Note) : The vibration suppress control function cannot be used in pressing operation.
Accele- Decele- Thresh- Positioning Acceleration/ Vibration

Position Velocity Pressing Zone+ Zone- Incre- Gain Stop
No. ration ration old width Deceleration suppress
[mm] [mm/s] [%] [mm] [mm] mental set mode
[G] [G] [%] [mm] mode No.
0
1 0.00 50.00 0.01 0.01 0 0 0.10 0.00 0.00 0 0 0 0 0
2 50.00 50.00 0.01 0.01 0 0 0.10 0.00 0.00 0 0 0 0 1
3 50.00 50.00 0.01 0.01 50 0 0.10 0.00 0.00 0 0 0 0 3
4
Set natural frequency 1 (enabled)

Set natural frequency 3 (It cannot be in common

with Error: 0A2 Position Data Error Pressing
Operation.)
152
�
Chapter 6 Power-saving Function (Automatic Servo-off)
This controller possesses Automatic Servo-off functions to reduce the power consumption
while the actuator is stopped. Read the description in this chapter carefully to save power so
that the controller can be operated safely.
Automatically turns the servo OFF in certain time after positioning process is finished. The next
positioning command is issued to turn the servo ON automatically and achieve the positioning.
No holding current flows in the stop state to allow the power consumption to be saved.
3 types of patterns can be set for the time since positioning complete until servo turned OFF,
and either one can be selected.
For the power saving function, which of Parameter No.53 or “Stop Mode” in the position table is
to be used is determined by the actuator condition. The details are shown below.
Setting
PIO Pattern 0 to 4 PIO Pattern 5
Status
Standby after home return Power saving function executed

is complete with the values set in Parameter
(Positioning to the target No.53 (Stop Mode of the
point is not done) position number is invalid)
Standby with the servo Power saving function executed
turned ON after the power with the values set in Parameter
is supplied (Positioning to No.53 (Stop Mode of the
the target point is not position number is invalid)
done)
Standby after the Power saving function executed with the values set in “Stop
positioning is complete to Mode” in each position number (Setting of Parameter No.53 is
the target position set in invalid)
the position table
� � Warning : Do not use this function if the automatic servo-off is followed by pitch feed
(relative movement).
Servo ON/OFF may cause slight position shift to occur. If position shift
occurs due to external force during servo OFF, positioning to the correct
position is disabled. It is because pitch feed is operated based on the
position at start used as the base point.
� � Caution : Automatic Servo-off Function is not effective while in pressing operation. Do

not use. It becomes effective at completion of positioning. In pressing, the
function becomes effective only when miss-pressing occurs (the status at
the completion of operation without pressing is the same as that at the
completion of positioning).
No retaining torque is provided in automatic servo-off. The actuator can
move with an external force. Pay attention to the interference to the
peripherals and the safety in the installation.
153
�
(1) Setting of periods taken until automatic servo-off
Three periods from completion of positioning to automatic servo OFF can be set in the
following parameters in seconds [sec].
Parameter No. Description

36 Auto Servo Motor OFF Delay Time 1 (Unit: sec)
(2) Set of power-saving mode

Select a proper power-saving mode from the conditions below. Set the corresponding value
in the “Stop mode” or parameter No.53 of the position table.
Set Value Operation after completion of positioning

0 Servo ON not changed
1 Automatic servo-off in a certain time (set in Parameter No.36)

154
�
(3) Status of positioning complete signal in selection of automatic servo-off
Automatic servo-off causes the actuator to be in other than the positioning complete state
due to the servo OFF. Positioning complete signal (PEND) is turned OFF. Changing the
PEND signal to the in-position signal judging whether the actuator is stopped within the
positioning width zone instead of the positioning complete signal allows PEND not to be
turned OFF during servo OFF.
This setting is reflected on complete position numbers PM1 to PM** in PIO patterns 0 to 3
confirming the positioning complete position No. or current position numbers PE* in PIO
patterns 4.
Define the setting in Parameter No.39.
Value set in Content of PEND Signal outputs during automatic servo-off

Parameter No.39 signal PEND PM1 to PM** PE**
Positioning
0 OFF OFF OFF
Completion Signal
1 In-position Signal ON ON ON
(Note) The SV on the front panel blinks green during the automatic servo-off.

[For Parameter No.39 = 0]
Positioning Automatic servo-off Positioning

Operation of actuator Servo OFF
operation standby operation
Servo Condition ON ON OFF ON
Completed Position No.

PM1 to ** =0 PM1 to ** = Output PM1 to ** = 0 PM1 to ** = 0
Output (Current position
number output) (PE** = OFF) (PE** = ON) (PE** = OFF) (PE** = OFF)
Positioning Completion
Signal PEND
OFF ON OFF OFF
Servo OFF Delay

Time
(Parameter No.36 to 37)
[For Parameter No.39 = 1]
Positioning Automatic servo-off Positioning

Operation of actuator Servo OFF
operation standby operation
Servo Condition ON ON OFF ON
Completed Position No. PM1 to ** = 0

PM1 to ** = 0 PM1 to ** = Output PM1 to ** = 0
Output (Current position Output
number output) (PE** = OFF) (PE** = ON) (PE** = OFF)
(PE** = ON)
Positioning Completion
Signal PEND
OFF ON ON OFF
Servo OFF Delay

Time
(Parameter No.36 to 37)
155
156
�
Chapter 7 Absolute Specification (ACON-CA Dedicated Function)
The controller of “Simple absolute type” and “Serial absolute type” holds encoder position
information by battery backup. It is not necessary to perform the home-return operation every
time the power is turned ON.
7.1 Absolute encoder backup specifications� � � � � � � � � � � �

� [1]� Simple Absolute Type
Item Specifications
Battery model AB-7
Battery voltage 3.6V
Current capacity 3300mAh
Reference for battery replacing timing(Note 1)� Approx. 3 years
(It varies significantly by the effects of the
usage condition)
(Note 1) Replace the battery regularly.
Chapter 7 Absolute Type (ACON-CA Dedicated Function)

[2]� Serial Absolute Type
Item Specifications
Battery classification Thionyl chloride lithium batteries
Battery manufacturer TOSHIBA HOME APPLIANCES CORP
Battery model (IAI model) AB-5
Battery nominal voltage 3.6V
Current standard capacity 2000mAh
Reference for battery replacing timing(Note 1) 2 years after use (if left unused without
(Surrounding temperature 40°C) power supply to controller)
4 years after use (if 50% of time with power
supply to controller)
Voltage drop alarm signal 3.1V (Reference value)
Error detection (* 1)
*Output of the BALM

Output of the alarm 2.5V (Reference value)
*Output of the ALM
Warning � Reference for time 7 days if the controller is operated
suspended after alert till continuously at 20°C.
alarm 2.5 days if the controller is operated
continuously at 40°C.
Absolute data retaining duration at battery 15 minutes (Have the replacing work done
replacement within this time.)
(Note 1) Replace the battery regularly.
*1 Error detection: If the voltage of the absolute battery is dropped, the error detection
responding to the voltage is held.
157
�
7.2 Connection of Absolute Battery� � � � � � � � � � � � � � � �
[Simple Absolute Type 1] For the Type to Attach Battery to Controller Side
The controller is enclosed with the absolute battery (AB-7) and a fabric hook-and-loop fastener.
The absolute battery is used to back up the absolute data.
Separate the fastener and attach one on the side surface of the controller and the other on the
absolute battery. Join the 2 pieces of the fastener, one on the controller and the other on the
battery, to affix the battery.
Connect the battery to the absolute battery connector on the front panel of the controller.
[Simple Absolute Type 2]� When Using Absolute Battery Unit�

Connect the absolute battery connector on the front of the controller and the connector on the
absolute battery unit with the dedicated cable (CB-APSEP-AB005).
CB-APEP-AB005
Absolute
Battery Unit
[Serial Absolute Type]

Connect the connector on the absolute battery (AB-5) to the absolute battery connector on the
bottom of the controller.
158
�
7.3 Absolute Reset� � � � � � � � � � � � � � � � � � � � � � � � �
The controller of “Simple absolute type” and “Serial absolute type” holds encoder position
information by battery backup. It is not necessary to perform the home-return operation every
time the power is turned ON.
In order to hold the encoder position information, absolute reset is required.
Provide absolute reset in the following cases:
(1) Initial activation
(2) When the absolute battery was replaced with the power to the controller is shut, and
(3) Disconnection of encoder cable from controller
The absolute reset is performed by using a teaching tool such as PC software or PIO. Each of
the absolute reset procedures is described below.
Caution : If it is Pulse Train Control Mode, it would not comply with “Simple
absolute type”. Take the greatest care.
[1] Absolute reset procedure from teaching tool

1) Connect the controller with the actuator. [Refer to Chapters 1 and 2.]

2) Connect the absolute battery (Enclosed battery if starting up for the first time, new battery if
replacing) to the absolute battery connecting connector on the front panel of the controller.
[Refer to 7.2.]
3) Connect the teaching tool and turn ON the power of the controller.
4) The absolute encoder error appears on the teaching tool. Perform alarm reset.
5) Perform home-return operation. Once the home return is complete, the point of origin is
memorized at the same time the origin point is established.
In below explains the procedure using each teaching tool:
(1) For PC software

1) Select position data on the main screen and click the Alarm button.
2) Select position data on the main screen and click the Home button.
159
�
(2) For CON-PTA
1)
Press Reset Alm.
2)
Press Trial Operation on the Menu 1 screen.

3)
Press Jog_Inching on Trial screen.
4)
Press Home on Job/Inching screen.
[2] Absolute reset using PIO

1) Turn the reset signal RES from OFF to ON. (Processed with ON edge.)
2) Check that the alarm signal *ALM is ON (controller’s alarm(Note 1) is cancelled).
(Note 1) If the cause of the alarm is not removed, an alarm will be present again (*ALM
signal OFF). Check the condition including other alarm causes.
3) Turn ON the pause signal *STP.
4) Turn the servo-on signal SON ON.
5) Wait until the servo-on status SV turns ON.
6) Turn the home return signal HOME (ST0 signal in case of PIO pattern 5) ON (with ON
edge). The home return operation is started.
7) When the homing completion signal HEND is turned ON (completion of home return),
absolute reset is completed.
160
�
[Absolute Reset Process]
Emergency stop actuated or cancelled

Safety Circuit Condition (Status of power supply to the motor drive source)
(Note 1)
24V DC PIO Power Input
Brake Power Input
Control Power Input (Note 2)
Motor Power Input
Alarm reset
Alarm Signal
(*ALM)

Alarm Code Output
(PM8 to PM1)
ALM LED
* Pause Signal Pause is cancelled.

(STP)
Min.100ms
Servo ON Signal
(SON)
Servo ON Status
(SV)
(PEND)
Home Return Signal
(HOME) Min.6ms
Home Return Completion Signal

(HEND)
Home Return Operation

Movement Start
Mechanical End
Home Position
Create a position table via

operation using teaching
pendant or PC.
Note 1 Turn ON 24V power supply for PIO (and 24V power supply for brake if the actuator is
equipped with a brake) prior to turn ON the control power supply or motor power
supply.
Note 2 Have the control power supply and motor power supply in common, and have them
turned ON that the same time.�
161
�
7.4 Absolute Battery Charge (Simple Absolute Type)� � � � � � � �
For “Simple absolute type”, please have the battery charged for more than 72 hours before
using for the first time or after replacing with a new one. The battery gets charged while the
controller is supplied with 24V power.
(Note) The battery used for “Serial absolute type” cannot be recharged.
It is possible to retain the encoder data for the duration shown below for each hour of battery
charge.
Data holding time
Value for User Parameter No.155 0 1 2 3
Upper limit of encoder revolution at
100 200 400 800
power-OFF [RPM]
Data holding time per hour of battery
6.6H 5.0H 3.3H 1.6H
charge time(Note 1) (reference)
(Note 1)
Holding time when fully charged
20 days 15 days 10 days 5 days
(reference)
(Note 1) Followings are the reference values of time assuming the battery is new.
Leaving the controller power OFF for more than the data holding time will lead to a loss of the
data. Have the battery charged as early as possible.

There is life to the battery and the duration for data holding will decrease. Replace the battery
with a new one if the retaining time is remarkably dropped even with enough charging time.
(Example) From Monday to Friday ; charge for 8 hours per day, discharge for 16 hours,
Saturday and Sunday ; use with discharge
1) If the upper limit setting for the number of encoder revolution is 800 [PRM];
Full charge amount ; 24 [h] × 5 [day] = 120 [h]
Total charge amount ; 8 [h] × 1.6 [h] × 5 [day] = 64 [h]
Total discharge amount ; 16 [h] × 5 [day] + 48 [h] = 128 [h]
� Assuming a start with full charge on Monday, it is necessary to fully charge the battery
every 10 days.
2) If the upper limit setting for the number of encoder revolution is 400 [PRM];
Total charge amount ; 8 [h] × 3.3 [h] × 5 [day] = 132 [h]
Total discharge amount ; 16 [h] × 5 [day] + 48 [h] = 128 [h]
� It is not necessary to have a continuous full charge if starting on Monday.
4-hour charge is stored every week. The upper limit is the reference value for the
retaining duration after fully charged.
162
�
7.5 Absolute Battery Voltage Drop Detection
(For Serial Absolute Type)� � � � � � � � � � � �
If the voltage of the absolute battery is dropped, the error detection responding to the voltage
is held.
Voltage PIO Signals Alarm
3.1V Voltage drop alert signal
-
(Reference value) *BALM (Note 1) ON
2.5V Alarm output *ALM (Note 1) OEE Absolute Encoder Error Detection 2
(Reference value) OFF or
OEF Absolute Encoder Error Detection 3
Note 1 BALM and ALM are the signals of active low. Replace the battery before alarm is
generated due to the lamp display by BALM signal (warning) of host controller.
If the alarm is generated, it will be necessary to absolute reset after the battery
replacement.
Battery voltage
3.6V

3.1V
2.5V
Alarm Signal
Normal Output
Alarm
occurred
BALM signal ON
OFF
ALM signal ON
OFF
ALM OFF
Absolute reset
Absolute reset not required required
� � � �
163
�
7.6 Replacement of Absolute Battery� � � � � � � � � � � � � � � �
When replacing the battery, leave the power to the controller ON, remove the battery connector
and replace with a new battery.
[1] Simple Absolute Type For the Type to Attach Battery to Controller Side
[Removal]
Pull off the connector, and

take the battery off the fabric
hook-and-loop fastener.
(Note) Follow the steps in the back order to detaching when attaching a new battery.
[2] Simple Absolute Type� When Using Absolute Battery Unit
1) Detach the absolute battery connector first, and then remove the absolute battery unit
cover retaining screws (2 places) to detach the cover. At this time, pull out the battery
cables from the opening on the cover.
2) Take out the battery.
Follow the steps in the back order to detaching when attaching a new battery.
Absolute Battery
Connector Absolute Battery Unit
Cover Retaining Screws
(Two Locations)
164
�
[3] For Serial Absolute Type
[Removal]
Slide the
battery holder
to the controller
side.
Pull out the

Pull off the connector.
battery towards
front.

Follow the steps in the back order to detaching when attaching a new battery.
165
�
Chapter 8 Maintenance Information
The times of actuator run and distance of operation can be summed up and recorded (Note 1) in
the controller. Also, a signal can by output (Note 2) externally when the times and distance exceed
the threshold. By this signal, notice can be available for the timing of grease supply or regular
inspection.
(Note 3)
Note 1 The contents recorded by “PC Software” , Modbus and Field Network (Note 4) can
be checked.
Note 2 It is necessary to establish the settings in Parameter No. 147 “Total moving count
threshold” and No. 148 “Total moving distance threshold”.
Note 3 Refer to the instruction manuals of RC PC software for details
Note 4 It is limited only to specific operation modes.
Chapter 8 Maintenance Information
166
�
Chapter 9 Parameter
Parameters are the data to set up considering the system and application.
When a change is required to the parameters, make sure to back up the data before the
change so the settings can be returned anytime.
With using “PC software”, it is able to store the backup to the PC. Take a note if using a
teaching pendant such as the “Touch panel teaching” pendant.
Also, for the purpose of rapid recovery after the investigation of failure unit or replacing the
controller, keep data backup or memo also after the parameter change.
The change to the parameters will be activated after they are edited, written to the flash FeRAM,
then either software reset or reboot of the power. It will not be active only with writing on the
teaching tool.
� � Warning : Parameter setting has great influences on operations of the controller.

Incorrect parameter setting may not only cause malfunction or failure of the
controller to occur but also people and assets to be exposed to risk.
The controller is configured to be applicable to normal operation at
shipment. Before providing certain change or setting for the controller to be
fit to your system, understand the control methods of the controller
sufficiently. Please contact us if you have anything unclear.
Do not turn OFF the power to the controller during the parameter writing.
Chapter 9 I/O Parameter
167
�
9.1 Parameter List� � � � � � � � � � � � � � � � � � � � � � � �
The categories in the table below indicate whether parameters should be set or not. There are
five categories as follows:
A : Check the settings before use.
B : Use parameters of this category depending on their uses.
C : Use parameters of this category with the settings at shipments leaving unchanged as a
rule. Normally they may not be set.
D : Parameters of the category are set at shipment in accordance with the specification of the
actuator. Normally they may not be set.
E : Parameters of the category are exclusively used by us for convenience of production.
Changing their settings may not only cause the actuator to operate improperly but also to
be damaged. So, never change the setting of the parameters.
Category do not appear on the teaching tool.
Also, the unused parameter numbers are not mentioned in the list.
� � � (green shaded area) shows the parameters dedicated for ACON-CA.

Category
for for Pulse

Default factory Relevant
No. Name Symbol Unit(Note1) Input Range Positioner Train
setting sections
Mode Mode
mm -9999.99 to Actual stroke on + 7.2 [1]
1 B Zone 1+ ZNM1 � �
(deg) 9999.99 side (Note2) 7.2 [82]
mm -9999.99 to Actual stroke on - 7.2 [1]
2 B Zone 1- ZNL1 � �
(deg) 9999.99 side (Note2) 7.2 [82]
mm -9999.99 to Actual stroke on +
3 A Soft limit+ LIMM � � 7.2 [2]
(deg) 9999.99 side (Note2)
mm -9999.99 to Actual stroke on -
4 A Soft limit- LIML � � 7.2 [2]

0: Reverse In accordance with
5 D Home return direction ORG – � � 7.2 [3]
1: Normal actuator (Note2)
6 C Press & hold stop judgment period PSWT msec 0 to 9999 255 � 7.2 [4]
In accordance with 7.2 [5]
7 C Servo gain number PLG0 – 0 to 31 (Note2) � �
actuator 7.3
mm/s 1 to Actuator’s Rated actuator
8 B Default velocity VCMD � 7.2 [6]
(deg/s) max. speed speed (Note2)
0.01 to actuator's max. Rated actuator's
9 B Default acceleration/deceleration ACMD G acceleration/ acceleration/ � 7.2 [7]
deceleration deceleration (Note2)
mm
10 B Default positioning width INP 0.01 to 999.99 0.10 � � 7.2 [8]
(deg)
Current-limiting value during home In accordance with
13 C ODPW % 1 to 300 � � 7.2 [9]
return actuator (Note2)
0: Enabling
15 B Pause input disable STP – 0 � 7.2 [10]
1: Disabling
16 B SIO communication speed BRSL bps 9600 to 230400 38400 � 7.2 [11]
Minimum delay time for slave
17 B RTIM msec 0 to 255 5 � 7.2 [12]
transmitter activation
Home position check sensor input In accordance with
18 E LS – 0 to 2 � � 7.2 [13]
polarity actuator (Note2)
0: Enabling
21 B Servo ON input disable SON – 0 � � 7.2 [14]
1: Disabling
mm In accordance with
22 C Home return offset level OFST 0.00 to 9999.99 � � 7.2 [15]
(deg) actuator (Note2)
mm -9999.99 to Actual stroke on +
23 B Zone 2+ ZNM2 � � 7.2 [1]
24 B Zone 2- ZNL2 � � 7.2 [1]
0
25 A PIO pattern selection IOPN – 0 to 6 � � 7.2 [17]
(Standard Type)
mm/s 1 to Actuator’s
26 B PIO jog velocity IOJV 100 � 7.2 [18]
(deg/s) max. speed
Note 1 The unit [deg] is for rotary actuator and lever type gripper. It is displayed in [mm] in the teaching tools.
Note 2 The setting values vary in accordance with the specification of the actuator. At shipment, the
parameters are set in accordance with the specification.
�
�
168
�
� � � (green shaded area) shows the parameters dedicated for
I/O Parameter List (Continued) ACON-CA.
Category
for for Pulse

setting sections
Mode Mode
0: Level
27 B Movement command type MCT – 0 � 7.2 [19]
1: Edge
Default movement direction for 0: Reverse In accordance with
28 B DIR – � � 7.2 [20]
excitation-phase signal detection 1: Normal actuator (Note2)
Excitation-phase signal detection In accordance with
29 B TIM msec 50 to 999 � � 7.2 [21]
time actuator (Note2)
0: Conventional method
In accordance with
30 B Excitation Detection Type TYP – 1: New method 1 � � 7.2 [22]
actuator (Note2)
2: New method 2
31 C Velocity loop proportional gain VLPG – 1 to 27661 � �
actuator (Note2) 7.3
32 C Velocity loop integral gain VLPT – 1 to 217270 � �
33 C Torque filter time constant TRQF – 0 to 2500 � �
mm/s 1 to actuator's In accordance with
34 C Press velocity PSHV � 7.2 [26]
(deg/s) max. pressing speed actuator (Note2)
1 to 250
mm/s
35 C Safety velocity SAFV (max. for actuator of 100 � � 7.2 [27]
(deg/s)
250 or less)
36 B Auto servo-motor OFF delay time 1 ASO1 sec 0 to 9999 0 � 7.2 [28]
Position complete signal output 0: PEND
39 B PEND – 0 � 7.2 [29]
method (Note3) 1: INP
0: Enabling
40 C Home-return input disable HOME – 0 � � 7.2 [30]
1: Disabling

