Please see the following ACON, PCON, SCON, ASEL, PSEL & SSEL controller
external wiring drawings which meet the requirements for category 3 & 4.
There are two types of drawings for each controller.

1. Safety category 3 or 4 with  TP Adapter and a Category 4 (ANSI) Teach Pendent
2. Safety category 3 or 4 without a Category 4 (ANSI) Teach Pendent

(This does not mean that you can not use a Teaching Pendant or PC Software, but rather
the system will not meet the category 3 or 4 compliance when they are used)

Drawing index:

1. PCON & ACON Safety Category 3 or 4 with TP Adapter and a Category 4 (ANSI) Teach Pendant
2. PCON & ACON Safety Category 3 or 4 without a Category 4 (ANSI) Teach Pendant
3. SCON Safety Category 3 or 4 with TP Adapter and a Category 4 (ANSI) Teach Pendant
4. SCON & SSEL Safety Category 3 or 4 without a Category 4 (ANSI) Teach Pendant
5. SSEL Safety Category 3 or 4 with TP Adapter and a Category 4 (ANSI) Teach Pendant
6. SSEL Safety Category 3 or 4 without a Category 4 (ANSI) Teach Pendant (Same drawing with item 4.)
7. ASEL & PSEL Safety Category 3 or 4 with TP Adapter and a Category 4 (ANSI) Teach Pendant
8. ASEL & PSEL  Safety Category 3 or 4 without a Category 4 (ANSI) Teach Pendant

Click Here to download the PDF

A: Use a PCON-PL (differential receiver type) controller. Use a pulse converter AK-04 to convert open-collector command pulses to differential pulses. This will improve noise resistance.

Q: Is there any way we can back up all data in the controller, such as programs, position data and parameters, at once?  Also, how can we write the backup data to the controller?

A: The PC software provides a backup function, so use this function.  This function will be of great help when you configure multiple controllers using the same data or in the event of an unforeseen problem.

Q: Our system presses work parts using a ROBO Cylinder® via position operation, but the work parts sometimes gets damaged. Is there an effective way to prevent work part damage?

A: The ROBO Cylinder® has a push mode, where current can limit the torque over a range of 20 to 70%. Use the push mode to set an appropriate push torque that will not damage your work part.

Q: Do we need to always purchase a controller and actuator as a set?
We have a PCON-C-42PI we purchased as a spare controller. We want to purchase only an actuator and use it with this controller.

A: You can purchase then separately. The PCON-C-42PI can support actuators with 35P to 56P type motors. However, each controller has its parameters preconfigured according to the applicable actuator type. If you want to use an existing controller with an actuator of different type, you must change the parameters. Send your controller to the IAI sales office near you. Or, contact your IAI sales representative, and we will send the parameters for your specific actuator via email. You can simply transfer these parameters to the controller and start using the controller right away.

Q: When the XSEL® controller generates an error, can we reset the error externally to restore the system?

A: After removing the cause of the error, you can input an I/O error reset signal to reset the error, provided that it is a minor error (error of operation-cancellation level or lower: refer to the operation manual for details).

Error Reset Input – Change the value of I/O parameter No. 43 to “2″ and input a signal to I/O input port No. 13, and the error will be reset. (The signal will be recognized at its ON edge).

Major errors (errors of cold-start level or lower: refer to the operation manual for details) cannot be rest simply by the aforementioned method, bu you can use a software reset input to restart the controller.

Software reset input – Change the value of I/O parameter No. 31 to “1″ and turn ON the signal input to I/O input port No. 1 for at least 1 second, and the controller will restart.

Q: What is the “position gain” parameter provided by SEL controllers?

A: Increasing the value set in this parameter improved the actuator’s ability to follow position commands more closely. Take note, however, that increasing the parameter value excessively will result in abnormal noise or vibration. Contact IAI for details.

[ISA/ISPA Actuators]

- The maximum speed on the ISA/ISPA model electric actuators with strokes of 1000-1200mm will be raised by 20%.

- ISA/ISPA actuators with strokes of 1300mm will see a 15% increase in maximum speed.  All other strokes (1400mm-2500mm will stay the same).

- Cartesian systems integrated with ISA/ISPA actuators will also see a speed increase.

(*This excludes WXM (750W) Type and WXMX (750W) Type. Applicable controllers are XSEL®-J/K/P/Q, SSEL and SCON)

[Revision Details]

1) There are no physical changes to either the actuator or the controller. The changes will lie within the parameter setting.  (The RPM setting has been changed from 3,000 RPM max to 3,600 RPM max for a speed increase of 20%)

Example: Lead 20 (Initial Setting) 1000mm/s -> (After Parameter Change) 1200mm/s

2) Strokes from 1000mm-1200mm will see a speed increase of 20% and 1300mm a 15% increase.

This revision will take effect on ISA/ISPA actuators and controllers shipping after June 22, 2009.

Q: The PIO patterns of ACON/PCON-CY controllers include the “standard type” and “proximity type.” What are the differences?

A: How the complete signal is output is different between the standard type and proximity type. With the standard type, the position complete signal is output when the servo is OFF, therefore, the signal is not output even when the actuator is at the specified position. With the proximity type, however, the complete signal is output based on the position, which means that the signal is output even when the actuator is manually moved to the specified position while the servo is OFF.
If the proximity PIO pattern is selected and the home is set as the specified position, the complete signal is output when the power has been turned on and home return performed. If the standard PIO pattern is selected, no complete signal is output because a move command has not been executed yet. When the proximity type is selected, the actuator uses the same output method as the auto switch of an air cylinder.
(All ACON/PCON-CY controllers are shipped with the proximity type pre-selected.)

Q: Can we get a battery alarm output? (Warning state before discharged?)

A: Low battery warnings are output, as shown in the table below. For details, refer to the operation manual.

(Note)    With the ASEL, SSEL and PSEL controllers, the warning output port and parameter number can be changed.

Q: When the ROBO Cylinder gets caught during push-motion operation and stops, is it possible to slightly reverse the actuator and perform the push-motion again? How is the actuator reversed?

A: If the actuator gets caught and a position complete signal is output, return the actuator by the necessary distance in the push mode by means of incremental move. (If incremental move is used in the positioning mode, the actuator will return by the distance calculated from the starting point of push-motion operation. For your information, whether or not the actuator has stopped due to catching can be determined by setting a zone signal).

Q: Is it possible to monitor the details of variables and progress of the program online in the auto mode with the XSEL controller?

A: Yes, normally the teaching port cannot be used in the auto mode, but you can enable the port by changing the setting of I/