0: Enabling
41 C Operating-mode input disable FPIO – 0 � � 7.2 [31]
1: Disabling
0: Enabling
42 C Enable function FPIO – 1 � � 7.2 [32]
1: Disabling
Home position check sensor input In accordance with
43 B HMC – 0 to 2 � � 7.2 [33]
polarity actuator (Note2)
45 B Silent interval magnification SIVM times 0 to 10 0 � 7.2 [34]
46 B Velocity override OVRD % 1 to 100 100 � 7.2 [35]
mm/s 1 to Actuator’s
47 B PIO jog velocity 2 IOV2 100 � 7.2 [18]
(deg/s) max. speed
mm
48 B PIO inch distance IOID 0.01 to 1.00 0.1 � 7.2 [37]
(deg)
mm
49 B PIO inch distance 2 IOD2 0.01 to 1.00 0.1 � 7.2 [37]
(deg)
Default acceleration/deceleration
52 B AS0 – 0 to 2 0 (Trapezoid) � � 7.2 [38]
mode
0
53 B Default stop mode CTLF – 0 to 7 � 7.2 [39]
(Not Applicable)
In accordance with
54 C Current Control Width Number CLPF - 0 to 15 � � 7.2 [40]
actuator (Note2)
Position-command primary filter 3.3.5 [1]
55 B PLPF msec 0.0 to 100.0 0 � �
time constant 7.2 [41]
56 B S-shaped motion rate SCRV % 0 to 100 0 � 7.2 [42]
57 B Torque limit TQLM % 0 to 70 70 � 3.3.5 [2]
Clearing deviation during servo 0: Enabling
58 E SDCR – 1 � 3.3.5 [3]
OFF or alarm stop 1: Disabling
0: Enabling
59 C Error monitor during torque limiting FSTP – 0 � 3.3.5 [4]
1: Disabling
Note 3 In the pulse train control mode, INP is automatically selected. (Cannot be selected)
�
169
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Category
for for Pulse

setting sections
Mode Mode
0: Enabling
60 B Deviation counter clear input DCLR – 0 � 3.3.5 [5]
1: Disabling
0: Enabling
61 B Torque limit command input TL – 0 � 3.3.5 [6]
1: Disabling
0: Forward motor rotation In accordance with
62 B Pulse count direction FPIO – � 3.3.5 [7]
1: Reverse motor rotation actuator (Note2)
1 (pulse-train and
Command pulse input mode
63 B MOD – 0 to 2 moving direction � 3.3.4 [2]
(Pulse train mode)
angle)
Command pulse input mode 0: Positive Logic
64 B CPMD – 0 � 3.3.4 [2]
polarity 1: Negative Logic
65 B Electronic gear numerator CNUM – 1 to 4096 2048 � 3.3.4 [1]
66 B Electronic gear denominator CDEN – 1 to 4096 125 � 3.3.4 [1]
0: Enabling
67 B Compulsory stop input CSTP – 0 � 3.3.5 [8]
1: Disabling
71 B Position feed forward gain PLFG – 0 to 100 0 � � 7.2 [54]
77 D Ball screw lead length LEAD 0.01 to 999.99 � � 7.2 [55]
0: Linear Axis In accordance with
78 D Axis operation type ATYP – � 7.2 [56]
1: Rotary Axis actuator (Note2)
0: Normal Mode In accordance with
79 B Rotary axis mode selection ATYP – � 7.2 [57]
1: Index Mode actuator (Note2)
0: Disabling In accordance with
80 B Rotational axis shortcut selection ATYP – � 7.2 [58]
1: Enabling actuator (Note2)
In accordance with
0: Incremental
83 B Absolute unit ETYP – specification at order � 7.2 [59]
1: Simple Absolute Type
accepted
Separate
84 A Fieldbus operation mode (Note4) FMOD – 0 to 4 Separate volume �
volume
Separate
85 A Fieldbus node address (Note4) NADR – 0 to 127 Separate volume �
volume
Separate
86 A Fieldbus baud rate (Note4) FBRS – 0 to 4 Separate volume �
volume
Separate
87 E Network type (Note4) NTYP – 0 to 7 Separate volume �
volume
88 D Software limit margin SLMA 0 to 9999.99 � � 7.2 [64]
(Note4) Separate
90 C Fieldbus I/O format FPIO – 0 to 3 Separate volume �
volume
0: Current limit value
Current limit value at stopping due during movement
91 C PSFC – 0 � 7.2 [66]
to miss-pressing 1: Current limit value
during pressing
Damping �
Vibration suppress
parameter set 1�
97 C Characteristic DC11 – 0 to 1000 10 �� 5.2

Coefficient 1�
Damping
Coefficient 2�
99 B Natural Frequency� NP01 1/1000Hz 500 to 30000 10000 �� 5.2
100 C Notch Filter Gain� NFG1 – 1 to 20000 9990 �� 5.2
Damping
Vibration suppress
parameter set 2�

Coefficient 1�
Damping
Coefficient 2�
Note 4 These parameters are exclusively used for the field network type.�
170
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Category
for for Pulse

setting sections
Mode Mode
Damping
Vibration suppress
parameter set 3�

Coefficient 1�
Damping
Coefficient 2�
109 B Default Vibration Suppress No. CTLF – 0 to 3 0 �� 5.2
0: Rapid stop
110 B Stop method at servo OFF PSOF – 0 � 7.2 [69]
1: Deceleration to stop
0: Does not use the
calendar timer
111 B Calendar function URTC – 1 � � 7.2 [70]
1: Use the calendar
timer
112 B Monitoring mode MODE – 0 to 3 0 � � 7.2 [71]
113 B Monitoring period FMNT msec 1 to 100 1 � � 7.2 [72]
120 C Servo Gain Number 1 PLG1 – 0 to 31 �
In accordance with
121 C Feed Forward Gain 1 PLF1 – 0 to 100 � 8.2 [57]
actuator (Note2)
122 C Velocity Loop Proportional Gain 1 VLG1 – 1 to 27661 �
actuator (Note2) .3
123 C Velocity Loop Integral Gain 1 VLT1 – 1 to 217270 �

124 C Torque Filter Time Constant 1 TRF1 – 0 to 2500 �
125 C Current Control Width Number 1 CLP1 – 0 to 4 �
In accordance with
actuator (Note2)
128 C Speed Loop Proportional Gain 2 VLG2 – 1 to 27661 �
129 C Speed Loop Integral Gain 2 VLT2 – 1 to 217270 �
In accordance with
actuator (Note2)
134 C Speed Loop Proportional Gain 3 VLG3 – 1 to 27661 �
135 C Speed Loop Integral Gain 3 VLT3 – 1 to 217270 �
Servo Gain Switchover Time
138 C GCFT ms 10 to 2000 10 � 8.2 [108]
Constant
parameters are set in accordance with the specification.�
�
171
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Category
for for Pulse

setting sections
Mode Mode
0.0.0.0 to Separate
140 B IP address IPAD – Separate volume � �
255.255.255.255 volume
0.0.0.0 to Separate
141 B Subnet mask SNMK – Separate volume � �
255.255.255.255 volume
0.0.0.0 to Separate
142 B Default gateway DFGW – Separate volume � �
255.255.255.255 volume
143 B Overload level ratio OLWL % 50 to 100 100 � 7.2 [76]
147 B Total movement count threshold TMCT Times 0 to 999999999 0 (Disabling) � 7.2 [80]
148 B Total operated distance threshold ODOT m 0 to 999999999 0 (Disabling) � � 7.2 [81]
0: To change
149 B Zone output changeover ZONE – 0 � � 7.2 [82]
1: Not to change
0: Battery voltage drop
warning output
1: Output of battery
151 B Light Error Alarm Output Select OALL – 0 � � 8.2 [118]
voltage drop warning
or message-level
alarm
0: 20 days
1: 15 days
155 A Absolute battery retention time AIP – 2 � 7.2 [86]
2: 10 days
3: 5 days
FB half direct mode speed unit mm/s 0: Units of 1mm/s Separate
159 B (Note 4) FBVS Separate volume �
(deg/s) 1: Units of 0.1mm/s volume
Note 4 These parameters are exclusively used for the field network type.
Caution : Make sure to set to “Positioner Mode” (No. 25 “PIO Pattern” = 0 to 5) when
performing an operation with using the serial communication.
If it happens to be in the “pulse train mode” by mistake, the controller may operate
erratically because it is operated according to the “pulse train mode” parameters.
172
�
9.2 Detail Explanation of Parameters� � � � � � � � � � � � � � � �
Caution : • If parameters are changed, provide software reset or reconnect the power
to reflect the setting values.
• The unit [deg] is for rotary actuator and lever type gripper. Pay attention
that it is displayed in [mm] in the teaching tools.
[1] Zone 1+, Zone 1- (Parameter No.1, No.2)

Zone 2+, Zone 2- (Parameter No.23, No.24)
�
Default factory
No. Name Symbol Unit Input Range
setting
mm -9999.99 to Actual stroke on
1 Zone 1+ ZNM1
(deg) 9999.99 + side
2 Zone 1- ZNL1
(deg) 9999.99 side
23 Zone 2+ ZNM2
(deg) 9999.99 + side
24 Zone 2- ZNL2
(deg) 9999.99 side
These parameters are used set the zone in which zone signal (ZONE1 or ZONE2) turns ON in
a mode other than PIO patterns 1 to 3.
The minimum setting unit is 0.01mm (deg).
If a specific value is set to both zone setting + and zone setting -, the zone signal is not output.

A setting sample is shown below.
[Example of when line axis]
0mm 30mm 70mm 100mm

Current Position
Set Value
Zone signal output Zone setting + : 70mm
ON Zone setting - : 30mm
Set Value
Zone signal output ON ON Zone setting + : 30mm
Caution : The signal cannot be output unless the range of the zone detection is set to a
value greater than that of the minimum resolution (actuator lead length/800).
173
�
[2] Soft limit�+, Soft limit�- (Parameter No.3, No.4)
Default factory
setting
3 Soft limit + LIMM
(deg) 9999.99 + side
4 Soft limit - LIML
(deg) 9999.99 side
0.3mm (deg) is added to the outside of the effective actuator stroke for the setting at the
delivery (since there would be an error at the end of effective stroke if set to 0). Change the
setting if required for the cases such as when there is interference or to prevent a crash, or
when using the actuator with slightly exceeding effective stroke in the operational range.
An incorrect soft limit setting will cause the actuator to collide into the mechanical end, so
exercise sufficient caution.
The minimum setting unit is 0.01mm.
(Note) To change a soft limit, set a value corresponding to 0.3mm outside of the effective
stroke.
Example) Set the effective stroke to between 0mm and 80mm
Parameter No.3 (positive side) 80.3
Parameter No.4 (negative side) -0.3
Soft limits set in the parameter
Approx. 0.3mm Approx. 0.3mm

Effective stroke
0.2mm Allowable jogging/inching range after home return 0.2mm
The operational range for jog and inching after the home return is 0.2mm [deg] less than the set
value.
Alarm Code 0D9 “Soft Limit Over Error” will be generated when the set value exceeded the
value (0 when shipped out) set in Parameter No.88 “Software Limit Margin”. If the setting is not
done in Parameter No.88, the value set in this parameter become the detection value for Alarm
Code 0D9 “Soft Limit Over Error”.
[3] Home return direction (Parameter No.5)

�
Default factory
setting
0: Reverse In accordance
5 Home return direction ORG –
1: Forward with actuator
�
Unless there is a request of Home Reversed Type (option), the home-return direction is on the
motor side for the line axis and outer (open) side for the gripper. [Refer to the coordinate
system of the actuator.]
If it becomes necessary to reverse the home direction after the actuator is installed on the
machine, change the setting.
Caution : The home direction cannot be changed for the rod type actuators.
174
�
[4] Press & hold stop judgment period (Parameter No.6)
Default factory
setting
Press & hold stop judgment
6 PSWT msec 0 to 9999 255
period

(1) For Standard type (PIO pattern 0 to 3)
Decrease in current
Current due to movement of
Pressing [%]

Time
200ms 20ms 75ms

Pressing complete (PENDoutput)
[5] Servo gain number (Parameter No.7)
Default factory
setting
In accordance
7 Servo gain number PLG0 – 0 to 31
with actuator
�
The servo gain is also called position loop gain or position control system proportional gain.
The parameter defines 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.
When the set value is too low, the follow-up ability to the position command is degraded and
it takes longer time to complete the positioning.
For a system of low mechanical rigidity or low natural frequency (every object has its own
natural frequency), setting a large servo gain number may generate mechanical resonance,
which then cause not only vibrations and/or noises but also overload error to occur.
� Velocity
� When the set value is high (over-shoot)
�
�
�
�
�
� When the set value is low
Time
175
�
[6] Default velocity (Parameter No.8)
Default factory
setting
mm/s 1 to Actuator’s Rated actuator
8 Default velocity VCMD
(deg/s) max. verocity speed
The factory setting is the rated velocity of the actuator.

When a target position is set in an unregistered position table, the setting in this parameter is
automatically written in the applicable position number.
It is convenient to set the velocity often used.
[7] Default acceleration/deceleration (Parameter No.9)

Default factory
setting
0.01 to actuator's Rated actuator's
9 Default acceleration/deceleration ACMD G max. acceleration/ acceleration/
deceleration deceleration
The factory setting is the rated acceleration/deceleration of the actuator.

automatically written in the applicable position number.
It is convenient to set the acceleration/deceleration often used.
[8] Default positioning width (in-position) (Parameter No.10)

Default factory
setting
mm
10 Default positioning width INP 0.01 to 999.99 0.10
(deg)
automatically written in the applicable position number. When the remaining moving distance
enters into this width, the positioning complete signal PEND/INP is output.
It is convenient to set the positioning width often used.
176
�
[9] Current-limiting value during home return (Parameter No.13)
Default factory
setting
Current-limiting value during In accordance
13 ODPW % 1 to 300
home return with actuator
The factory setting conforms to the standard specification of the actuator.

Increasing this setting will increase the home return torque.
Normally this parameter need not be changed. If the home return should be completed before
the correct position depending on the affixing method, load condition or other factors when the
actuator is used in a vertical application, the setting value must be increased. Please contact
IAI.
[10] Pause input disable (Parameter No.15)

Default factory
setting
0 : Enabling
15 Pause input disable STP – 0
1 : Disabling
This parameter defines whether the pause input signal is disabled or enabled.
If pause from PIO is not required, setting the parameter to “1” allows the actuator to be

operated without wiring of the pause signal input.
Set Value Description
0 Enable (Use the input signal)
1 Disable (Does not use the input signal)
[11] SIO communication speed (Parameter No.16)

Default factory
setting
16 SIO communication speed BRSL bps 9600 to 230400 38400
Set the SIO baud rate for the startup.

Set an appropriate value in accordance with the communication speed of the host.
One of 9600, 14400, 19200, 28800, 38400, 76800, 115200 and 230400bps can be selected as
the communication speed.
Caution : After the “PC software” is connected, the baud rate setting is changed to
that of the “PC software”. To make effective the value set in the parameter,
cycle controller power.
[12] Minimum delay time for slave transmitter activation (Parameter No.17)
Default factory
setting
Minimum delay time for slave
17 RTIM msec 0 to 255 5
transmitter activation
In this setting, set the time from receiving the command (received data) during the SIO
communication till the response (sent data) is returned to the host side.
177
�
[13] Home position check sensor input polarity (Parameter No.18)
· · Dedicated for ACON-CA
Default factory
setting
Home position check sensor input In accordance
18 LS – 0 to 2
polarity with actuator
The home sensor is an option.

0 Standard specification (sensor not used)
1 Input is a contact
2 Input is b contact
[14] Servo ON input disable (Parameter No.21)

Default factory
setting
0 : Enabling
21 Servo ON input disable SON – 0
1 : Disabling
This parameter defines whether the servo ON input signal is disabled or enabled.
When the servo ON input signal is disabled, the servo is turned ON as soon as the controller
power is turned ON.
Set this parameter to “1” if servo ON/OFF is not provided by PIO signals.
[15] Home return offset level (Parameter No.22)

Default factory
setting
mm In accordance
22 Home return offset level OFST 0.00 to 9999.99
(deg) with actuator
In this setting can set the distance from the Z-phase to the home position.
An adjustment is available for the following cases.
1) Want to match the actuator home position and the mechanical origin of the system.
2) Want to set a new home after reversing the factory-set home direction.
3) Want to eliminate a slight deviation from the previous home position generated after
replacing the actuator.
[Adjustment Process]
1) Homing execution
2) Offset check
3) Parameter setting change
4) After the setting, repeat home return several times to confirm that the actuator always
returns to the same home position.
Caution : If the home return offset has been changed, the soft limit parameters must
also be adjusted accordingly.
Do not set a smaller value than the initial setting value for Home Return
Offset. It may cause either to generate the magnetic pole uncertain error
due to inability of normal magnetic pole detection, or to have an error
operation.
In case there is a necessity of setting a value less than the initial setting,
contact IAI.
178
�
[16] Zone 2+, Zone 2- (Parameter No.23, No.24)
[Refer to 7.2 [1].]
[17] PIO pattern selection (Parameter No.25)

Default factory
setting
0 (Standard)
25 PIO pattern selection IOPN – 0 to 6 6 (Pulse train
control mode)
Select the PIO operation pattern.

For the details of PIO patterns, refer to 3.2 Operation in “Positioner Mode” and 3.3 Operation in
“Pulse Train Control Mode”.
Value set in
Pattern type Parameter Mode Feature of PIO pattern
No.25
� Number of positioning points: 64
0
PIO Positioning mode � Position command: Binary code
(factory
pattern 0 (Standard type) � Zone signal output: 1 point(Note)
setting)
� Position zone signal output: 1 point(Note)

� Position command: Binary code
PIO Teaching mode � Position zone signal output: 1 point(Note)
1
pattern 1 (Teaching type) � Jog operation enabled by PIO signal
� Writing current position data to position table
enabled by PIO signal
PIO 256-point mode
2 � Position command: Binary code
pattern 2 (256-point type)
PIO 512-point mode
3 � Position command: Binary code
pattern 3 (512-point type)
� Zone signal output: None
Solenoid valve
PIO � Position command: Individual No. signal ON
4 mode 1
pattern 4 � Zone signal output: 1 point(Note)
(7-point type)
Solenoid valve � Position command: Individual No. signal ON
PIO
5 mode 2 � Signal equivalent to LS (limit switch) enabled
pattern 5
(3-point type) � Zone signal output: 1 point(Note)
� Differential pulse input (MAX.200Kpps)
PIO Pulse train
� Home return function
6
pattern 6 control mode
� Zone signal output: 2 point
� No feedback pulse output
(Note) Position Zone Signal can be switched over to Zone Signal. [Refer to Parameter No.149
Zone output changeover.]
179
�
[18] PIO jog velocity (Parameter No.26)
Default factory
setting
mm/s 1 to Actuator’s max.
26 PIO jog velocity IOJV (note1) 100
(deg/s) speed
This is the jog operation velocity setting with PIO signal (jog input command) when PIO pattern
= 1 (Teaching Mode) is selected.
Set an appropriate value in accordance with the purpose of use.
Note 1 The maximum speed is limited to 250mm/s.
[19] Movement command type (Parameter No.27)

Default factory
setting
0 : Level
27 Movement command type MCT – 0
1 : Edge
Set the input methods for the start signal (ST0 to ST6, or ST0 to ST2 if PIO Pattern = 5) when
PIO Pattern 4 = Solenoid Valve Mode 1 (7-point type) and PIO Pattern 5 = Solenoid Valve
Mode 2 (3-point type) .
Set Value Input method Description

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

(ST0 to ST6)
Movement complete
(PE0 to PE6)
Stop
Actuator movement
Target Position
[Edge System]
Move command input

(ST0 to ST6)
Movement complete
(PE0 to PE6)
Actuator movement
Target Position
180
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[20] Default movement direction for excitation-phase signal detection (Parameter
No.28) · · Dedicated for ACON-CA
Default factory
setting
0 : Reversed
Default movement direction for direction In accordance
28 DIR –
excitation-phase signal detection 1 : Forward with actuator
direction
The magnetic pole detection is performed at the first servo-on after the power is turned on.
Define the detection direction at this time.
Even though it is generally unnecessary to change this setting, set this to the direction which
the motor is easy to move when the actuator interferes with the mechanical end or peripheral
object at the time the power is supplied.
If the direction not interfering is the same direction as the home return direction, set the same
values as set to Parameter No.5 Home Return Direction. If the direction is opposite, set the
other values from Parameter No.5. (If No.5 is 0, set 1. If No.5 is 1, set 0.)
�
[21] Excitation-phase signal detection time (Parameter No.29) ··· Dedicated for
ACON-CA
�
Default factory
setting

Excitation-phase signal detection In accordance
29 TIM msec 50 to 999
time with actuator
�
Excitation detection(Note) starts when the servo is turned ON for the first time after the power is
supplied. Define the detection direction at this time.
Even though it is generally unnecessary to change this setting, changing the setting of this
parameter may be effective when excitation error is generated or abnormal operation is
confirmed.
Please contact us in the case a change is necessary to this parameter.
�
[22] Excitation detection type (Parameter No.30) ··· Dedicated for ACON-CA
�
Default factory
setting
0 : Current Control
In accordance
30 Pole Sensing Type TYP – 1 : Distance Control 1
with actuator
2 : Distance Control 2
�
At the time the magnetic pole detection is performed at the serve-on after the power is turned
on, the operation system is defined at the same time.
It is not necessary to make a change in normal use.
181
�
[23] Velocity loop proportional gain (Parameter No.31)
�
Default factory
setting
In accordance
31 Velocity loop proportional gain VLPG – 1 to 27661
with actuator
�
This parameter determines the response of the speed control loop. When the set value is
increased, the follow-up ability to the velocity command becomes better (the servo-motor
rigidity is enhanced). The higher the load inertia becomes, the larger the value should be set.
However, excessively increasing the setting will cause overshooting or oscillation, which may
induce vibrations in the mechanical system.
[Reference Item] 9.3 “Servo Adjustment”
Velocity
When the set value is high (over-shoot)
When the set value is low

Time
�
�
�
[24] Velocity loop integral gain (Parameter No.32)
Default factory
setting
In accordance
32 Velocity loop integral gain VLPT – 1 to 217270
with actuator
Any machine produces friction. This “Velocity loop integral gain” is intended to cope with
deviation generated by external causes including friction. Increasing the setting value improves
the reactive force against load change. That is, the servo rigidity increases. However,
increasing the parameter value excessively may make the gain too high, which then causes the
machine system to be vibrated due to overshoot or shaking.
Tune it to obtain the optimum setting by watching the velocity response.
[Reference Item] 9.3 “Servo Adjustment”
Velocity
When the set value is high (over-shoot)
When the set value is low
Time

182
�
[25] Torque filter time constant (Parameter No.33)
Default factory
setting
In accordance
33 Torque filter time constant TRQF – 0 to 2500
with actuator
This parameter decides the filter time constant for the torque command. When vibration and/or
noises occur due to mechanical resonance during operation, this parameter may be able to
suppress the mechanical resonance. This function is effective for torsion resonance of ball
screws (several hundreds Hz).
[26] Press velocity (Parameter No.34)

Default factory
setting
mm/s 1 to actuator's max. In accordance
34 Press velocity PSHV
(deg/s) pressing speed with actuator
This is the parameter to set the velocity in pressing operation.

The setting is done considering the actuator type when the product is delivered. [Refer to 11.5
“List of Specifications of Connectable Actuators”]
If a change to the setting is required, make sure to have the setting below the maximum
pressing velocity of the actuator. Setting it fast may disrupt to obtain the specified pressing

force. Also when setting at a low velocity, take 5mm/s as the minimum.
Velocity
Positioning Velocity
Press Velocity
Work
Positioning width
Caution : If the velocity of the positioning of the position table is set below this
parameter, the pressing speed will become the same as the positioning
speed.
[27] Safety velocity (Parameter No.35)

Default factory
setting
1 to 250 (maximum
mm/s speed for the
35 Safety velocity SAFV 100
(deg/s) actuators with 250
or less)
This is the parameter to set the maximum speed of manual operation while the safety velocity
selected in the teaching tool. Do not have the setting more than necessary.
183
�
[28] Auto servo motor OFF delay time 1, 2, 3 (Parameter No.36, No.37, No.38)
Default factory
setting
36 Auto servo motor OFF delay time 1 ASO1 sec 0 to 9999 0
Set the duration before the servo turns OFF after positioning process is complete when the
power saving function is used.
[Refer to Chapter 6 Power-saving Function.]
�
[29] Position complete signal output method (Parameter No.39)

Default factory
setting
Position complete signal output 0: PEND
39 PEND – 0
method 1: INP
This is the parameter to select the type of the positioning complete signals to be used.
It is available except for when PIO Pattern = 5 (Solenoid Valve Type 2 [3-point type]) is
selected.
There are 2 types of positioning complete signals and the output condition would differ
depending on whether the servo is ON after the positioning is complete or the servo is OFF.
During Servo ON During Servo

Setting Signal Type
(positioning complete) OFF
It will not turn OFF even if the Turns OFF in any
0 PEND current position is out of the range case
of the positioning width.
Turns ON when the current position is in the
1 INP
positioning width, and OFF when out of it.
Turns ON when the current Turns OFF in any
Pulse train control AUTO/ position is in the positioning width case
(Note1) INP
mode MANU (Parameter No.10), and OFF when
out of it.
Complete position No. outputs PM1 to PM** and current position No. outputs PE0 to PE6 are
issued in the similar way.
Note 1 In Pulse Train Mode, the signal becomes INP compulsorily when the setting is AUTO,
and turns OFF during the servo OFF condition.
[30] Home-return input disable (Parameter No.40)

Default factory
setting
0 : Enabling
40 Home-return input disable HOME – 0
1 : Disabling
This parameter defines whether the home return input signal is disabled or enabled.
Normally this parameter need not be changed.
184
�
[31] Operating-mode input disable (Parameter No.41)
Default factory
setting
0 : Enabling
41 Operating-mode input disable FPIO – 0
1 : Disabling
This parameter defines whether the operation mode input signal is disabled or enabled.
Normally this parameter need not be changed.
[32] Enable function (Parameter No.42)

Default factory
setting
0 : Enabling
42 Enable function FPIO – 1
1 : Disabling
Set valid/invalid the deadman switch function if the teaching pendant is equipped with a
deadman switch.

[33] Home position check sensor input polarit (Parameter No.43) · · Dedicated for
ACON-CA
Default factory
setting
0: Sensor not used
Home position check sensor input
43 HMC – 1: a contact 0
polarity
2: b contact
Set the input signal polarity of the home position check sensor (option).
Since the home position check sensor is installed just below the mechanical end, if the actuator
reverses without reaching the mechanical end because of a reason such as interference, an
alarm will be generated because it will be identified as off the position and causes home
position sensor non-detected error.
It is generally unnecessary to change the setting.
0 Home position check sensor not used
1 Sensor polarity: Contact a
2 Sensor polarity: Contact b
[34] Silent interval magnification (Parameter�No.45)

Default factory
setting
45 Silent interval magnification SIVM times 0 to 10 0
Use this parameter to set the silent interval (no communication) time by the time taken for
communication of 3.5 characters or longer before command data transmission when the
controller is operated via serial communication (RTU).
This parameter need not be changed when a teaching tool such as PC software is used.
If “0” is set, no multiplier is applied.
185
�
[35] Velocity override (Parameter No.46)
Default factory
setting
46 Velocity override OVRD % 0 to 100 100
When move commands are issued from the PLC, the moving speed set in the “Velocity” field of
the position table can be overridden by the value set by this parameter.
Actual movement velocity = [Velocity set in the position table] × [setting value in Parameter
No.46]
Example) Value in the “Velocity” field of the position table: 500mm/s
Setting in Parameter No.46 20%
In this case, the actual movement speed becomes 100mm/s.
The minimum setting unit is 1% and the input range is 1 to 100%.
(Note) This parameter is ignored for move commands from a teaching tool such as “PC
software”.
[36] PIO jog velocity 2 (Parameter No.47)

Default factory
setting
mm/s 1 to Actuator’s max.
47 PIO jog velocity 2 IOV2 100
(deg/s) speed (Note1)
This is the setting of JOG operation speed when 1 is set in the JOG speed / inching distance
switchover signal JVEL for Field Network Type.
Set the appropriate value considering how the system is to be used.
Note 1 The maximum speed is limited to 250mm/s.
[37] PIO inch distance, PIO inch distance 2 (Parameter No.48, No.49)
Default factory
setting
48 PIO inch distance IOID mm 0.01 to 1.00 0.1
49 PIO inch distance 2 IOD2 mm 0.01 to 1.00 0.1
When the selected PIO pattern is “1” (Teaching Mode), Parameter No.48 defines the inching
distance to be applied when inching input commands are received from the PLC. Parameter
No.49 defines the inching distance when 1 is set in the JOG speed / inching distance
switchover signal JVEL for Field Network Type.
The maximum allowable value is 1mm.
[38] Default acceleration/deceleration mode (Parameter No.52)
Default factory
setting
Default acceleration/deceleration
52 MOD – 0 to 2 0 (Trapezoid)
mode
When a target position is written to an unregistered position table, this value is automatically set
as the “Acceleration/deceleration mode” of the applicable position number.
0 Trapezoid
1 S-shaped motion
2 Primary delay filter
186
�
[39] Default stop mode (Parameter No.53)
Default factory
setting
53 Default stop mode CTLF – 0 to 3 0 (Does not use)
This parameter defines the power-saving function.

[Refer to Chapter 6 Power-saving Function.]
[40] Current control width number (Parameter No.54)

�
Default factory
setting
In accordance
54 Current Control Width Number CLPF - 0 to 15
with actuator
�
This parameter is for the manufacturer’s use only to determine the response capability of
thecurrent loop control. Therefore, do not change the settings in this parameter. If the
parameter ischanged carelessly, control safety may be adversely affected and a very
dangerous situationmay result.
[41] Position-command primary filter time constant (Parameter No.55)

Default factory
setting
Position-command primary filter
55 PLPF msec 0.0 to 100.0 0
time constant
Use this in the case to set the value in “Acceleration/Deceleration” box in the position table to 2
“1-step delay filter”, or in the case that there is no acceleration/deceleration function the host
controller in Pulse Train Control Mode.
The primary delay filter is disabled if “0” is set.
The greater the setting value is, the longer the delay is and the slower the
acceleration/deceleration is. The impact at the acceleration and deceleration will be eased, but
the takt time will become longer.
Refer to 3.3.5 [1] “Position command primary filter time constant” for the details of “Pulse Train
Control Mode”.
Velocity
Time
187
�
[42] S-shaped motion rate (Parameter No.56)
Default factory
setting
56 S-shaped motion rate SCRV % 0 to 100 0
This parameter is used when the value in the “Acceleration/deceleration mode” field of the
position table is set to “1 [S-shaped motion]”.
This enables to ease the impact at acceleration and deceleration without making the takt time
longer.
Velocity
Swing width
0 Time
Acceleration time
The S-shaped motion is a sine curve that has the acceleration time as 1 cycle.
The level of its swing width can be set by this parameter.
Setting of Parameter No.56 [%] Level of swing width
0 [Set in delivery] No S-shaped motion (Dotted line shown in the image below)
Sine curve swing width × 1 (Double-dot dashed line shown in the image
100
below)
50 Sine curve swing width × 0.5 (Dashed line shown in the image below)
10 Sine curve swing width × 0.1 (Solid line shown in the image below)
Velocity
Setting: 10
Setting: 50
Setting: 100
0
within 2 seconds(Caution (3)) Time
Caution : (1) If the S-shaped motion is specified in acceleration/deceleration mode,

executing position command or direct value command while the actuator
is moving causes an actuator to move along the trapezoid pattern. To
change a speed during operation, be sure to specify such a position
command while the actuator is in pause state.
(2) In the “Index mode” of rotary actuator, the S-shaped motion control is
disabled. If S-shaped motion acceleration/deceleration is specified, the
trapezoid pattern is used in acceleration/deceleration mode.
(3) If acceleration time or deceleration time exceeds 2 seconds, do not
specify S-shaped motion control. The actuator will fail to operate
normally.
(4) Do not perform temporary stop during acceleration or deceleration. The
speed change (acceleration) may cause the dangerous situation.
188
�
[43] Torque limit (Parameter No.57)
This parameter is exclusively used for the pulse-train control mode.
[Refer to 3.3.5 “Parameter Settings Required for Advanced Operations.”]
[44] Deviation clear at servo OFF & alarm stop (Parameter No.58)
[45] Deviation error monitor during torque limiting (Parameter No.59)

[46] Deviation counter clear input (Parameter No.60)

[47] Torque limit command input (Parameter No.61)


[48] Pulse count direction (Parameter No.62)
[49] Command pulse input mode (Parameter No.63)

[Refer to 3.3.4 “Settings of Basic Parameters Required for Operation.”]
[50] Command pulse input mode polarity (Parameter No.64)

[51] Electronic gear numerator (Parameter No.65)

[52] Electronic gear denominator (Parameter No.66)

[53] Compulsory stop input (Parameter No.67)

�
189
�
[54] Position feed forward gain (Parameter No.71)
Default factory
setting
71 Position feed forward gain PLFG – 0 to 100 0
This parameter defines the level of feed forward gain to be applied to position control.
Setting this parameter allows the servo gain to be increased and the response of the position
control loop to be improved. This is the parameter to improve the takt time and traceability
even more after fine-tuning the settings for “Servo Gain Number (Parameter No.7)”, “Velocity
Loop Proportional Gain (Parameter No.31)”, etc. This can result in shorter positioning time.
The gain adjustment of position, speed and current loop in feedback control can directly
change the response of the servo control system. Thus, improper adjustment may cause the
control system to be unstable and further vibrations and/or noises to occur. On the other hand,
since this parameter only changes the speed command value and does not relate with the
servo loop, it neither makes the control system unstable nor generate continuous vibrations
and/or noises. However, excessive setting may generate vibrations and/or noises until the
machine can follow command values in every operation.
In the trapezoidal pattern, adding the value resulting from multiplying the speed command by
the “Feed forward gain” to the speed command can reduce the delay of speed follow-up and
the position deviation.
The feedback control providing control in accordance with the result causes control delay to
occur. This conducts the supportive control independent from the control delay.�
�
Velocity
� Velocity command value (trapezoidal pattern)
�
�
�
�
�
� Actual velocity
�
�
�
�
Time
190
�
[55] Ball screw lead length (Parameter No.77)
Default factory
setting
In accordance
77 Ball screw lead length LEAD mm 0.01 to 999.99
with actuator
This parameter set the ball screw lead length.

The factory setting is the value in accordance with the actuator characteristics.
Caution : If the setting is changed, not only the normal operation with indicated speed,
acceleration or amount to move is disabled, but also it may cause a
generation of alarm, or malfunction of the unit.
[56] Axis operation type (Parameter No.78) ··· Dedicated for ACON-CA
Default factory
setting
0: Linear Axis In accordance
78 Axis operation type ATYP –
1: Rotary Axis with actuator
This parameter defines the type of the actuator used.

Connected Actuator Set Value Reference

Linear Axis 0 Actuator other than rotational axis
Rotary Axis 1 Rotary Axis
Caution : Do not change the setting of this parameter. Failure to follow this may cause
an alarm or fault to occur.
[57] Rotary axis mode selection (Parameter No.79) ··· Dedicated for ACON-CA
Default factory
setting
0: Normal Mode In accordance
79 Rotary axis mode selection ATYP –
1: Index Mode with actuator
This parameter defines the mode of the rotational axis.

When the axis operation type (Parameter No.78) is set to “Rotary Axis” and the “Index mode” is
selected, the current value indication is fixed to “0 to 359.99”. When the “Index mode” is
selected, the shortcut control is enabled.
0 Normal Mode
1 Index Mode
Caution : When it is set to “Index Mode”, the push & hold operation is not available.
Even when data is entered in the “Push & Hold” data box in the Position
Data, it becomes invalid and normal operation is performed. The positioning
width becomes the parameter’s default value for the positioning width.
191
�
[58] Rotational axis shortcut selection (Parameter No.80) ··· Dedicated for ACON-CA
Default factory
setting
0: Disabling In accordance
80 Rotational axis shortcut selection ATYP –
1: Enabling with actuator
Select whether valid/invalid the shortcut when positioning is performed except for when having
the relative position movement in the multiple rotation type rotary actuator.
The shortcut means that the actuator is rotated to the next position in the rotational direction of
the smaller travel distance.

0 Disable
1 Enable
[59] Absolute unit (Parameter No.83) ··· Dedicated for ACON-CA
Default factory
setting
0: Incremental
83 Absolute unit TYPE – 1: Simple Absolute 0
Type
Set to 1 if simple absolute type and 0 if others.

[60] Fieldbus operation mode (Parameter No.84)

This parameter is exclusively used for the controller of field network specification.
[Check the applicable instruction manual number in Chapter 4 Field Network, and refer to each
instruction manual.]
[61] Fieldbus node address (Parameter No.85)

[62] Fieldbus baud rate (Parameter No.86)

[63] Network type (Parameter No.87)

192
�
[64] Software limit margin (Parameter No.88)
Default factory
setting
mm In accordance
88 Software limit margin SLMA 0 to 9999.99
(deg) with actuator
This is the parameter to set the position of over error detection against the software limit errors
set in Parameters No. 3 and No. 4.
It is not necessary to change the setting in normal use.
Software Software
limit margin Soft limit (Parameter No.3, No.4) setting area limit margin
Error Error
detection area detection area
[65] Fieldbus I/O format (Parameter No.90)

[66] Current limit value at stopping due to miss-pressing (Parameter No.91)

Default factory
setting
0: Current limit
Current Limit Value at Stopping during Movement
91 TYPE - 0
Due to Miss-pressing 1: Current limit value
during pressing
This parameter defines the restricted current value at stopping due to miss-pressing.
This restricted current value locks the servo till the next moving command.
Parameter No.91 Description
Current limit value during movement
0 (2.8 to 4 times of rating value depending on actuator
characteristics)
1 Press-motion current-limiting value�
193
�
[67] Damping characteristic coefficient 1, 2 / Natural frequency / Notch filter gain
(Parameter No.97 to No.108) ··· Dedicated for ACON-CA
This parameter is exclusively used for vibration suppress control.
Name Parameter No.
Parameter set 1 Damping characteristic coefficient 1 97
Damping characteristic coefficient 2 98
Natural frequency 99
Notch filter gain 100
[Refer to Chapter 5 Vibration Suppress Control Function (ACON-CA Dedicated Function) for
details.]
�
�
[68] Default vibration suppress No. (Parameter No.109) ··· Dedicated for ACON-CA
This parameter is exclusively used for vibration suppress control.
[Refer to Chapter 5 Vibration Suppress Control Function (ACON-CA Dedicated Function) for
details.]
�
[69] Stop method at servo OFF (Parameter No.110)
Default factory
setting
0: Rapid stop
110 Stop method at servo OFF PSOF – 1: Deceleration to 0
stop
Select the stop mode for when the servo is turned OFF while in operation. It is stopped with the
rated deceleration speed if 1 is selected. If 1 is selected, the actuator decelerates with position
data in execution and stops.
194
�
[70] Calendar function (Parameter No.111)
Default factory
setting
0: Unused
111 Calendar function URTC – 1
1: Use
This parameter defines whether the calendar function (RTC) is used or not.
Set the current time with using a teaching tool when the calendar function is used.
[Refer to the instruction manual of the teaching tool for the details.]
In use of RTC, the alarm occurrence time in the alarm list is the time at which an alarm has
occurred.
If RTC is not in use, the alarm generated time in the alarm list shows the time passed since
0sec that is the time the power is supplied to the controller.
The time data retainable duration with no power supply to the controller is approximately 10
days.
0 Unused
1 Use
[71] Monitoring mode (Parameter No.112)

Default factory
setting

0: Does not use
1: Monitor function 1
112 Monitoring mode MODE – 0
The controller can be connected with “PC software” to monitor the servo.
This parameter allows you to select a monitoring mode function (servo monitor).
Check the Instruction Manual of the RC PC software for details.

0 Unused
1 Sets the 4CH record mode.
[72] Monitoring period (Parameter No.113)

Default factory
setting
113 Monitoring period FMNT msec 1 to 100 1
This is the parameter to set up the frequency of time to obtain data (Sampling Frequency) when
the monitoring mode is used.
By setting the value in this parameter bigger, the frequency of data obtaining can be made
longer.
It is set to 1ms in the initial setting. Up to 100ms can be set.
1ms frequency setting 100ms frequency setting

At 2CH Record Mode: At 2CH Record Mode:
Max. Obtainable Time 8.2sec Max. Obtainable Time 820sec
195
�
[73] Servo gain number 1 (Parameter No.120)
This parameter determines the response of the position control loop.
[Refer to description of Parameter No.7.]
[74] Feed forward gain 1 (Parameter No.121)

This parameter defines the feed forward gain of the position control system.
[75] Velocity loop proportional gain 1 (Parameter No.122)

This parameter determines the response of the speed control loop.
[76] Velosity loop integral gain 1 (Parameter No.123)

[77] Torque filter time constant 1 (Parameter No.124)

This parameter decides the filter time constant for the torque command.
[78] Current control width number 1 (Parameter No.125)

This parameter defines the control width of the current control system.

[Refer to description of Parameter No.7.]�
�
�
[Refer to description of Parameter No.71.]�
[81] Speed loop proportional gain 2 (Parameter No.128)

[82] Speed loop integral gain 2 (Parameter No.129)


196
�


[87] Velocity loop proportional gain 3 (Parameter No.134)

[88] Velocity loop integral gain 3 (Parameter No.135)



[91] Servo gain switchover time constant (Parameter No.138)

Default factory
setting
138 Servo Gain Switchover Time
GCFT ms 10 to 2000 10
Constant
When a switchover of the servo gain set is commanded in the position table, the switchover
process is completed after time more than 3 times of the time spent in the setting of this
parameter is passed since the operation of the commanded position number has started.
� � Caution : A time constant being rather short may cause the servo gain to change
rapidly to have the operation of the actuator unstable.
197
�
[92] IP address (Parameter No.140)
Default factory
setting
0.0.0.0 to
140 IP address IPAD - 192.168.0.1
255.255.255.255
It is the parameter dedicated for Field Network (EtherNet/IP).

[Refer to EtherNet/IP Instruction Manual (ME0278) provided separately.]
[93] Subnet mask (Parameter No.141)

Default factory
setting
0.0.0.0 to
141 Subnet mask SNMK – 255.255.255.0
255.255.255.255

[Refer to EtherNet/IP Instruction Manual (ME0278) provided separately.]�
[94] Default gateway (Parameter No.142)

Default factory
setting
0.0.0.0 to
142 Default gateway DFGW – 0.0.0.0
255.255.255.255

[Refer to EtherNet/IP Instruction Manual (ME0278) provided separately.]�
[95] Overload level ratio (Parameter No.143)

Default factory
setting
143 Overload level ratio OLWL % 50 to 100 100
With the motor thrust increase temperature of when an overload alarm gets generated being
set as 100%, the overload warning (message level) is output when the motor temperature
exceeds the rate set in this parameter.
The judgment would not be made if the value is set to 100%.�
198
�
[96] Total movement count threshold (Parameter No.147)
Default factory
setting
147 Total movement count threshold TMCT Times 0 to 999999999 0(Disabling)
A light error alarm is generated when the total movement count exceeds the value set to this
parameter.
The judgment would not be made if the value is set to 0.
[97] Total operated distance threshold (Parameter No.148)

Default factory
setting
148 Total operated distance threshold ODOT m 0 to 999999999 0(Disabling)
A light error alarm is generated when the total operation distance exceeds the value set to this
parameter.
The judgment would not be made if the value is set to 0.
[98] Zone output changeover (Parameter No.149)

Default factory
setting
0: Not to change
149 Zone output changeover ZONE – 0
1: To change
When there is PZONE signal to the current PIO pattern or the Fieldbus Operation Mode and no
ZONE1 or ZONE2 signal, it is available to change the PZONE signal to either ZONE1 or
ZONE2 signal.
(Note 1) ZONE1 signal is assigned prior to ZONE2 signal.
(Note 2) It would not function in the pulse train mode.
(Note 3) In the case there is no PZONE signal in PIO patterns, or both ZONE1 and ZONE2
signals exist, the setting would be invalid.
[99] Light error alarm output select (Parameter No.151)

Default factory
setting
0: Battery voltage
drop warning
output
1: Output of battery
151 Light Error Alarm Output Select OALL - 0
voltage drop
warning or
message-level
alarm
It can be selected if an output is to be made when a message-level alarm is generated as well

as when the battery voltage drop error is occurred for the output condition of BALM signal.
(Note) For “Pulse Train Control Mode”, OUT12 becomes ALML (light failure alarm) if this
parameter is set to 1, and outputs when a message level alarm is generated.�
�
199
�
[100] Absolute battery retention time (Parameter No.155)
Default factory
setting
0: 20 days
1: 15 days
155 Absolute battery retention time AIP – 2
2: 10 days
3: 5 days
For “Simple absolute type”, set how long the encoder position information is to be retained after
the power to the controller is turned OFF. The setting can be selected from 4 phases and as the
motor rotation speed gets slower, the time to retain the position information gets longer. In the
case that there is a possibility that the slide or the rod of the actuator that transports the work
may be moved by an external force, follow the table below and calculate (Note 1) the number of
rotation from the moved speed and set this parameter to the value faster than this value. If the
motor rotation setting value exceeds the set value, the position information will be lost.
Setting Motor rotation speed (rpm) Position information retaining time (reference)
0 (Initial setting) 100 20 days
1 200 15 days
2 400 10 days
3 800 5 days
(Note 1) Motor rotation [rpm] � Moved speed [mm/s] / Lead length [mm] � 60
[101] FB half direct mode speed unit (Parameter No.159)
Default factory
setting
mm/s 0: Units of 1mm/s
159 FB half direct mode speed unit FBVS 0
(deg/s) 1: Units of 0.1mm/s
These parameters are exclusively used for the field network type.
200
�
9.3 Servo Adjustment� � � � � � � � � � � � � � � � � � � � � � �
The parameters are preset at the factory before shipment so that the actuator operates stably
within the rated (maximum) transportable weight.
However, the preset setting cannot always be the optimum load condition in the actual use. In
such cases, servo adjustment may be required.
This section describes the basic servo adjustment method.
Caution : Rapid and excessive settings are dangerous. They may cause devices
including the actuator to be damaged and/or people to be injured. Take
sufficient note on the setting.
Record settings during servo adjustment so that prior settings can always be
recovered.
When a problem arises and the solution cannot be found, please contact IAI.
9.3.1 Adjustment of the ACON-CA� � � � � � � � � � � � � � � � � � � � �

�
Situation that requires
No. How to Adjust
adjustment
1 Takes time to finish � Set “parameter No.55 “Position command primary filter time
positioning constant”” to “0” if it is set.
Positioning accuracy is � Increase the value of “parameter No.7 “Servo gain number””. By

not appropriate setting a larger value, the following ability to the position
Shorter takt time is command becomes better. Set the value to any of 3 to 10
desired roughly or up to 15 at the maximum. If the value is too large, an
overshoot is caused easily and may cause noise or vibration.
If the value of “parameter No.7 “Servo gain number”” is
increased, also adjust the “parameter No.31 (Note 1) “Velocity loop
proportional gain”” in increasing direction to ensure the stability
in the control system.
To increase the value of “parameter No.31 (Note 1) “Velocity loop
proportional gain”” by about 20% of the default. Prior to the
setting, adjust “parameter No.7 “Servo gain number””.
2 Vibration is generated at � The cause of the problem is excessive
acceleration/deceleration� "acceleration/deceleration setting" or vulnerable structure of the
unit on which the actuator is installed. If possible, reinforce the
unit itself, first.
� Decrease the values of “acceleration/deceleration setting”.
� Decrease the number of “parameter No.7 “Servo gain number””.
If the “parameter No.7 “Servo gain number”” is too low, it takes
long time to finish the positioning.�
3 Speed is uneven during � Increase the value of parameter No.31 “Velocity loop
the movement proportional gain”. By setting a larger value, the follow-up ability
Speed accuracy is not to the speed command becomes better.
appropriate Setting too large value makes the mechanical components easy
to vibrate. As a reference for the setting, increase the value little
by little by 20% from the initial setting.�
201
�

No. How to Adjust
adjustment
4 Abnormal noise is � Input the “Torque Filter Time Constant”. Try to increase by 50 as
generated. a reference for the setting. If the setting is too large, it may cause
Especially, when stopped a loss of control system stability and lead the generation of
state and operation in low vibration.
speed (less than
50mm/sec), [Important] Prior to Adjustment:
comparatively high noise This phenomenon is likely to occur when the stiffness of the
is generated.� mechanical components is not sufficient. The actuator itself may
also resonate if its stroke is over 600mm or it is belt-driven type.
Before having an adjustment, check if:
1) The value for “parameter No.7 “Servo gain number””,
“parameter No.31 “Velocity loop proportional gain””, or
“parameter No.32 “Velocity loop integral gain”” are excessive.
2) The stiffness of the load is sufficient as much as possible, or the
attachments are not loosened.
3) The actuator unit is mounted securely with a proper torque.
4) There is no waviness on the actuator mounting surface.�
5 Trace precision is desired � Make the condition optimized with Parameter No.7 “Servo gain
to be improved. number” and Parameter No.31 “Velocity loop proportional gain”
Equi-speed performance adjusted by referring to the way to adjust stated in No. 1 to 3 in
is desired to be improved. the previous page.
Response is desired to [Reference]

be improved. The most important factor is to select the actuator (motor).
The servo is extremely sensitive to the inertia of the load. If the
inertia moment of the load is too large in comparison with the
inertia moment of the servo motor itself, the motor is highly
affected by the load. This may cause the actuator to be
controlled unstably.
Therefore, to improve the precisions of the trace, position, speed
and response of the actuator, the load inertia ratio must be made
small.
For high trace precision, equi-speed performance, and response
of the actuator in such a use as application, it is better to use ball
screws with small leads in the actuator as much as possible and
an actuator of motor capacity higher by at least one level.
The best method is to calculate the load inertia to select the
proper actuator.�
6 Large static friction of � Set parameter No.71 “Feed forward gain”.
load makes actuator start Select a value in the range from 10 to 50 roughly. The larger the
slowly. setting value is, the smaller the deviation is. Then the response
Large load inertia makes is improved.
response of actuator low Setting a large value may cause vibrations and/or noises to
at start and stop. occur.
Takt time is desired to be Set the feed forward gain in order to improve the response of the
shortened. actuator further after adjusting Parameter No.7 “Servo gain
number” and Parameter No.31 “Velocity loop proportional gain”.
202
�
9.3.2 Adjustment of the DCON-CA� � � � � � � � � � � � � � � � � � � � �
�
No. How to Adjust
adjustment
1 Hunting occurs at Establish the parameter settings with the following steps, and
positioning stop� check the operation.
Finish the adjustment once an improvement is confirmed in the
2 Fluctuation in speed operation. It is not necessary to move on to the further steps.
occur during operation / �
speed is inaccurate�
� � Procedure 1 :�Change the “Speed loop integral gain”�
� � � �Set the following five type of values in order and check the
operation.�
� Setting Value of the Speed Loop �
Order
� Integral Gain �
� 1 411
2 592
3 925
4 1645
5 3700
Proceed to Procedure 2 if there is no improvement in operation.
Procedure 2 : Change the “Speed loop proportional gain” and

“Speed loop integral gain”

� � Set the following six type of values in order and check the
operation.
� � Load is 0.2kg or less �
Setting Value of Setting Value of
Order the Speed Loop the Speed Loop
Proportional Gain Integral Gain�
1 42 382
2 42 520
3 42 749
4 42 1171
5 42 2081
6 42 4683
�
� �Load is more than 0.2kg �
Setting Value of Setting Value of
Order the Speed Loop the Speed Loop
Proportional Gain Integral Gain�
1 32 231
2 32 315
3 32 453
4 32 708
5 32 1259
6 32 2833
Contact IAI if no improvement in operation is confirmed.
3 Abnormal noise occurs. Set “Velocity Loop Integrated Gain” and “Velocity Loop Integrated
(Remarkably high noise Gain” to the following values and check the operation.
occurs especially at stop Speed Loop Proportional Gain� :� 32�
or during low speed Speed Loop Integral Gain� : �231
operation with �
20mm/sec or less.)�
�
203
204
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Chapter 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 quick recovery and prevent recurrence of the problem.
1) Status Display LED on Controller and PIO Check
� : Illuminating × : OFF � : Flashing
LED Status of PIO Output Signal
Operation status SV output
SV (GN) ALM (RD) *ALM output
(Servo ON)
Control power OFF
× ×
Servo OFF
Motor drive power supply OFF
OFF OFF
Alarm
× � (Operation cancellation level or
more)
In the emergency stop OFF OFF
� × Servo ON ON ON
� × Automatic servo is OFF(Note 2) OFF ON
� (red and green In initializing process at power
OFF OFF
turned on together) being on
2) Check whether an alarm occurs on the host controller.

3) Check the voltage of the main power supply (24V DC).
4) Check the voltage of power supply for the PIO (24V DC).
5) Check the voltage (24V DC) of the power supply for brake (For the actuator with the
brake).
6) Alarm Check(Note1)
Check the alarm code on the teaching tool such as PC software.
7) Check the connectors for disconnection or connection error.
8) Check the cables for connection error, disconnection or pinching.
Before performing a continuity check, turn OFF the power (to prevent electric shocks) and
disconnect the cables of measuring instruments (to prevent accidental power connection
due to sneak current path).
9) Check the I/O signals.
Using the host controller (PLC, etc.) or a teaching tool such as “PC software”, check the
presence of inconsistency in I/O signal conditions.
10) Check the noise elimination measures (grounding, installation of surge killer, etc.).
(Note 1)
11) Check the events leading to the occurrence of problem , as well as the operating
condition at the time of occurrence.
12) Analyze the cause.
13) Treatment
Note1 : If parameter No.111 (Selection of using calendar function) is set to “1” (use), it is
possible to know the date and time at which the alarm occurred.
Set the date and time from the teaching tool such as “PC software” at the first
power-on of the controller.
The date and time data set once is retained for about 10 days if the power supply
of the controller is OFF. If the setting is not conducted or the time data is lost, it will
be the time passed since 0sec when the power is turned ON. Even if the date and
time data is lost, the generated error code is retained.
Alarms subject to this function only include those in 10.4 “Alarm List” but do not
include errors in the teaching tool such as “PC software”.
Notice:
In troubleshooting, exclude normal portions from suspicious targets to narrow down
the causes. Check 1) to 11) described above before contacting us.
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10.2 Fault Diagnosis� � � � � � � � � � � � � � � � � � � � � � � �
This section describes faults largely divided into four types as follows:
(1) Impossible operation of controller
(2) Positioning and speed of poor precision (incorrect operation)
(3) Generation of noise and/or vibration
(4) Impossible Communication
10.2.1 Impossible operation of controller� � � � � � � � � � � � � � � � � �

Situation Possible cause Check/Treatment
At power-on, SV on the (1) Proper power is not supplied. (1) Ensure that appropriate voltage
status indicator LEDs (2) Servo ON command (PIO) is not is supplied and the wiring is in
does not go on.� input to IAI controller. the right condition.
1) 24V DC power for PIO is not [Refer to 2.3.1 Wiring Layout of
supplied. Power Supply Connector.]
2) Poor contact of flat cable (2) 1) Check the PIO power
3) The operation mode setting voltage. When a large load is
switch on the front panel is on applied to one power source,
“MANU” side. there is a risk of power
4) The +/- pins of 24V DC power for voltage drop or a shutdown of
PIO are connected inversely. the output.
(3) Occurrence of alarm. 2) Are the PIO cable connectors
(4) During emergency-stop. inserted to the mating
1) Was the emergency-stop switch. connectors securely? Check
2) EMG- on the power supply the input signals on the I/O
connector is not connected. monitor of the teaching tool
such as “PC software”.
Caution
In I/O cable conduction check,
do not widen female pins of the

connectors. “Failure to follow this
may cause poor contact”.
3) Can such operation as
jogging be performed from
the teaching tool such as “PC
software”? Set the “Operation
mode setting switch” on the
front panel and restart the
controller.
[Refer to Name for Each
Parts and Their Functions.]
(3) Check the error code with the
teaching tool being connected
and remove the cause by
referring the alarm list.
[Refer to 10.4 Alarm List.]
(4) 1) Release the emergency stop
switch.
2) Check the connection of the
power connector (EMG-).
[Refer to 2.3.1 Wiring Layout
of Power Supply Connector.]
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ALM in the status display (1) Occurrence of alarm (1) Check the error code with the
LEDs turns on when the (2) During emergency-stop. teaching tool being connected
power is supplied. 1) Was the emergency-stop switch. and remove the cause by
2) EMG- on the power supply referring the alarm list.
connector is not connected. [Refer to 10.4 Alarm List.]
(2) 1) Release the emergency stop
switch.
2) Check the connection of the
power connector (EMG-).
[Refer to 2.3.1 Wiring Layout
of Power Supply Connector.]
The host controller PIO signal communication is disabled. 1) Check the PIO power voltage. If
(PLC) cannot control 1) 24V DC power for PIO is not a single power supply is
PIO (24V DC I/O). supplied. connected with large load, the
2) Poor contact of flat cable power supply voltage may drop
3) The operation mode setting switch or the output may be shut down
on the front panel is on “MANU” depending on power units.
side. 2) Are the PIO cable connectors
4) The +/- pins of 24V DC power for inserted to the mating
PIO are connected inversely. connectors securely? Check the
input signals on the I/O monitor
of the teaching tool such as PC
software.
Caution
In I/O cable conduction check,
do not widen female pins of the
connectors. “Failure to follow this
may cause poor contact”.
3) Can such operation as jogging
be performed from the teaching
tool such as “PC software”? Set
the “Operation mode setting
switch” on the front panel and
restart the controller.
[Refer to Name for Each Parts
and Their Functions.]
4) Reverse connection of the PIO
power supply does not affect the
input circuit but makes the
output circuit faulty. Check if the
I/O of the host controller (PLC)
operates normally.
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[In the case of Positioner Mode]
Both position No. and There is a problem either in PIO signal 1) Is the status display LED SV
start signal are input to treatment, position table setting or turned ON? [Refer to Name for
the controller, but the operation mode selection. Each Parts and Their Functions]
actuator does not move. 1) Servo OFF condition Turn ON the servo ON signal
2) The pause signal is OFF. SON of PIO.
3) Positioning command is issued to a 2) Operation is available when PIO
stop position. pause signal *STP is ON and
4) There is no positioning data set to pause when it is OFF. Turn it
the commanded position number. ON. [Refer to 2.1.2.]
3) Check the sequence or the
settings of the position table.
4) It will generate Alarm Code 0A2
“Position Data Error”. Conduct
the position table setting.
(Note) Refer to 2.1.3 [4] PIO Circuit for PIO signal.
[In the case of Pulse Train Control Mode]

In spite of inputting PIO signal processing or parameter 1) Is the status display LED SV
pulse-train to the setting is incorrect. turned ON? [Refer to Name for
controller, the actuator 1) Servo OFF state Each Parts and Their Functions]
does not move. 2) The pause signal is OFF. Turn ON the servo-on signal
3) The pulse-train type, a parameter, is SON of PIO.
selected incorrectly. 2) Operation is available when PIO
4) The positive/negative logic of pause signal *STP is ON and
pulse-train, a parameter, is selected pause when it is OFF. Turn it
inversely. ON. [Refer to 2.1.2.]

5) The unit moving distance per pulse, 3) Check the pulse train type.
which is a setting condition of [Refer to 3.3.4 [2] Format
electronic gear ratio, a parameter, is Settings of Command Pulse
too small. Train.]
4) Check the positive/negative
logic of pulse-train. (Host units
supplied by some manufacturers
have positive/negative logic
opposite to our logic. Reserve
the logic setting and try the
operation.)
[Refer to 3.3.4 [2] Format
Settings of Command Pulse
Train.]
5) Do not make the unit moving
distance less than the resolution
of the encoder. The actuator
does not move unless pulses by
the resolution of the encoder are
input.
[Refer to Caution in 3.3.4 [1]
Electrical Gear Setting]
(Note) In case of 3) or 4), the
actuator may not sometimes
operate smoothly.
You may not find case 5)
when the actuator is moved
for a long distance at a high
frequency.
(Note) Refer to 2.2.3 [4] PIO Circuit for PIO signal.
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[Startup Adjustment with Teaching Tool when Control Circuit Incomplete]
Operation is not Cable treatment or mode selection. 1) Supply 24V DC to EMG-
performed even though 1) Emergency stop condition terminal of the power connector.
the teaching tool is 2) Servo OFF condition Warning
connected, and power to 3) In pause
the controller motor and If the process of 1) is conducted,
control circuit is put back the setting as soon as
supplied. the adjustment work is finished.
(the emergency stop Starting the operation without
switch is released on the putting it back may cause a
teaching tool) serious accident since the
emergency stop is set invalid.
2) 3) Put the “Operation mode
switch” on the front panel of
the controller to “MANU” side,
and select the teach mode on
the teaching tool.
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10.2.2 Positioning and speed of poor precision (incorrect operation)� � � � � � �
Completion of operation In the home return of our standard 1) Reduce the load.
on the way to home specification, the actuator is first 2) Remove the interference.
return pressed to the mechanical end, moved 3) Loosen the fixing bolts once and
oppositely, and subject to positioning check whether the slider can
stop at the home position. Therefore, move smoothly.
the product may judge as the If the slider can move smoothly,
mechanical end even though it is still on check if there is a deformation
the way when the load is large and on the attached surface, and
interfere with surrounding object. install the actuator again
1) A load exceeding its rating weight is following the instructions stated
installed on the actuator. in Instruction Manual.
2) It is touched to interference in the 4) Please contact IAI.
way of the run.
3) Torsion stress is applied to guide
due to improper fixing method of the
actuator or uneven fastening of
bolts.
4) The sliding resistance of the
actuator itself is large.
Shocks at start and/or Acceleration/deceleration is set too Decrease the settings of
stop. high. acceleration/deceleration.
Overshoot during The load inertia is large. Decrease the setting of
deceleration to stop. deceleration.
Positioning of poor [Refer to 9.3 Servo Adjustment.]
precision
Uneven speed during
movement
Acceleration/deceleration
not smooth (bad speed
response)
Trace of poor precision
(Note) When the pulse-train operation mode is selected, first adjust
pulse-train commands.

Positioning at a position PIO signal processing is incorrect. 1) The stop position may be set for
different from that of 1) Start signal CSTR is input too early another purpose. Input the start
commanded position No. after position No. command. Or signal after the controller fully
position No. command and start reads the position number.
signal are input concurrently. [Refer to 3.2.4 Operation with
2) The correct position No. is not the Position No. Input and
specified due to PIO signal Caution in Use and 11.4
disconnection or poor connector Example of Basic Positioning
contact. Sequence.]
2) Check the input signal on I/O
monitor on the teaching tool.
Complete signal PEND PIO signal processing is incorrect. 1) Make the start signal CSTR
is not output even 1) Start signal CSTR is not turned OFF. turned OFF before completing
though positioning the positioning process by the
process is completed. turn-off of positioning complete
signal PEND after starting
operation, and so on.
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The actuator does not PIO signal processing or parameter 1) Check the setting of electronic
stop at the command setting is incorrect. gear ratio. The host controller
position. 1) Incorrect electronic gear ratio also has the electronic gear ratio
2) Acceleration/deceleration is set parameter. Set the electronic
incorrectly in the host controller. gear ratio not to be inconsistent
3) Noise with that of the host controller. In
4) The pulse-train type, a parameter, is addition, reduce the electronic
selected incorrectly. gear ratio as much as possible.
5) The unit moving distance per pulse, If not, data overflow may occur
which is a setting condition of in arithmetic processing to
electronic gear ratio, a parameter, is disable correct positioning.
too small. [Refer to 3.3.4 [1] Electrical
Gear Setting.]
2) The actuator operates at the
speed and
acceleration/deceleration based
on the frequency of input pulses.
Check if the
acceleration/deceleration set in
the host controller exceed the
rating acceleration/deceleration
of the actuator.
3) Noise can be misread as the
pulse if it jumps into the pulse
train.
Take proper measures against
noise. [Refer to 1.7 Noise
Elimination and Mounting
Method.]
Check the cable connection
between the controller and
AK-04 if AK-04 is used.
• Cable length :
50mm or shorter
recommended (as short as
possible)
• Shield treatment :
Use the shield treatment wire.
4) Check the pulse-train type.
[Refer to 3.3.4 [2] Format
Settings of Command Pulse
Train.]
5) Do not make the unit moving
distance less than the resolution
of the encoder. The actuator
does not move unless pulses by
the resolution of the encoder are
input.
[Refer to Caution in 3.3.4 [1]
Electrical Gear Setting]
(Note) In case of 2) or 3), the
actuator may not
sometimes operate.
You may not find case 4)
when the actuator is
moved for a long
distance at a high
frequency.
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10.2.3 Generation of noise and/or vibration� � � � � � � � � � � � � � � � �
Generation of noise Noise and vibration are generated by Servo adjustment may improve the
and/or vibration from many causes including the status of situation.
actuator itself load, the installation of the actuator, and [Refer to 9.3 Servo Adjustment.]
the rigidity of the unit on which the
actuator is installed.

Vibrations of load 1) Acceleration/deceleration is set too 1) Decrease the settings of
high. acceleration/deceleration.
2) The installation structure and/or the
installed load are easily affected by
acceleration/deceleration.

Vibrations of actuator or Acceleration/deceleration is set too Decrease the setting of
load high. acceleration/deceleration in the
host controller.
Generation of noise The host controller has no [Refer to 9.3 Servo Adjustment]
during acceleration acceleration/deceleration function or
does not have acceleration/deceleration
function from speed 0.
(Some positioning units have
acceleration/deceleration function but
cannot use the function from speed 0.
Note this when you select a positioning

unit.)
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10.2.4 Impossible Communication� � � � � � � � � � � � � � � � � � � � �
Not connectable with 1) Communication rates do not match. 1) Set the communication rate to
host machine� 2) The machine number (station match that of the host machine.
number) is set to be duplicate with [Refer to the Instruction Manual
that of another unit or out of the of the host unit.]
range. 2) Correct the unit number
3) Setting error in Parameter No. 17 (station number) setting.
“Slave Station Transmitter Machine numbers (station
Activation Minimum Delay Time” numbers) vary depending on
4) Poor wiring or disconnection of communication modes. Refer to
communication cable� the Instruction Manual of each
(Note 1)
communication mode.
3) Set the value in Parameter
No.17 smaller (2 as a
reference) if the response
timeout error is being issued in
the host system. In any other
cases, increase or decrease
the value at will to change the
send/receive timing. (If the
operation is performed
properly, the transmission cycle
of the host is too fast. Always
check the response of our
company the controller before
next transmission.)
4) Review the wiring again. Check
if termination resistances are
connected to network terminals
with correct values.
(Note 1) Refer to the following Instruction Manual for communications:
� RS485 ······················ Section 11.1
� DeviceNet·················· Separate volume, DeviceNet Instruction Manual
� CC-Link····················· Separate volume, CC-Link Instruction Manual
� PROFIBUS ················ Separate volume, PROFIBUS-DP Instruction Manual
� CompoNet ················· Separate volume, CompoNet Instruction Manual
� MECHATROLINK�/�·· Separate volume, MECHATROLINK Instruction Manual
� EtherCAT··················· Separate volume, EtherCAT Instruction Manual
� EtherNet/IP ················ Separate volume, EtherNet/IP Instruction Manual
213
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10.3 Alarm Level� � � � � � � � � � � � � � � � � � � � � � � � � �
The alarms are classified to 3 types of levels by the content of the error.
Status when an
Alarm level ALM lamp *ALM signal Cancellation method
error occurred
Message(Note 1) OFF No output No stop Alarm of maintenance output such as
battery voltage drop or the teaching tool
such as “PC software”
[Refer to Instruction Manual of each tool
for details.]
Operation ON Output Servo OFF after Reset the alarm by the PIO or teaching
release deceleration to tool.
stop
Cold start ON Output Servo OFF after Software reset or power reconnection by
deceleration to teaching tool.
stop Home return is required for any actuators
of other than “Simple absolute type”.
Caution : Reset each alarm after identifying and removing the cause.
If the cause of the alarm cannot be removed or when the alarm cannot be reset
after removing the cause, please contact IAI.
If the same error occurs again after resetting the alarm, it means that the cause
of the alarm has not been removed.
(Note 1) It is the PIO output (OUT15)

1) Warning for Absolute Battery Voltage Drop · · ·
Battery voltage is 3.1V or less.
Replace the battery as soon as possible.
2) When satisfying the conditions to generate the message level alarm

described in (10.4) in the next page
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10.4 Alarm List� � � � � � � � � � � � � � � � � � � � � � � � � �
Alarm Alarm
Alarm Name Cause/Treatment
Code Level
02C Monitoring data type Cause : Changing data type was directed during
change command during monitoring by the monitoring function of PC
monitoring software.
Treatment : Stop the monitoring before changing data type.
02D Monitoring related Cause : An attempt was made to perform monitoring in
command in monitoring the state where the monitoring function is set to
function invalid status be ineffective.
Treatment : Set parameter No.112 (Selection of monitoring
mode) to 1 to 3 (“0”: no use).
02E Calendar function Cause : An attempt was made to use the calendar in the
related command in state where the RTC (calendar) function was
calendar function invalid made ineffective.
status Treatment : Set parameter No.111 (Selection of use of
calendar function) to “1” (“0”: no use).
048 Driver overload alarm Cause : There is a risk of overload with the current
operation condition.
Treatment : Lower the setting of acceleration/deceleration.
Also, increase the frequency of pause.
04E Exceeded movement Cause : The total number of the operation times
count threshold exceeded the value set in Parameter No.147
“Total Movement Count Threshold”.
04F Exceeded operated Cause : The total number of the operation distance
distance threshold exceeded the value set in Parameter No.148
“Total Operated Distance Threshold”.
Message
05C Receiving timeout Cause : Valid data was not detected even after 5 seconds
has passed since the start (header) of Modbus
communication was detected.
05E Delimiter error packet Cause : Valid data cannot be detected with Modbus
receive communication, or abnormal data was received.
069 Detection of realtime Cause : The calendar function is stopped and the current
clock oscillation stop time data is lost.
Treatment : Set the time again.
[Refer to the Instruction Manual of RC PC
software.]
(Note) This error is not registered in the alarm list.
06A Realtime clock access Cause : The calendar function is not working properly
error because of noise or malfunction of consisting
parts.
Treatment : 1) Take proper measures against noise.
2) When the calendar function is not used, set
parameter No.111 “Calendar function” to “0”.
3) If the operation is not improved in use of the
calendar function in spite of measures against
noise, Please contact IAI.
06B Maintenance information Cause : The maintenance information (total movement
data error count, total operated distance) is lost.
Treatment : Please contact IAI.
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Alarm
Alarm Level Alarm Name Cause/Treatment
Code
080 Move command during Cause : A move command was issued when the servo is
servo OFF OFF.
Treatment : Issue a movement command after confirming the
servo is ON (servo ON signal (SV) or position
complete signal (PEND) is ON).
082 Position command in Cause : A position move command was issued before
incomplete home return home return was completed.
Treatment : Issue a command after confirming that home
return has been completed (HEND) is ON.
083 Absolute position move Cause : An absolute position command was issued by
command when home numerical specification before home return was
return is not yet completed (direct command from Field Network).
completed Treatment : Issue a numeric specification after performing
home return operation and confirming the
complete signal (HEND).
084 Absolute position move Cause : A move command was issued when home return
command when home was still in progress.
return is not yet Treatment : Issue a movement command after performing
completed home return operation and confirming the
complete signal (HEND).
085 Position No. error during Cause : A non-existing (invalid) position number was
movement specified in the positioner mode.
Treatment : Check the position table again and indicate an
Operation effective position number.
086 release Move command while Cause : Actuator operation was commanded via serial
pulse train input is communication in pulse train mode.
effective Treatment : Stop the actuator operation command via serial

communication in pulse train mode.
090 Software reset during Cause : A software reset command was issued when the
servo ON servo was ON.
Treatment : Issue a software reset command after confirming
that the servo is OFF (SV signal is 0).
091 Position No. error in Cause : The position number out of the available range
teaching was selected in the teaching.
Treatment : Select the position number from 63 or smaller.
092 PWRT signal detection Cause : The current position write signal (PWRT) was
during movement input in the “teaching mode” of PIO pattern 1
while the actuator was jogging.
Treatment : Input the PWRT signal after confirming that the
job button is not pressed and the actuator is
stopped (MOVE output signal is OFF).
093 PWRT signal detection in Cause : The current position write signal (PWRT) was
incomplete home return input in the teaching mode of PIO pattern 1 when
home return was not yet completed.
Treatment : Input the HOME signal first to perform home
return, and then input the PWRT signal after
confirming that the home return has completed
(HEND output signal is ON).
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Alarm
Alarm Level Alarm Name Cause/Treatment
Code
0A1 Parameter data error Cause : The data input range in the parameter area is not
appropriate.
Example 1) This error occurs when the
magnitude relationship is apparently
inappropriate such as when 300mm
was incorrectly input as the value of
the soft limit negative side while the
value of the soft limit positive side
was 200.3mm.
Cold start
Example 2) In rotary axis, when the “Index mode”
is changed to the “Normal mode” and
the soft limit negative side is 0, this
error is issued. Set the soft limit
negative side to a value -0.3mm is
added to the outer side of the
effective stroke. [Refer to 9.2 [2] Soft
limit +, Soft limit -]
Treatment : Change the value to the appropriate one.
0A2 Position data error Cause : 1) A move command was input when no target
position was set in the “Position” field of a
position No. in the position table.
2) The value of the target value in the “Position”
field exceeded the Parameter No.3 and 4
“Soft limit * side” set value.
3) A target position was specified in the
“Position” field by relative coordinate in the
solenoid valve mode 2 of PIO pattern 5.
Treatment : 1) Set the target position.
2) Change the target position value to the one
within the soft limit set value.
3) The target position cannot be set by relative
coordinate (incremental feed).
0A3 Position command data Cause : 1) The speed or acceleration/deceleration value
error during direct numeric specification exceeded
the maximum set value.
Treatment : 1) Edit point table to input a proper value.
0A4 Command counter Cause : The number of input command pulses exceeded
overflow the range of -134217728 to +134217728
(H'F8000000 to '07FFFFFF).
Operation Treatment : Attempt to make the value of the electrical gear
release ratio smaller (make the movement against the
unit bigger).
0A7 Command deceleration Cause : Because there is not enough deceleration
error distance when the deceleration is changed to a
lower setting during the operation, the actuator
exceeded the soft limit when deceleration was
made from the current position with the
deceleration after the change.
Deceleration starting position
not resulting in soft limit overshoot If a command is issued here,
soft limit overshoot will occur.
Soft limit
The cause is that the timing to make the next
movement command when the speed was
changed during the operation was late.
Treatment : Make the timing earlier for the movement
command for the deceleration speed change.
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Alarm Alarm
Code Level
0A8 Unsupported Cause : The motor connected to the controller is not
motor/encoder types applicable or the type of the encoder that the
motor is connected is not applicable.
Treatment : When this alarm is generated on the actuators
object to control, and if the same phenomenon
occurs even after a power reboot, contact IAI.
0B4 Electric angling Cause : This alarm indicates that the position deviation
(ACON mismatching counter has overflowed.
Only) Treatment : The alarm occurs when the actuator cannot be
Cold start operated.
Confirm about the load conditions, that the work
does not interfere with any object nearby or the
brake has been released, etc.
If the error occurs even when the servo is ON,
breakage of the encoder cable is considered.
Check the cable connection. Please contact IAI
if there is no failure in the cable and connector
connections.
0B5 Z-Phase position error The position where the Z-phase is detected before the home
(ACON Operation return operation, is out of the specified range.
Only) release Cause : Encoder Error
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Alarm Alarm
Code Level
0B6 Z-phase detection Cause : Even though the magnetic pole phase detection
(ACON timeout (pole sensing) has been conducted at the first
Only) servo-on after the power is turned ON, the
encoder Z-phase signal could not be identified
even after a certain period of time has passed.
Shown below are the suspected causes.
1) Looseness or breakage is occurred in the
connector on the actuator connection cable.
2) Brake is not released in case of actuator
equipped with brake.
Operation 3) Motor load is high due to external force.
release 4) Sliding resistance of the actuator itself is
high.
Treatment : 1), 2) Check the wiring condition of the actuator
connection cable.
3) Check the mounting condition of mechanical
components.
4) If the loaded weight is within the specified
range of the actuator, shut down the power
and check the sliding resistance by moving
the actuator with hand. Contact IAI if any
problem is found on the actuator.
0B7 Magnetic pole undefined Cause : Even though the magnetic pole phase detection
(ACON has been conducted at the first servo ON after
Only) the power is turned on, the magnetic pole
phase could not be detected even after a
certain period of time has passed.
Shown below are the suspected causes.
1) Looseness or breakage is occurred in the
connector on the actuator connection cable.
2) Brake is not released in case of actuator
equipped with brake.
3) Motor load is high due to external force.
Cold start
4) Sliding resistance of the actuator itself is
high.
Treatment : 1), 2) Check the wiring condition of the actuator
connection cable.
3) Check the mounting condition of mechanical
components.
4) If the loaded weight is within the specified
range of the actuator, shut down the power
and check the sliding resistance by moving
the actuator with hand. Contact IAI if any
problem is found on the actuator.
0BA Home sensor Cause : This indicates that the home-return operation of
non-detection the actuator equipped with origin sensor (option
except rotary actuator) is not completed in
normal condition.
1) Work is interfering with peripheral equipment
in the middle of home return.
2) Large slide resistance of the actuator itself
3) Installation failure, breakdown or
disconnection of the home sensor
Operation
Treatment : In the case that the work does not interfere with
release
anything, the cause 2) or 3) is supposed. In such
case, please contact IAI.
0BE Home return timeout Cause : Home return does not complete after elapse of a
certain period after the start of home return.
Treatment : This error does not occur in normal operation.
The combination of the controller and actuator
may be incorrect. Please contact IAI.
219
�
Alarm Alarm
Code Level
0C0 Actual speed excessive Cause : This indicates the number of motor rotation
exceeded the number of allowable rotation.
1) The slide resistance of the actuator is locally
high.
2) The load is increased too much due to a
external force.
With the reasons above, it can be considered a
sudden speed increase has occurred before
detecting the servo error.
Treatment : Even though this would not occur in normal
operation, check if there is any abnormality in the
Operation parts assembly condition. Also check if there is a
release possibility that an external force may be applied in
the direction of the actuator movement.
0C5 Illegal transition command Cause : 1) Change the operation from the “Vibration
in control system suppress control” operation to the normal
position control operation.
2) Change the operation from the normal position
control operation to the vibration suppress
control operation.
Treatment : Change the sequence so the next action is
conducted after confirming the positioning
complete signal (PEND) is turned ON for both
cases 1) and 2).
220
�
Alarm Alarm
Code Level
0C8 Overcurrent Cause : The output current in the power circuit section is
increased abnormally.
Treatment : This alarm will not be generated in normal
operation. It can be considered as the insulation
degradation of the motor winding or malfunction of
the controller. Please contact IAI.
0CA Overheat Cause : This indicates overheat (90�C or more) of the
components inside the controller.
1) Operation is performed with the load condition
exceeding the specified range.
2) High temperature around the controller.
3) Load to the motor is high due to external force.
4) A faulty part inside the controller.
Treatment : 1) Revise the operation condition such as
decreasing the acceleration/deceleration speed.
2) Lower the ambient temperature of the controller.
3) Confirm that there is no error in the mechanical
part assembly condition.
(Note) This error would not normally occur. If it occurs,
confirm there is not 1) to 3) above. If the same
error is issued again even after confirming 1) to 3)
is not in the condition, it is considered to be a
malfunction. Contact IAI.
0CB Current sensor offset Cause : An error was found to the sensor in the status
Cold start
adjustment error check of the current detection sensor conducted at
the initializing process in the startup.
The current detection sensor or any of its
surrounding parts is faulty.
Treatment : It is necessary to replace the PCB if it occurs even
after rebooting the power. Please contact IAI.
0CC Control power source Cause : The control power voltage dropped less than the
voltage error voltage drop threshold (120% of 24V DC = 28.8V).
1) The voltage of 24V DC power supply is high.
3) During acceleration/deceleration and servo ON
that use the remote sensing function of 24V DC
power supply, the current consumption rises
transiently.
Using the remote sensing function with a power
supply with no enough current capacity may
cause overvoltage responding to the current
change.
Treatment : 1) 2) Check the voltage of the power supply.
3) Think to use a power supply with enough
current capacity or not to use the remote
sensing function.
In the case that the voltage is normal, please
contact IAI.
221
�
Alarm Alarm
Code Level
0CE Drop in control supply Cause : The control power voltage dropped less than the
voltage voltage drop threshold (80% of 24V DC = 19.2V).
1) The voltage of 24V DC power supply is low.
Treatment : Check the voltage of the power supply.
contact IAI.
Operation
0D2 Motor power source Cause : Motor power is in overvoltage (38V or more).
release
voltage excessive 1) The voltage of 24V DC power supply is high.
Treatment : Check the voltage of the power supply.
contact IAI.
222
�
Alarm Alarm
Code Level
0D4 Drive Source Error Cause : Overcurrent is generated on the motor power
supply line.
Cold start
Treatment : Check the wire layout between the actuator and
controller.
0D6 FAN error detection Cause : Error detected on heatsink fan inside the
controller
Treatment : It can be considered the end of fan life. Replace
the fan.
0D8 Deviation overflow Cause : This alarm indicates that the position deviation
counter has overflowed.
1) The speed dropped or the actuator stopped
due to the effect of external force or overload.
2) The excited-phase detection operation
following the power-on is unstable.
Treatment : 1) This error occurs when the actuator cannot be
operated as it is commanded. Check the load
conditions such as if the work is touching to
the surrounding object, or brake is properly
released, and remove the cause.
2) Overload can be concerned. Revise the
Operation
transportable weight and redo the home-return
release
operation.
0D9 Software stroke limit Cause : The current position of the actuator exceeds the
exceeded software stroke limit.
Treatment : Return the actuator to be within the range of the
software stroke limit.
0DC Pressing motion range over Cause : 1) After the pressing operation has complete, the
force to push back is too large and the pushed
back to the pressing start position (“Position” in
the position table).
2) The actuator touched the work during the
approach movement before the pressing
movement.
Treatment : 1) Revise the setting and adjust it so the force to
push back gets smaller.
2) Set the “Position” setting in front in the position
table to shorten the approach distance.
223
�
Alarm Alarm
Code Level
0E0 Overload Cause : 1) The work weight exceeds the rated weight, or
an external force is applied and the load
increased.
2) If the actuator is equipped with a brake, the
brake is not released.
3) The slide resistance of the actuator is locally
high.
Treatment : 1) Check the work and its surrounding area to
remove the cause.
2) Supply 24V DC 150mA to the BKRLS terminal
on the power supply connector and if you can
see the condition is cancelled, it is considered
the controller failure. Please contact IAI. If the
brake is not released, the brake itself may be
Cold start faulty, cable may be disconnected, or the
controller may be faulty. Please contact IAI.
3) In the case that the work can be moved by
hand, move it. Then, check that there is no
location where a sliding resistant is too large.
Check if the installation face is distorted. When
the error occurs in operation of the actuator
only, Please contact IAI.
Caution
Restart the operation after making sure to remove the
cause.
If you cannot determine that the cause is removed
completely, wait for at least 30 minutes before turning on the

power to prevent the motor coil from burning.
224
�
Alarm Alarm
Code Level
0E4 Encoder send error Cause : This shows the data was not received in normal
(ACON condition from the encoder side to the controller
Only) (applicable part to Simple Absolute).
1) Cable breakage of encoder cable or connector
connection failure
(If the detail code in the error list of the
0E5 Encoder receipt error
(ACON
teaching tool is 0002H.)
Only) 2) Effect of noise
3) Malfunction of component (communication
0E6 Encoder count error part) inside the actuator
(ACON 4) A faulty part inside the controller
Only) (communication part).
Treatment : 1) Check if any wire breakage on a connector
and the condition of wire connections.
2) Interrupt the power to the peripheral
equipment and activate only the actuator. If
any error does not occur, it might be caused by
Cold start noise. Take proper measures against noise.
If the cause is due to 3) or 4), it is necessary to
replace the actuator (motor part) or controller.
If the cause cannot be specified, please contact
IAI.
0E8 A- and B-phase wire Cause : Encoder signals cannot be detected correctly.
breaking 1) The motor/encoder relay cable or supplied
actuator cable is disconnected or its connector
is not plugged in correctly.
2) The encoder itself is faulty.
Treatment : 1) Check if any wire breakage on a connector
and the condition of wire connections.
If the cables are normal, faulty encoder is
suspected. Please contact IAI.
0EC Encoder PS-phase wire Cause : Looseness or breakage can be concerned in the
(DCON breaking connector on the actuator connection cable.
Only) Treatment : Check the connecting condition of the actuator
connection cable and electrical conduction.
Contact IAI if these conditions are in normal.
225
�
Alarm Alarm
Code Level
0ED Absolute encoder error Cause : The current position has changed while the
(ACON detection 1 controller is reading or saving the absolute data.
Only) Treatment : Avoid a condition that gives vibration to the
actuator.
0EE Absolute encoder error Cause : The position data cannot be detected properly in
(ACON detection 2 the Simple Absolute applicable type encoder.
Only) 1) When the power is supplied for the first time to
Simple Absolute applicable type (before
executing absolute reset)
2) Voltage drop of absolute battery.
3) Wire breakage or connector contact failure of
motor/encoder relay cable or actuator
enclosed cables, or attempted to insert and
remove the cables
4) Changed the parameters of controller
Operation
Treatment : 2) Supply the power for 72 hours or more and
release
after charging the battery enough, perform the
absolute reset operation.
If the same failure occurs often even with
enough battery charge, it is considered the
end of the battery life. Replace the battery.
Conduct an absolute reset for 1), 2) and 4).
[Refer to Chapter 6 Absolute Reset and Absolute

Battery]
0EF Absolute encoder error The encoder for the Simple Absolute applicable type cannot
(ACON detection 3 detect the position information properly. (Encoder overspeed
Only) error)
Cause : The current position changed with a speed more
than the rotation velocity setting by an external
cause during the power shutoff.
Treatment : Set the rotation velocity to a higher speed than
what currently is. If the same failure occurs again,
it is necessary to have an absolute reset.
[Refer to Chapter 6 Absolute Reset and Absolute
Battery]
0F0 Driver logic error Cause : Exceeded load, parameter (motor type)
Cold start mismatched, noise, malfunction of controller, etc.
0F1 Field bus link error Cause : Error detected in field network link
Operation Treatment : Reboot the power. Please contact us if the
release problem is not solved with this action.
0F2 Field bus module error Cause : Error detected in field network circuit board
Treatment : Check the parameter settings.
0F3 Field bus module not Cause : Field network circuit board could not be detected.
detected Treatment : Reboot the power. Please contact us if the
problem is not solved with this action.
Cold start
0F4 Mismatched PCB The PCB is not applicable for the connected motor in the
startup check.
Cause : A motor or an encoder not applicable for this
controller is connected.
Treatment : Should this error occur, please contact IAI.
226
�
Alarm Alarm
Code Level
0F5 Nonvolatile memory write It is verified at the data writing process to the non-volatile
verify error memory that the data inside the memory and the data to be
written are matched. There was a mismatch detected in this
Operation
process.
release
Cause : Faulty nonvolatile memory.
Treatment : When the error is caused even when the power is
re-input, please contact IAI.
0F6 Nonvolatile memory write There is no response in the specified time duration during the
timeout data writing to the non-volatile memory.
0F8 Nonvolatile memory data Abnormal data was detected during the nonvolatile memory
destroyed check after starting.
0FA CPU error The CPU operation is not normal.
Cause : 1) Faulty CPU.
2) Malfunction due to noise.
Cold start Treatment : When the error is caused even when the power is
0FC Logic error The controller is not operating properly.
(Faulty component) Cause : 1) Malfunction due to the effect of noise, etc.
2) Malfunction of peripheral circuit components.
Treatment : Turn the power OFF and reboot.
If the error occurs again, check for presence of
noise.
If a spare controller is available, replace the
problem controller with the spare controller. A
recurring error with the spare controller suggests
presence of noise.
If the cause cannot be identified, please contact
IAI.
100 to Alarm on teaching tool [Refer to the Instruction Manual of teaching tool.]
Message
1FF
200 to Operation Alarm on teaching tool [Refer to the Instruction Manual of teaching tool.]
2FF release
300 to Alarm on teaching tool [Refer to the Instruction Manual of teaching tool.]
Cold start
3FF
227
228
!
Chapter 11 Appendix
11.1 Way to Set Multiple Controllers with 1 Teaching Tool� � � � � �
It is usually necessary to connect the teaching tool to the controllers one by one when making a
setup to multiple controllers with one unit of teaching tool. In this section, explains how to
perform the settings without connecting and disconnecting the plug.
• Requisite devices :
(1) SIO Converter (RCB-TU-SIO-A or RCB-TU-SIO-B)� : 1 unit
(2) Controller Link Cable (CB-RCB-CTL002)� : Required by the number of controllers
Accessories 1) 4-way junction (Manufactured by AMP 5-1473574-4) : 1 unit
2) e-CON Connector (Manufactured by AMP 4-1473562-4) : 1 unit
3) Terminal Resistance (220�, with a e-CON connector) : 1 unit
Instead of the e-CON cable attached to the controller link cable, a terminal block may be used.
In this configuration, disconnect the e-CON connector from the controller link cable.
11.1.1 Connecting Example� � � � � � � � � � � � � � � � � � � � � � � �
Caution : Supply 0V to the SIO converter and each controller from the same power
source.
PC Software
(Option)
RS232C-compatible <RCM-101-MW>
USB-compatible <RCM-101-USB>
Teaching Pendant
Chapter 11 Appendix
Cable included in PC software
<RCB-CV-MW, CB-RCA-SIO□□□>
<CB-SEL-USB030, RCB-CV-USB, CB-RCA-SIO□□□>
SIO Converter (with Terminal Resistor)

<RCB-TU-SIO-A> Vertical
<RCB-TU-SIO-B> Horizontal
e-CON Connector (Manufactured by AMP 4-1473562-4 : Housing Color Green)

e-CON Connector (Manufactured by AMP 3-1473562-4 : Housing Color Orange)
Junction (Manufactured by AMP 5-1473574-4)
Green Green To be prepared by customer. Green
Terminal Resistance
R = 220Ω
Controller Link Cable

<CB-RCB-CTL002>
Axis No. Setting : 0 Axis No. Setting : 1 Axis No. Setting : n-1
1st unit 2nd unit nth unit
229
!
11.1.2 Detailed Connection Diagram of Communication Lines� � � � � � �
Double Shield Cable(Note 1)

SIO Converter Recommended : Taiyo Cabletec Corp. 4-way Junction (Manufactured by AMP : 5-1473574-4)
HK-SB/20276XL (A) (B)
J4, J5 (AWG22)
1 1 1 SGA
(SGA) A
2 2 2
(SGB) B SGB
3 3 3
0V 0V
Mini DIN
Personal 4 4 4
Computer 8 pin Shield
Class D grounding e-CON Connector

e-CON Connector (Manufactured by AMP : 4-1473562-4)
(Manufactured by AMP : Cover Color : Green
4-1473562-4) Controller
ACON 1st Unit Housing Color : Green Link Cable DCON 1st Unit
SIO Connector CB-RCB-CTL002 SIO Connector
SGA 1 Yellow 1 1 Yellow 1 SGA
2 Orange 2 2 Orange 2
SGB SGB
7 Blue 3 3 Blue 7
GND GND
Controller
Link Cable e-CON Connector
CB-RCB-CTL002 (Manufactured by AMP : 3-1473562-4)
Cover Color : Orange
(Note 1) Apply a 2-pair shielded cable.

When connecting a cable other than recommended to (A) and (B), make sure to use a
Chapter 11 Appendix
hard-cored cable equivalent to the vinyl cable (KIV) dedicated for control devices with
the sheath outer diameter from 1.35 to 1.60mm. Using cables with outer diameter out
of the specification may cause poor contact to occur.
Caution : When cables with outer diameter out of the specification are used, use a
terminal block instead of 4-direction junction. In this configuration, disconnect
the e-CON connector of the link cable. If an error possibly caused by poor
contact occurs frequently, replace the junction with the terminal block.
11.1.3 Axis No. Setting� � � � � � � � � � � � � � � � � � � � � � � � � �

Set an axis number by using the axis number setting switch on the front panel.
Possible axis numbers range from 0 to F by 16 axes.
After the setting, turn off the power of controller and then on it again.
Adjust the arrow to a

desired position using a
flathead screwdriver.
Caution : The axis number must be unique.
230
!
11.1.4 Handling of e-CON connector (how to connect)� � � � � � � � �
Clamp Lever 1) Check the applicable cable size.

Pin No. Check the applicable cable. If it is not applicable,
it may cause a connection failure or a breakage
of the connector.
2) Check the pin numbers, do not reveal the
sheath, and insert the cable till it reaches the
end.
Wire Revealing the sheath may cause a failure such
as short circuit or cable fall out.
Wire
Press
welding
Press
welding
Press
welding
Chapter 11 Appendix
Press
welding
3) Use a (generally purposed) parallel plier with
the width of 10mm or more to press-weld the
cable from top and bottom.
Use the parallel plier from the direction of
, grip it while checking the condition of
press-welding to make sure the press is in right
angle and press it until it becomes completely
flat to the housing.
If the inserting is not enough, it may not be able
to attach to the socket or may cause a contact
failure.
4) After finishing the press-welding, pull the cable
lightly to confirm that won’t come out.
Caution :
1) e-CON connector cannot be reused once the press-welding is failed. Use a new
connector to retry the press-welding.
2) When connecting to the socket, hold the connector with care not to touch the clamp lever,
insert the connector in parallel to the socket until the clamp lever makes a “click” sound.
3) After joining to the socket, do not pull the cables or pull the connector without releasing
the lock of the clamp lever.
231
!
11.1.5 SIO Converter� � � � � � � � � � � � � � � � � � � � � � � � � � �
The SIO converter converts the communication mode from RS232C to RS485 or vice versa.
7) e-CON Connector
2) Link-connection 1) Power/Emergency Stop
Terminal Board (TB1) Terminal Board (TB2)
6) LED Indicators
for Monitoring
3) D-sub, 9-pin Connector 5) PORT Switch

4) Mini DIN, 8-pin Connector
1) Power/Emergency Stop Terminal Board (TB2)

Symbol Description
EMG1, EMG2 Turn the PORT switch ON to output the emergency stop switch signal, OFF
to short-circuit EMG1 and EMG2.
When applying the emergency stop switch of the teaching pendant to the
Chapter 11 Appendix
emergency stop of the system, obtain the signal from here.

24V Positive side of the 24V DC power supply (Power supply for the teaching
pendant and conversion circuit.)
0V Negative side of the 24V DC power supply
FG Frame ground
(Note) 0V is connected to the pin No. 7 (GND) on the communication connector for the controller.
� Connection method
Use a connection cable satisfying the following specifications :
Item Specification
Applicable wire Solid Wire : �0.8 to 1.2mm/Stranded : AWG Size 20 to 18
(0.5 to 0.75mm2)
Stripped wire length 10mm
Use for Continuity Check

Insert a flathead scewdriver with a bit size of approx. 2.6mm.
Connection Cable
232
!
2) Link-connection Terminal Board (TB1)
This is the connection port to obtain communication connection with the controller.
Connect terminal “A” on the left side to communication line SGA of the controller. (Terminal A
is connected to pin 1 of (7) internally.)
Connect terminal “B” on the right side to communication line SGB of the controller. (Terminal
B is connected to pin 2 of (7) internally.)
Use a twisted pair shielded cable for the connection of SGA and SGB to TB1.
3) D-sub, 9-pin connector

A connection port with the PC. (RS232C)
It is used when the operation is conducted with using SIO communication.
4) Mini DIN, 8-pin connector

This connector is connected to “PC software”, teaching pendant.
5) PORT Switch
The PORT switch is used to exchange enable/disable of connector (4).
Set the switch to ON if connector (4) is used or OFF if not used.
The switchover of valid/invalid on the teaching pendant is held at the same time as the
emergency stop button switch signal output (between EMG1 and 2).
6) LED Indicators for Monitoring

LED1 : Lights/blinks while the controller sends signals.
LED2 : Lights/blinks while signals are sent from the RS232C connector.
7) e-CON Connector
It is used when connecting to the controller with e-CON connector without using 2).
Chapter 11 Appendix
233
!
11.1.6 Communications Cable� � � � � � � � � � � � � � � � � � � � � �
1) Controller Link Cable (CB-RCB-CTL002)
Controller Side
200mm
e-CON Connector
3-1473562-4
(Housing Color :Orange)
Mini DIN Connector
Yellow
Orange
Blue
11.1.7 External Dimension� � � � � � � � � � � � � � � � � � � � � � � �

Chapter 11 Appendix
(Leg Element Bottom Side) (Leg Element Top Side)
234
!
11.2 Conformity to Safety Category� � � � � � � � � � � � � � � � � �
In this section shows an example of a circuit using the dedicated teaching pendant. However, it
is not possible for us to check the conformity of our product to the condition of your system.
Therefore, it is necessary that the user construct the circuit considering the condition of use and
the categories to be applied.
[1] System Configuration

I Make sure to use the teaching pendant (either of Model Codes; CON-PGAS, CON-PGA,
CON-TGS or CON-TG) if it is necessary to construct a system complied with Safety Categories
(ISO121100-1).
Also, TP adapter (Model : RCB-LB-TGS or RCB-LB-TG) is required.
The system can conform to up to safety category B to 4 (ISO12100-1) by changing connections
of system I/O connectors.
Caution: the required cable and dummy plugs differ depending on the models of TP adapter
and the teaching pendant.
Combination of; Controller

ACON, DCON
System I/O connector
(ENB*:Lower side EMG*:Upper side)
TP adapter
�TP Adapter Controller “RCB-LB-TG”
TP adapter
(RCB-LB-TG) connection cable RCB-LB-TG Safty Circuit
SIO connector
�Teaching pendant “CB-CON-LB005”
Please
(CON-PGA or CON-TG)� propare
separately
Controller
connecting
connector
Teaching pendant
connecting connector
Teaching
pendant
“CON-PGA”
“CON-TG” Dummy plug
“DP-4”
Chapter 11 Appendix
ACON, DCON
TP adapter
�TP Adapter Controller “RCB-LB-TGS”
TP adapter
(RCB-LB-TGS) connection cable RCB-LB-TGS Safty Circuit
SIO connector
Please
(CON-PGAS or propare
separately
CON-TGS) Controller
connecting
connector
Teaching pendant
Teaching
pendant
“CON-PGAS” Dummy plug
“CON-TGS” “DP-4S”
ACON, DCON
TP adapter
�TP Adapter Controller “RCB-LB-TGS”
TP adapter
(RCB-LB-TGS) connection cable RCB-LB-TGS Safty Circuit
SIO connector
Please
(CON-PGA Aor propare
separately
CON-TG)� Controller
connecting
connector
Teaching pendant
Teaching
pendant
“CON-PGA”
“CON-TG” Dummy plug
“DP-4S”
Connector Conversion Cable Set*
“CB-CVTG-LB002”
*Conversion Unit (SEL-CV-TG) and
Connection Cable (CB-SEL26H-LBS002)
235
!
[2] Wiring and setting of safety circuit
(1) Power supply
To use safety relays and/or contactors of 24V DC specification in the safety circuit, the
control power supply should be used only for the circuit as much as possible. (Do not use the
same power source as the driving power supply for this controller.)
For instance, do not attempt to use the same power source as the driving power supply for
PCON which is the controller for ROBO Cylinder, the product of IAI.
It is the risk prevention treatment preparing for the cases such as the operation error of the
safety circuit caused by not enough power capacity.
(2) Specification of system I/O connector for TP adapter
Connector name System I/O Connector Applicable Wire
(Note 1)
Upper side Cable side FMC1.5/6-ST-3.5
(EMG side) TP adapter side MCDN1.5/6-G1-3.5P26THR AWG24 to 16
Phoenix Contact
Lower side Cable side FMC1.5/6-ST-3.5(Note 1) (0.2 to 1.25m2)
(ENB side) TP adapter side MCDN1.5/6-G1-3.5P26THR
Signal
Pin No. Description
name
1 EMG1- Emergency stop contact 1
2 EMG1+ (30V DC or less, 100mA or less) �
3 EMG2- Emergency stop contact 2
Upper side
4 EMG2+ (30V DC or less, 100mA or less)
(EMG side)
5 EMGIN Emergency stop detection input
24V power supply output for emergency stop
6 EMGOUT
detection input
7 ENB1- Enable contact 1
8 ENB1+ (30V DC or less, 100mA or less)
9 ENB2- Enable contact 2
Lower side
Chapter 11 Appendix
10 ENB2+ (30V DC or less, 100mA or less)

(ENB side)
11 ENBIN Enable detection input
24V power supply output for enable detection
12 ENBOUT
input
Note 1 Connectors on the cable side are attached under conditions where initial wiring has
been conducted.
In order to support each category, remove the initial wiring and wire your safety circuit.
236
!
� Upper side (EMG) connector � Lower side (ENB) connector
1 1
EMG1 - ENB1 -
EMG1 + ENB1 +
EMG2 - ENB2 -
EMG2 + ENB2 +
EMGI N ENBI N
EMGOU T ENBOU T
6 6
Wiring Color Signal No. Wiring Color Signal No.

YW EMG1- 1 YW ENB1- 1
YW EMG1+ 2 YW ENB1+ 2
AWG24 EMG2- 3 AWG24 ENB2- 3
EMG2+ 4 ENB2+ 4
YW EMGIN 5 YW ENBIN 5
YW EMGOUT 6 YW ENBOUT 6
Chapter 11 Appendix
Upper Lower
side side
TP Adapter Side View
(3) Connection of dummy plug of TP adapter

When operating the controller with AUTO Mode, make sure to connect the enclosed dummy
plug to TP Connector. [Refer to [1] System Construction in this section for the model code of
dummy plug.]
(4) Enable function*

If you are using the enable function, set it to Enable using the controller parameter.
Parameter No.42 Enable function
0 ··· Enable
1 ··· Disable [Default setting at shipment]
* Enable function : It is the function to monitor the status of the signal (safety switch, dead
man’s switch on teaching pendant, etc.) to permit the devices to operate.
237
!
[3] Examples of safety circuits
1) In case of category 1
CON-PGAS
S
RCB-LB-TGS
Chapter 11 Appendix
238
!
� Detailed category 1 circuit example
RCB-LB-TGS
Chapter 11 Appendix
239
!
2) In case of category 2
C O N -P G A S
S
R C B -LB -T G S
Chapter 11 Appendix
240
!
� Detailed category 2 circuit example
RCB-LB-TGS
Chapter 11 Appendix
241
!
3) In case of category 3 or 4
CON-PGAS
S
RCB-LB-TGS
Chapter 11 Appendix
242
!
� Detailed category 3 or 4 circuit example
RCB-LB-TGS
Chapter 11 Appendix
243
!
[4] TP adapter and accessories
1) TP adapter external dimensions
RCB-LB-TGS
Chapter 11 Appendix
244
!
2) Connection Cable
� Controller/TP Adaptor Connection Cable
Use this cable to connect the controller and TP adapter (RCB-LB-TG).
Model : CB-CON-LB005 (standard cable length : 0.5m)
Maximum cable length : 2.0m
Color Signal No. No. Signal Color

Brown SGA SGA Brown
Yellow SGB SGB Yellow
Red 5V 5V Red
Orange ENBL ENBL Orange
Blue EMGA EMGA Blue
Green 24V 24V Green
Purple GND GND Purple
Gray EMGB EMGB Gray
Shield FG FG Shield
8PIN MIN DIN Connector (overmolded) 8PIN MIN DIN Connector (overmolded)
Chapter 11 Appendix
245
!
3) Dummy plug
Connect a dummy plug to the teaching pendant connecting connector.
Make sure to connect a dummy plug if the AUTO mode is specified.
Without the connection, it will be the emergency stop condition.
Model : DP-4S (When TP adapter is RCB-LB-TGS)
DP-4 (When TP adapter is RCB-LB-TG)
• HDR-E26MSG1
(When TP adapter is RCB-LB-TGS)
• TX20A-26PH1-D2P1-D1E(JAE)
(When TP adapter is RCB-LB-TG)
Chapter 11 Appendix
11.3 When Connecting Power Supply with + Grounding� � � � � � � �

When using + grounding, there is a risk of short-circuit of 24V DC power supply if connected to
the PC. This is because many PCs have the communication ground (GND) and the frame
ground (FG) connected inside and short-circuit occurs through the frame ground. Also, if
controllers with different 24V DC power supplies are connected with serial communication, the
communication line may become the route of controller power supply in some cases depending
on the timing to turn on the power, resulting in the malfunction of the communication line.
Troubleshooting is summarized separately in [ME0271 Caution for + Grounding 24V Power
Controller]. Please refer to it.
246
!
11.4 Example of Basic Positioning Sequence (PIO pattern 0 to 3)� � � �
This section shows an example in which a simple operation box directs ACON to move the
actuator successively to three positions on an axis.
11.4.1 I/O Assignment� � � � � � � � � � � � � � � � � � � � � � � � � �

PLC
Operation Box Operation Box
Input Output
Emergency stop cancel IN0 OUT0 Emergency stop
(Relay Circuit) EMGRST EMRSTL cancel display
IN1 OUT1
RC Start START STARTL RC Start
Display
IN2 OUT2 RC Stop
RC Stop STOP STOPL
Display
IN3 OUT3
Pause HOLD HOLDL Pause Display
IN4 OUT4
HOME HOMEL Home Return
Home Return
Display
Completed IN5 OUT5
Position No.1 PM1 ZONE1L Zone 1 Display
Completed A
IN6 OUT6 Position Zone
Position No.2 C PM2 PZONEL Display
Completed O IN7 OUT7 Manual Mode
Position No.4 PM4 RMDL Display
N
IN8 OUT8 Command Position
Moving MOVE PC1 No.1
A
Chapter 11 Appendix
IN9 OUT9 Command Position
Zone1 ZONE1 PC2 C
No.2
IN10 OUT10 O
Position Zone PZONE Command Position
PC4 N No.4
IN11 OUT11
Operating Mode RMDS HOME Home Return
IN12 OUT12
Home Return HEND *Pause
Completion
*STP
IN13 OUT13
Point Positioning PEND CSTR Start
Completion
IN14 OUT14
Operation SV
Preparation End SON Servo ON
IN15 OUT15
* Alarm *ALM RES Reset
“*” in codes above shows the signal of the active low. Input signal is processed with
it is turned OFF and output signal is usually ON when the power is supplied and is
OFF when signal output.
247
!
11.4.2 Ladder Sequence� � � � � � � � � � � � � � � � � � � � � � � � �
[1] Servo ON (Emergency Stop) Circuit

1) It is presumed that the emergency stop release circuit installed in the operation BOX
possesses the self-retaining circuit as shown in “2.1.3 [1] Emergency Stop Circuit”. When it
comes to the emergency stop release condition, “Servo-on” signal from PLC to ACON
turns ON.
2) Then if the emergency stop release state continues, the operation ready complete signal
(sent from ACON to PLC) is turned on to go on the “Emergency stop release” lamp, which
indicates that the actuator can be operated.
IN0 IN15 OUT14

000 Servo ON
EMGRST *ALM SON
Emergency Stop Cancel *Alarm
IN0 IN14 OUT0Emergency Stop
002
EMGRST SV EMRSTL Cancel Display
Emergency Operation
Stop Cancel Preparation End This circuit may only consist of SV. However, to go
off the emergency stop release lamp immediately at
external emergency stop, it also includes EMGRST
because EMGRST not only goes on the lamp but also
performs the emergency stop processing of other circuits.
[2] Operation and Stop Circuit�

IN1 IN13 IN2 IN0 OUT11 OUT1 RC Start Display
005 a007 b012 b044
Chapter 11 Appendix
START PEND STOP EMGRST HOME STARTL a071 a076 a085

RC Start Point RC Stop Emergency Home Return a091 a097 a103
Positioning stop cancel a109 a115 a121
(Interlock) a127 a133
Completion
Stop Command Prohibits start during home return.
OUT1
Once the servo ON the controller turns ON, PEND
STARTL turns ON to conduct a positioning to the current position.
RC Start Display Therefore, it is used to judge whether operation is
available (to confirm READY condition ON controller).
OUT1 OUT2 RC Stop Display
012 a035
STARTL STOPL
RC Start Display
Step number: Cross Reference:

It shows the number of steps on PLC. It shows the steps using the contact
of this signal.
248
!
[3] Pause Circuit
Pause is provided by a single pushbutton. In a similar way as use of an alternate switch, push
the button to make the actuator pause and push it again to release the pause of the actuator.
Pushing the pushbutton leads the “pause command and pause lamp ON” state and pushing the
pushbutton again brings “pause release command and pause lamp OFF”.
To make it easy to understand the circuit, this circuit is

designed to replace contact b input with contact a. If the
pause button is pushed, the circuit turns AUX1 ON.
IN3 AUX1 Pause Aux.1
014 a018 a023
HOLD
Pause This circuit goes on the lamp if it is off.
OUT3 AUX1 AUX3 AUX2 Pause Aux.2
016 a017 b024 a026
HOLDL Pause Pause
Pause Aux. 1 Cancel
Display
AUX2 (Interlock)
Without this, AUX2 and AUX3 continue to be ON
Pause alternately every other scan while the button is pushed.
Aux. 2
OUT3 AUX1 AUX2 AUX3 Pause Cancel

021 b019 a022 b028
HOLDL Pause Pause
Pause Aux. 1 Aux. 2
Display
This circuit goes off the lamp if it is on.
AUX3
Pause After resetting during pause, the

Cancel timer waits for cancellation of the
remaining moving distance. Pause Display
AUX2 AUX3 IN0 TIM1 HOLDL
026 b016 a021 a027
Pause Pause EMGRST Waiting b032 a034
Aux. 2 Cancel Emergency for Reset
Stop Cancel If emergency stop occurs during
OUT3
pause, this releases the pause.
Chapter 11 Appendix
HOLDL
Pause
Display
OUT3 *STP *Pause
032
HOLDL
Pause
Display
249
!
[4] Reset Circuit
If the “Stop” button on the operation BOX is pushed during pause, the “Reset” signal sent from
PLC to ACON is turned ON and the remaining moving distance is cancelled. In addition, this
operation releases the pause. (It is because the pause is not required with no remaining
moving distance.)
(Interlock)
Reset input is disabled because alarm
reset is generated while an alarm
occurs.
OUT3 OUT2 IN15 OUT15 Reset
034 a038
HOLDL STOPL *ALM RES
Pause RC Stop * Alarm
Display Display
OUT15 200ms is Waiting for Reset
038 set to
RES TIM1 b030
Reset
After 200msec from reset input, the “Pause”

lamp goes off and the “Pause” signal is
turned OFF.
Thus, the reset signal remains ON for 200msec.
Due to no reset complete signal, pause

state is not cancelled until reset
processing is completed.
Chapter 11 Appendix
250
!
[5] Home Return Circuit
Similar to the operation circuit, this is (Interlock)

used to determine whether the controller Turns the “Home return” signal OFF at completion of home return.
can be operated. It is set as it would not be able to home return again after the home return
(Confirmation of ready status of controller) operation is complete unless “Home Return Complete” signal turns OFF.
(Interlock)
This disables home return
during continuous operation.
IN4 IN13 IN12 OUT1 OUT11 Home Return
040 <1.11>
HOMES PEND HEND STARTL HOME b010 a042 a046
Home Point Home RC Start
Return Positioning Return Display
OUT11 Completion Completion
HOME
Home Return
OUT11 TIM3 200ms Home Return
046 is set to Dispaly Aux. 1
HOME Home Return TIM2
Dispaly While the “Home return” signal is a049 a051
Home Aux. 2
Return ON, these repeat ON/OFF at
intervals of 200 ms.
TIM2 200ms Home Return
049 is set to Dispaly Aux. 2
Home Return TIM3 b047
Dispaly
Aux. 1
Home Return
TIM2 OUT4 Dispaly
051
Home Return HOMEL
Dispaly
Aux. 1 The “Home return” lamp blinks during home return
and goes on at the “Home return complete” signal.
IN12
HEND
Home Return
Complete
Chapter 11 Appendix
�
251
!
[6] Decode Circuit of Positioning Complete Position No.
The decode circuit converts the binary data of positioning complete position No. sent from
ACON to PLC into the corresponding bit data.
This is the timer to prevent the code reading

error since the scanning is held independently
by PLC and RC controller.
IN13
Point Positioning
200ms Completion
054 is set
PEND a059 a064 a069
to TIM4
Point Positioning
Completion
IN5 IN6 IN7 TIM4 AUX4
056
PM1 PM2 PM4 Point Positioning a094 a100
Completed Completed Completed Completion
Position Position Position
No1. No2. No.
IN5 IN6 IN7 TIM4 AUX5 Completed Position No.2
061
PM1 PM2 PM4 Point Positioning a112 a118
No.1 No.2 No.
IN5 IN6 IN7 TIM4 AUX6 Completed Position No.3
066
Point Positioning a081 a130
PM1 PM2 PM4
No.1 No.2 No.
[7] Actuator Start Circuit

If the “Operation” switch on the operation BOX is pushed, the lamp of the “Operation”
pushbutton switch described in [2] Operation and Stop Circuit goes on and, at the same time,
Chapter 11 Appendix
the actuator starts successive positioning of position No. 1�2�3�1�2•••. The circuit below is
intended for the activation.
OUT1 AUX8 AUX7 Aux. Position 1

071 Positioning Start Pulse
STARTL Aux. Position 1 a074 a078
RC Start Positioning Start Pulse
Display
AUX7 OUT1 AUX8 Aux. Position 1

071 Positioning Start Pulse
Position 1 STARTL a072 a075
Positioning RC Start
Start Pulse Display
Because the operation signal remains ON until the
stop button is pushed, pulsed start signal is generated
AUX8 so that the circuit for moving to the first position (No.1)
may not remain ON. operates next circuit.
Aux. Position 1
Positioning Start Pulse
252
!
[8] Position 1 Operation Circuit
The main circuit is designed to process and manage signals “start” � “moving” � “positioning
complete” to move the actuator to position No.1.
If 1 is not pulsed, 3 is reset

with 4 turned ON and 2 is Startup
turned ON again.
AUX7 IN13 AUX10 OUT1 AUX9 Auxiliary Position 1
078 Positioning Start
Position 1 PEND Position 1 STARTL a083 a087 b132
Positioning Point Positioning RC Start Without home return, positioning to a135 b144 b151
Start Pulse Positioning Start Check Display position No.2 takes place after a162
Completion home return
AUX17 OUT1
Position 3 AUX6
Positioning Completed
Complete Position 3
If movement is started (PEND is
AUX9 turned OFF), the start circuit is turned OFF.
Auxiliary Position 1
Positioning Start
Moving
AUX9 IN13 AUX11 OUT1 AUX10 Position 1
087 Positioning Start Check
Auxiliary PEND Position 1 STARTL a084 a089 b093
Position 1 Point Positioning RC Start
Positioning Positioning Complete Display
Start Completion
AUX10
Position 1 Positioning If movement is completed,

Start Check the moving circuit is turned OFF.
Complete
Chapter 11 Appendix
AUX10 AUX4 AUX12 OUT1 AUX11 Position 1
093 Positioning Complete
Position 1 Completed Auxiliary STARTL b090 a095 b099
Positioning Position 1 Position 2 RC Start
Start Check Positioning Display
Start Position 2 start signal
AUX11 Turned OFF at start of next positioning

to position No.2.
Position 1
Positioning Complete
Because any of start, moving or completion is set to

ON, it is possible to know the state in which the
actuator is stopped if it occurs.
• Circuit 10 is designed to start positioning to position No.1 again after positioning to position No.3
is completed.
• If the “Operation” lamp goes off, the operation circuit is reset entirely. When the “Stop” button is
pushed, the actuator will stop at completion of the operation being executed. At emergency
stop, the actuator is stopped immediately (which is the function of ACON).
253
!
complete” to move the actuator to position No.2. This circuit indicates the same sequence as
that of position No.1.
Startup
AUX11 AUX4 AUX13 OUT1 AUX12 Auxiliary Position 2
Position 1 Completed Position 2 STARTL b096 a101 a132
Positioning Position 1 Positioning RC Start b137 a142 b152
Complete Start Check Displa a163
AUX12
Auxiliary
Position 2
Positioning Start
Moving
AUX12 IN13 AUX14 OUT1 AUX13
105
Auxiliary PEND Position 2 STARTL
Positioning Positioning Complete Displa
Start Completion Position 2 Positioning
Start Check
a102 a107 a111
AUX13
Position 2
Positioning
Start Check
Complete
Chapter 11 Appendix
AUX13 AUX5 AUX15 OUT1 AUX14

111
Position 2 Completed Auxiliary STARTL
Position 2
Start Check Positioning Displa
Position No.3 start signal Positioning Complete
Start
b108 a113 a117
AUX14
Position 2
Positioning
Complete
254
!
complete” to move the actuator to position No.3. This circuit indicates the same sequence as
that of position No.1.
Startup
AUX14 AUX5 AUX16 OUT1 AUX15 Auxiliary Position 3

Position 2 Completed Position 3 STARTL b114 a119 a123
Positioning Position 2 Positioning RC Start b138 b145 a149
Complete Start Check Display a164
AUX15
Auxiliary Position 3
Positioning Start
Moving
AUX15 IN13 AUX17 OUT1 AUX16 Position 3 Positioning
123 Start Check
Auxiliary PEND Position 3 STARTL b120 a125 a129
Positioning Positioning Complete Display
Start Completion
101.00
AUX16
Position 3 Positioning
Start Check To position No.1 start circuit Complete
AUX16 AUX6 AUX9 OUT1 AUX17 Position 3
Chapter 11 Appendix
129 Positioning Complete
Position 3 Completed Auxiliary STARTL a080 b126 a131
Start Check Positioning Display
Position 1 restart signal
Start
AUX17
Position 3
Positioning Complete
255
!
[11] Commanded Position No. Output Ready Circuit
The ready circuit is designed to hold start command and output commanded position No. in the
binary code.
Interlock is taken so that position No. command may not be specified incorrectly.
AUX9 AUX12 AUX15 AUX19 AUX20 AUX18 Position 1 Set

135 a136 b146 b153
Auxiliary Auxiliary Auxiliary Position 2 Position 3 a156
Position 1 Position 2 Position 3 Set Set
Positioning Positioning Positioning
Start Start Start Position No.1, 2,
or 3 set relay
AUX18 To commanded position No.

Position No.1, 2, output circuit
Position 2 or 3 start command
Set

142 b139 b143 b154
Auxiliary Auxiliary Auxiliary Position 1 Position 3 a159
Position 2 Position 1 Position 3 Set Set
Positioning Positioning Positioning
Start Start Start
To commanded position No.

AUX19 output circuit
Position 2
Set

149 b140 b147 a150
Auxiliary Auxiliary Auxiliary Position 1 Position 2
Chapter 11 Appendix
a157 a160
position 3 position 1 position 2 set Set
positioning positioning positioning
start start start
AUX20 To commanded position No.

output circuit
Position 3
Set
• Once a moving command to a position is issued, any of circuits A, B and C is turned ON to

remember it unless a moving command to another position is issued. The operation circuit is
cancelled by a stop command such as an emergency stop command. However, the circuit
remembers the positions to which the actuator moved and the positions at which the actuator
stopped until the cancellation. Such sequence design is also intended to cope with errors
occurred and helpful to find the causes of the errors from circuit status, stop position
inconsistency and other conditions.
• Taking interlock in both commands and results is usual means in circuit design to prevent results
from being ON simultaneously. For example, if both SOLs in a solenoid valve of double SOL
type are turned ON simultaneously, the coils are burned instantly. In another case, PLC
executes a program in descending order but operations are not always done in the order. If you
create a sequence program taking operation order into account, circuit change and/or addition
due to debugging and specification change may cause the operation order to be modified
without intention. Take interlock securely.
256
!
[12] Commanded Position No. Output Circuit
Depending on the result of the ready circuit, this circuit converts position No. to the binary code
and outputs the data from PLC to ACON.
AUX18 [Position No.1] OUT8

156 Command Position 1
Position 1 PC1
Set
AUX20
Position 3
Set
[Position No.3]
AUX19 [Position No.2] OUT9

159 Command Position 2
Position 3 PC2
Set
AUX20
Position 3
Set
[13] Start Signal Output Circuit

After 20msec from the output of position No., this circuit outputs the start signal from PLC to
ACON.
AUX9 200ms
Waiting for start
Chapter 11 Appendix
162 is set to
Auxiliary TIM5 <Timer 5 (bit)>
Set this signal to be 2 to 4 times as a116
Position 1
long as PLC scanning time so that it
20msec
Positioning
is turned ON after position No. is output
Start
securely. (The ACON input condition is
defined to turn the signal ON after 6msec.)
AUX12
Auxiliary
Position 2
Positioning
Start
Each of 2 , 5 , and 8 signals is turned OFF if the actuator is
started by start signal. It is because PEND it turned OFF to turn
AUX15 the moving circuit, a main circuit, ON. (Handshake)
Auxiliary
Position 3
Positioning
Start
TIM5 OUT13
166 Start
Waiting for Start CSTR
257
!
[14] Other Display Circuits (Zone 1, Position Zone, and Manual Mode)
IN9 OUT6
168 Zone 1 Display
ZONE1 ZONEL
IN10 OUT6
170 Position Zone Display
PZONE PZONEL
Position Zone
IN11 OUT7
172 Manual Mode Display
RMDS RMDL
Operation Mode
[Reference]
Programs and functions of PLC are expressed differently depending on manufacturers. However,
the contents of sequence designs do not vary fundamentally. Though arithmetic and data
processing commands seem differently, any manufacturer defines command words executing the
same functions as those of other manufacturers.
Chapter 11 Appendix
258
!
11.5 List of Specifications of Connectable Actuators� � � � � � � � �
The specifications included in this specification list are limited to those needed to set operating
conditions and parameters. For other detailed specifications, refer to the catalog or instruction
manual for your actuator.
Caution
� The push force is based on the rated push speed (factory setting) indicated in the list, and
provides only a guideline.
� Make sure the actual push force is equal to or greater than the minimum push force. If not,
the push force will not stabilize.
� Do not change the setting of push speed (parameter No.34). If you must change the push
speed, consult IAI.
� If, among the operating conditions, the positioning speed is set to a value equal to or
smaller than the push speed, the push speed will become the set speed and the specified
push force will not generate.
Maximum Minimum Maximum Rated

Motor No. of Minimum Maximum
Actuator Feed Lead Mounting acceleration/ push push push
Type output encoder speed speed
series screw direction deceleration force force speed
pulses
[mm] [mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]
Low Power
Horizontal/ Consumptio : 0.3
– – –
10 12.5 500
vertical High Accel/ Decel
Type : 1.0
– – –
Low Power
Ball Horizontal/ Consumptio : 0.3
– – –
RA3C 20 800 5 6.25 250
screw vertical High Accel/ Decel
Type : 1.0
– – –
Low Power
– – –
Chapter 11 Appendix
2.5 3.12 125
Type : 0.2
– – –
Low Power
– – –
10 12.5 500
Type : 1.0
– – –
Low Power
– – –
Ball
RGS3C 20 800 5 6.25 250
Type : 1.0
– – –
RCA Low Power
– – –
(rod 2.5 3.12 125
type) vertical High Accel/ Decel
Type : 0.2
– – –
Low Power
– – –
10 12.5 500
Type : 1.0
– – –
Low Power
Ball Horizontal/ Consumptio : 0.3
– – –
RGD3C 20 800 5 6.25 250
Type : 1.0
– – –
Low Power
– – –
2.5 3.12 125
Type : 0.2
– – –
Horizontal/ – – –
10 12.5 500 0.3
vertical – – –
Ball Horizontal/ – – –
RA3D 20 800 5 6.25 250 0.3
screw vertical – – –
2.5 3.12 125 0.2
(Note) The models with the type column shaded are applicable for offboard tuning function.
(However, they are not applicable for high-acceleration/deceleration type, power-saving type, CR type and
slider-roller type.) For offboard tuning function, refer to the instruction manual of RC PC Software.
259
!

pulses
10 12.5 500 0.3
RGS3D 20 800 5 6.25 250 0.3
2.5 3.12 125 0.2
10 12.5 500 0.3
RGD3D 20 800 5 6.25 250 0.3
2.5 3.12 125 0.2
10 12.5 500 0.3
RA3R 20 800 5 6.25 250 0.3
2.5 3.12 125 0.2
10 12.5 500 0.3
RCA RGD3R 20 800 5 6.25 250 0.3
(rod
type) Horizontal/ – – –
2.5 3.12 125 0.2
Low Power
– – –
12 15 600
– – –
Chapter 11 Appendix
Type : 1.0
Low Power
– – –
20 6 7.5 300
Type : 1.0
– – –
Low Power
– – –
3 3.75 150
Ball Type : 0.2
– – –
RA4C 800
screw Low Power
– – –
12 15 600
Type : 1.0
– – –
Low Power
– – –
30 6 7.5 300
Type : 1.0
– – –
Low Power
– – –
3 3.75 150
Type : 0.2
– – –
260
!
pulses
Low Power
– – –
12 15 600
Type : 1.0
– – –
Low Power
– – –
20 6 7.5 300
Type : 1.0
– – –
Low Power
– – –
3 3.75 150
Ball Type : 0.2
– – –
RGS4C 800
screw Low Power
– – –
12 15 600
Type : 1.0
– – –
Low Power
– – –
30 6 7.5 300
Type : 1.0
– – –
Low Power
– – –
3 3.75 150
RCA
Type : 0.2
– – –
(rod
type) Low Power
– – –
12 15 600
Type : 1.0
– – –
Low Power
– – –
20 6 7.5 300
Type : 1.0
– – –
Low Power
– – –
Chapter 11 Appendix
3 3.75 150
Ball Type : 0.2
– – –
RGD4C 800
screw Low Power
– – –
12 15 600
Type : 1.0
– – –
Low Power
– – –
30 6 7.5 300
Type : 1.0
– – –
Low Power
– – –
3 3.75 150
Type : 0.2
– – –
261
!
pulses
12 15 600 0.3
20 6 7.5 300 0.3
3 3.75 150 0.2
Ball vertical – – –
RA4D 800
screw Horizontal/ – – –
12 15 600 0.3
30 6 7.5 300 0.3
3 3.75 150 0.2
12 15 600 0.3
20 6 7.5 300 0.3
3 3.75 150 0.2
RGS4D 800
12 15 600 0.3
30 6 7.5 300 0.3
RCA 3 3.75 150 0.2
(rod
type) Horizontal/ – – –
12 15 600 0.3
20 6 7.5 300 0.3
Chapter 11 Appendix
3 3.75 150 0.2
RGD4D 800
12 15 600 0.3
30 6 7.5 300 0.3
3 3.75 150 0.2
12 15 600 0.3
20 6 7.5 300 0.3
3 3.75 150 0.2
RA4R 800
12 15 600 0.3
30 6 7.5 300 0.3
3 3.75 150 0.2
262
!
pulses
12 15 600 0.3
20 6 7.5 300 0.3
3 3.75 150 0.2
RGD4R 800
12 15 600 0.3
30 6 7.5 300 0.3
RCA 3 3.75 150 0.2
(rod
type) Horizontal 0.3 – – –
5 6.25 250
Ball Vertical 0.2 – – –
SRA4R 20 800
screw Horizontal 0.2 – – –
2.5 3.12 125
Vertical 0.2 – – –
Horizontal 0.3 – – –
5 6.25 250
SRGS4R 20 800
2.5 3.12 125
5 6.25 250
SRGD4R 20 800
2.5 3.12 125
Chapter 11 Appendix
263
!
pulses
Low Power
10
vertical
12.5 665 – – –
High Accel/ Decel
Type : 1.0
Low Power
Ball Horizontal/ Consumptio : 0.3 – – –
SA4C 20 800 5 6.25 330
screw vertical High Accel/ Decel – – –
Type : 1.0
Low Power
Horizontal/ Consumptio : 0.2 – – –
2.5 3.12 165
vertical High Accel/ Decel – – –
Type : 0.2
Horizontal/
10
vertical
12.5 665 0.3 – – –
Ball Horizontal/
SA4D
screw
20 800 5
vertical
6.25 330 0.3 – – –
Horizontal/
2.5
vertical
3.12 165 0.2 – – –
Horizontal/
10
vertical
12.5 665 0.3 – – –
Ball Horizontal/
SA4R
screw
20 800 5
vertical
6.25 330 0.3 – – –
Horizontal/
2.5
vertical
3.12 165 0.2 – – –
Low Power
Horizontal 1300
Consumptio : 0.3
– – –
RCA 20 25
High Accel/ Decel
(slider Vertical 800
Type : 0.8
– – –
type)
Low Power
800(at 50 to
12
vertical
15 450st) – – –
High Accel/ Decel
Chapter 11 Appendix
760(at 500st)
Ball Type : 0.8
SA5C 20 800
screw Low Power
400(at 50 to
6
vertical
7.5 450st) – – –
380(at 500st) High Accel/ Decel
Type : 0.8
Low Power
200(at 50 to
3
vertical
3.75 450st) – – –
Type : 0.2
800(at 50 to
Horizontal/
12
vertical
15 450st) 0.3 – – –
760(at 500st)
Ball 400(at 50 to
Horizontal/
SA5D
screw
20 800 6
vertical
7.5 450st) 0.3 – – –
380(at 500st)
200(at 50 to
Horizontal/
3
vertical
3.75 450st) 0.2 – – –
190(at 500st)
800(at 50 to
Horizontal/
12
vertical
15 450st) 0.3 – – –
760(at 500st)
Ball 400(at 50 to
Horizontal/
SA5R
screw
20 800 6
vertical
7.5 450st) 0.3 – – –
380(at 500st)
200(at 50 to
Horizontal/
3
vertical
3.75 450st) 0.2 – – –
190(at 500st)
264
!
pulses
1300(at 50 to
500st) Low Power
Horizontal
1160(at 550st) Consumptio : 0.3
– – –
20 25 990(at 600st)
High Accel/ Decel
Vertical 800
Type : 0.8
– – –
800(at 50 to Low Power
Horizontal/ 450st) Consumptio : 0.3
12
vertical 15 760(at 500st) – – –
Ball 640(at 550st) High Accel/ Decel
SA6C 30 800 540(at 600st) Type : 1.0
screw
6
vertical 7.5 380(at 500st) – – –
270(at 600st) Type : 1.0
3
vertical 3.75 190(at 500st) – – –
135(at 600st) Type : 0.2
800(at 50 to
450st)
Horizontal/
12
vertical
15 760(at 500st) 0.3 – – –
640(at 550st)
540(at 600st)
400(at 50 to
450st)
Ball Horizontal/
SA6D
screw
30 800 6
vertical
7.5 380(at 500st) 0.3 – – –
320(at 550st)
270(at 600st)
200(at 50 to
RCA 450st)
Horizontal/
(slider 3
vertical
3.75 190(at 500st) 0.2 – – –
type) 160(at 550st)
Chapter 11 Appendix
135(at 600st)
800(at 50 to
450st)
Horizontal/
12
vertical
15 760(at 500st) 0.3 – – –
640(at 550st)
540(at 600st)
400(at 50 to
Ball 450st)
Horizontal/
SA6R
screw
30 800 6
vertical
7.5 380(at 500st) 0.3 – – –
320(at 550st)
270(at 600st)
200(at 50 to
450st)
Horizontal/
3
vertical
3.75 190(at 500st) 0.2 – – –
160(at 550st)
135(at 600st)
Horizontal/
10
vertical
12.5 665 0.3 – – –
Ball Horizontal/
SS4D
screw
20 800 5
vertical
6.25 330 0.3 – – –
Horizontal/
2.5
vertical
3.12 165 0.2 – – –
800(at 50 to
Horizontal/
12
vertical
15 450st) 0.3 – – –
760(at 500st)
Ball 400(at 50 to
Horizontal/
SS5D
screw
20 800 6
vertical
7.5 450st) 0.3 – – –
380(at 500st)
200(at 50 to
Horizontal/
3
vertical
3.25 450st) 0.2 – – –
190(at 500st)
265
!
pulses
800(at 50 to
450st)
Horizontal/
12
vertical
15 760(at 500st) 0.3 – – –
640(at 550st)
540(at 600st)
400(at 50 to
RCA 450st)
Ball Horizontal/
(slider SS6D
screw
30 800 6
vertical
7.5 380(at 500st) 0.3 – – –
type) 320(at 550st)
270(at 600st)
200(at 50 to
450st)
Horizontal/
3
vertical
3.25 190(at 500st) 0.2 – – –
160(at 550st)
135(at 600st)
Ball
10
Horizontal/
12.5 330 0.2 – – –
A4R 20 800
screw vertical
5 6.25 165 0.2 – – –
RCA 12 15 400 0.2 – – –
(Arm Ball Horizontal/
A5R 20 800
Type) screw vertical
6 7.5 200 0.2 – – –
Ball
12
Horizontal/
15 400 0.2 – – –
A6R 30 800
screw vertical
6 7.5 200 0.2 – – –
4 3.81 200
Lead Horizontal/
RN3N
screw
10 1048 2 vertical 1.90 100 0.2 – – –
1 0.95 50
4 3.81 200
Lead Horizontal/
RP3N
screw
10 1048 2 vertical 1.90 100 0.2 – – –
1 0.95 50
4 3.81 200
Lead Horizontal/
– – –
Chapter 11 Appendix
GS3N 10 1048 2 1.90 100 0.2

screw vertical
1 0.95 50
4 3.81 200
Lead Horizontal/
GD3N
screw
10 1048 2 vertical 1.90 100 0.2 – – –
1 0.95 50
4 3.81 200
RCA2 Lead Horizontal/
SD3N
screw
10 1048 2 vertical 1.90 100 0.2 – – –
(rod 1 0.95 50
type)
Horizontal 270 0.3 – – –
6 5.72
Vertical 220 0.2 – – –
Ball Horizontal 0.3 – – –
4 3.81 200
screw Vertical 0.2 – – –
2 1.90 100
RN4N 20 1048
6 5.72 220
Lead Horizontal 0.2 – – –
4 3.81 200
2 1.90 100
266
!
pulses
6 5.72
Vertical 220 0.2 – – –
4 3.81 200
2 1.90 100
RP4N 20 1048
6 5.72 220
4 3.81 200
2 1.90 100
6 5.72
Vertical 220 0.2 – – –
4 3.81 200
2 1.90 100
GS4N 20 1048
6 5.72 220
4 3.81 200
2 1.90 100
RCA2 Horizontal 270 0.3 – – –
6 5.72
(rod Vertical 220 0.2 – – –
type) Ball Horizontal 0.3 – – –
4 3.81 200
Chapter 11 Appendix
2 1.90 100
GD4N 20 1048
6 5.72 220
4 3.81 200
2 1.90 100
240(at 25st)
Horizontal 300(at 50 to 0.3 – – –
75st)
6 5.72
200(at 25st)
Ball
Vertical 300(at 50 to 0.2 – – –
75st)
screw
4 3.81 200
SD4N 20 1048 Horizontal 0.2 – – –
2 1.90 100
Horizontal 200(at 25st) 0.2 – – –
6 5.72 300(at 50 to
Vertical 75st) 0.2 – – –
screw 4 3.81 200
2 1.90 100
267
!
pulses
6 7.5 300
SA3C 10 800 4 5 200
2 2.5 100
6 7.5 300
SA3R 10 800 4 5 200
2 2.5 100
RCA2 Vertical 0.2 – – –
(slider Horizontal 380(at 50st) 0.3 – – –
type) 10 12.5 500(at 100 to
SA4C 20 800 5 6.25 250
screw
2.5 3.12 125
Horizontal 380(at 50st) 0.3 – – –
10 12.5 500(at 100 to
SA4R 20 800 5 6.25 250
screw
2.5 3.12 125
Chapter 11 Appendix
268
!
pulses
380(at 50st)
540(at 100st)
660(at 150st)
770(at 200st)
860(at 250st)
940(at 300st)
Horizontal
1000(at 350 to
0.3 – – –
600st)
910(at 650st)
790(at 700st)
20 25 690(at 750st)
610(at 800st)
380(at 50st)
540(at 100st)
660(at 150st)
770(at 200st)
Vertical 800(at 250 to 0.2 – – –
650st)
790(at 700st)
690(at 750st)
610(at 800st)
Ball 380(at 50st)
SA5C 20 800
screw 540(at 100st)
Horizontal 600(at 150st to 0.3 – – –
550st)
12 15 570(at 600st)
490(at 650st)
Vertical 425(at 700st) 0.2 – – –
370(at 750st)
330(at 800st)
300(at 50st to
550st)
Horizontal
285(at 600st)
0.3 – – –
RCA2
(slider 6 7.5 245(at 650st)
type) 210(at 700st)
Vertical 185(at 750st) 0.2 – – –
Chapter 11 Appendix
165(at 800st)
150(at 50st to
Horizontal 550st) 0.2 – – –
140(at 600st)
3 3.75 120(at 650st)
105(at 700st)
Vertical 90(at 750st) 0.2 – – –
80(at 800st)
380(at 50st)
540(at 100st)
550st)
12 15 570(at 600st)
490(at 650st)
425(at 700st)
Vertical 370(at 750st) 0.2 – – –
330(at 800st)
300(at 50st to
Ball Horizontal 550st) 0.3 – – –
SA5R 20 800 285(at 600st)
screw
6 7.5 245(at 650st)
210(at 700st)
Vertical 185(at 750st) 0.2 – – –
165(at 800st)
150(at 50st to
140(at 600st)
3 3.75 120(at 650st)
105(at 700st)
Vertical 90(at 750st) 0.2 – – –
80(at 800st)
269
!
pulses
380(at 50st)
540(at 100st)
660(at 150st)
770(at 200st)
860(at 250st)
940(at 300st)
Horizontal
1000(at 350 to
0.3 – – –
600st)
910(at 650st)
790(at 700st)
20 25 690(at 750st)
610(at 800st)
380(at 50st)
540(at 100st)
660(at 150st)
770(at 200st)
Vertical 800(at 250� 0.2 – – –
650st)
790(at 700st)
690(at 750st)
610(at 800st)
Ball 380(at 50st)
SA6C 30 800
screw 540(at 100st)
550st)
12 15 570(at 600st)
490(at 650st)
Vertical 425(at 700st) 0.2 – – –
370(at 750st)
330(at 800st)
300(at 50st to
550st)
RCA2
Horizontal
285(at 600st)
0.3 – – –
(slider 6 7.5 245(at 650st)
type) 210(at 700st)
Vertical 185(at 750st) 0.2 – – –
Chapter 11 Appendix
165(at 800st)
150(at 50st to
140(at 600st)
3 3.75 120(at 650st)
105(at 700st)
Vertical 90(at 750st) 0.2 – – –
80(at 800st)
380(at 50st)
540(at 100st)
550st)
12 15 570(at 600st)
490(at 650st)
Vertical 425(at 700st) 0.2 – – –
370(at 750st)
330(at 800st)
300(at 50st to
550st)
SA6R
Ball
30 800
screw 285(at 600st)
6 7.5 245(at 650st)
210(at 700st)
Vertical 185(at 750st) 0.2 – – –
165(at 800st)
150(at 50st to
140(at 600st)
3 3.75 120(at 650st)
105(at 700st)
Vertical 90(at 750st) 0.2 – – –
80(at 800st)
270
!
pulses
4 3.81 200
Lead Horizontal/
TC3N
screw
10 1048 2 vertical 1.90 100 0.2 – – –
1 0.95 50
4 3.81 200
Lead Horizontal/
TW3N
screw
10 1048 2 vertical 1.90 100 0.2 – – –
1 0.95 50
4 3.81 200
Lead Horizontal/
TF3N
screw
10 1048 2 vertical 1.90 100 0.2 – – –
1 0.95 50
6 5.72
Vertical 220 0.2 – – –
4 3.81 200
2 1.90 100
TC4N 20 1048
6 5.72 220
4 3.81 200
2 1.90 100
6 5.72
Vertical 220 0.2 – – –
4 3.81 200
2 1.90 100
TW4N 20 1048
RCA2 6 5.72 220
Chapter 11 Appendix
(table
type) Lead Horizontal 0.2 – – –
4 3.81 200
2 1.90 100
6 5.72
Vertical 220 0.2 – – –
4 3.81 200
2 1.90 100
TF4N 20 1048
6 5.72 220
4 3.81 200
2 1.90 100
6 7.5 300
TA4C 10 800 4 5 200
2 2.5 100
6 7.5 300
TA4R 10 800 4 5 200
2 2.5 100
271
!
pulses
10 12.5
Vertical 400 0.2 – – –
TA5C 20 800 5 6.25 250
2.5 3.12 125
10 12.5
Vertical 400 0.2 – – –
TA5R 20 800 5 6.25 250
2.5 3.12 125
12 15
Vertical 500 0.2 – – –
TA6C 20 800 6 7.5 300
RCA2 3 3.75 150
(table
type) Horizontal 560 0.3 – – –
12 15
Vertical 500 0.2 – – –
TA6R 20 800 6 7.5 300
3 3.75 150
12 15
Vertical 580 0.2 – – –
TA7C 30 800 6 7.5 300
Chapter 11 Appendix
3 3.75 150
12 15
Vertical 580 0.2 – – –
TA7R 30 800 6 7.5 300
3 3.75 150
Horizontal/
RA1L 715 42 300 2 0.75 2 2
vertical
Horizontal/
RA2L 855 42 340 2 1.5 4 4
vertical
Horizontal/
RA3L 1145 42 450 2 3 8 8
vertical
SA1L 715 Horizontal 42 420 2 – – –
SA2L 855 Horizontal 42 460 2 – – –
RCL Linear – –
SA3L 1145 Horizontal 42 600 2 – – –
SA4L 715 Horizontal 42 1200 2 – – –
SM4L 715 Horizontal 42 1200 2 – – –
SA5L 855 Horizontal 42 1400 2 – – –
SM5L 855 Horizontal 42 1400 2 – – –
SA6L 1145 Horizontal 42 1600 2 – – –
SM6L 1145 Horizontal 42 1600 2 – – –
RA1D Lead 400 Horizontal/
3 2 2.5 300 1 0.41 5.98 5
RA1DA screw 480 vertical
RCD
GRSN Lead 400 Horizontal/
3 2 2.5 67 1 2.1 10.0 5
GRSNA screw 480 vertical
272
!
Push Force and Current-limiting Value
Caution
� The relationship of push force and current-limiting value is based on the rated push speed
(factory setting) and provides only a guidliene.
� Make sure the actual push force is equal to or greater than the minimum push force. If not,
the push force will not stabilize.
� Do not change the setting of push speed (parameter No.34). If you must change the push
speed, consult IAI.
� If, among the operating conditions, the positioning speed is set to a value equal to or
smaller than the push speed, the push speed will become the set speed and the specified
push force will not generate.
RCL Series Micro-Cylinder
RA1L/RA2L/RA3L
8
7
Push force (N)
6 L
RA3
5
4
3 RA2L
2 RA1L
1
0
20 30 40 50 60 70 80
Current-limiting value (ratio, %)
Chapter 11 Appendix
RCD Series Ultra Compact ROBO Cylinder
RA1D Type
6 5.98
Push force (N)
5 4.99
4 4.01
3 3.02
2.60
2 2.04 2.16
1.72
1 1.05 1.28
0.85
0 0.41
0 10 20 30 40 50 60 70 80
Current-limiting value (ratio, %)
273
Chapter 11 Appendix
274
!
Chapter 12 Warranty
12.1 Warranty Period� � � � � � � � � � � � � � � � � � � � � � � �
One of the following periods, whichever is shorter:
• 18 months after shipment from our factory
• 12 months after delivery to a specified location
12.2 Scope of the Warranty� � � � � � � � � � � � � � � � � � � � �

Our products are covered by warranty when all of the following conditions are met. Faulty
products covered by warranty will be replaced or repaired free of charge:
(1) The breakdown or problem in question pertains to our product as delivered by us or our
authorized dealer.
(2) The breakdown or problem in question occurred during the warranty period.
(3) The breakdown or problem in question occurred while the product was in use for an
appropriate purpose under the conditions and environment of use specified in the operation
manual and catalog.
(4) The breakdown or problem in question was caused by a specification defect or problem, or
by the poor quality of our product.
Note that breakdowns due to any of the following reasons are excluded from the scope of
warranty:
[1] Anything other than our product
[2] Modification or repair performed by a party other than us (unless we have approved
such modification or repair)
[3] Anything that could not be easily predicted with the level of science and technology
available at the time of shipment from our company
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
Chapter 12 Warranty
[5] Natural fading of paint or other symptoms of aging
[6] Wear, depletion or other expected result of use
[7] Operation noise, vibration or other subjective sensation not affecting function or
maintenance
Note that the warranty only covers our product as delivered and that any secondary loss arising
from a breakdown of our product is excluded from the scope of warranty.
12.3 Honoring the Warranty� � � � � � � � � � � � � � � � � � � � �

As a rule, the product must be brought to us for repair under warranty.
12.4 Limited Liability� � � � � � � � � � � � � � � � � � � � � � � �
(1) We shall assume no liability for any special damage, consequential loss or passive loss
such as a loss of expected profit arising from or in connection with our product.
(2) We shall not be liable for any program or control method created by the customer to operate
our product or for the result of such program or control method.
275
!
12.5 Conditions of Conformance with Applicable
Standards/Regulations, Etc., and Applications� � � � � � � � � �
(1) If our product is combined with another product or any system, device, etc., used by the
customer, the customer must first check the applicable standards, regulations and/or rules.
The customer is also responsible for confirming that such combination with our product
conforms to the applicable standards, etc. In such a case we will not be liable for the
conformance of our product with the applicable standards, etc.
(2) Our product is for general industrial use. It is not intended or designed for the applications
specified below, which require a high level of safety. Accordingly, as a rule our product
cannot be used in these applications. Contact us if you must use our product for any of
these applications:
[1] Medical equipment pertaining to maintenance or management of human life or health
[2] A mechanism or mechanical equipment intended to move or transport people (such
as a vehicle, railway facility or aviation facility)
[3] Important safety parts of mechanical equipment (such as safety devices)
[4] Equipment used to handle cultural assets, art or other irreplaceable items
(3) Contact us at the earliest opportunity if our product is to be used in any condition or
environment that differs from what is specified in the catalog or operation manual.
12.6 Other Items Excluded from Warranty� � � � � � � � � � � � � �

The price of the product delivered to you does not include expenses associated with
programming, the dispatch of engineers, etc. Accordingly, a separate fee will be charged in the
following cases even during the warranty period:
[1] Guidance for installation/adjustment and witnessing of test operation
[2] Maintenance and inspection
[3] Technical guidance and education on operating/wiring methods, etc.
Chapter 12 Warranty
[4] Technical guidance and education on programming and other items related to programs
276
!
Change History
Revision Date Revision Description
2013.11 First Edition
2014.03 Edition 1B
P74 Threshold [%] function deleted (correction made)
2014.07 Edition 1C
Change connection model data
2015.06 Edition 1E
P39, 54 Statement of TP hot swap deleted
P198 Parameter No.143 Content correction
P206, P212 Correction made of troubleshooting
2015.11 Edition 1F
P229 Correction made to e-CON model code
Change History
277
�
�
Manual No.: ME0326-1F (November 2015)
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
website: www.iai-robot.co.jp/
Technical Support available in USA, Europe and China
Head Office: 2690 W. 237th Street, Torrance, CA 90505

TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 110 East State Parkway, Schaumburg, IL 60173
TEL (847) 908-1400 FAX (847) 908-1399
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany

TEL 06196-88950 FAX 06196-889524
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
website: www.iai-robot.com
825, PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand
TEL +66-2-361-4458 FAX +66-2-361-4456
The information contained in this document is subject to change without notice for purposes of
product improvement.
Copyright © 2015. Nov. IAI Corporation. All rights reserved.
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ACON-CA� � �

IAI America� Inc.

Chapter 1 Specifications Check········································································ 21

Chapter 4 Field Network ··············································································· 145

Chapter 6 Power-saving Function

Chapter 7 Absolute Type (ACON-CA Dedicated Function) ··································· 157

Chapter 8 Maintenance Information ································································ 166

Chapter 9 Parameter ··················································································· 167

Chapter 10 Troubleshooting ········································································· 205

Chapter 12 Warranty··················································································· 275

Change History··························································································· 277

Safety Precautions for Our Products

Level Degree of Danger and Damage Symbol

This indicates an imminently hazardous situation which, if the

This indicates a potentially hazardous situation which, if the

This indicates a potentially hazardous situation which, if the

2. Use the following teaching tools.

3. Backup the data to secure for breakdown.

How to Save Data

4. Set the operation patterns.

5. Clock Setting in Calendar Function

6. In pulse train control mode, actuator operation is unavailable through serial

8. Actuator would not operate without servo-on and pause signals.

RoHS Directive CE Marking UL

6) LED for Power/Alarm Monitoring

7) Axis Number Setting Switch

3) Absolute Battery 10) Motor • Encoder Connector

2)-2 Absolute Battery

1)-2 Absolute Battery Connector (Bottom Surface)

6) LED for Power/Alarm Monitoring

3) Absolute Battery 10) Motor • Encoder Connector

1) Absolute Battery Connector

2) Absolute Battery [Refer to Chapter 7] • • • Not applicable for DCON

4) PIO Connector/Field Network Connector

LED Operation Status

Point the arrow at a desired

8) Operation Mode Setting Switch (MANU/AUTO)

9) SIO Connector (SIO) [Refer to 2.3.5 SIO Connector Connection.]�

11) ·Brake Release Switch (BK RLS/NOM)

Warning : Always set the switch to “NOM” in normal operation.

(1) Rod Type

(2) Slider Type

(3) Table Type

(4) Arm Type

1.1 Product Check� � � � � � � � � � � � � � � � � � � � � � � �

Chapter 1 Specifications Check

No. Part Name Model Quantity Remarks

1.1.2 Teaching Tool� � � � � � � � � � � � � � � � � � � � � � � � � � �

No. Part Name Model

1.1.4 How to read the model plate� � � � � � � � � � � � � � � � � � � �

Chapter 1 Specifications Check

Number of controlled axes 1-axis

Rush Current (Note 2) 10A

Series Other than

Chapter 1 Specifications Check

Input Pulse Open Collector System : Not applicable.

Feedback Pulse Output None

LED Display SV (Green)/ALM (Red) : Servo ON/Alarm generated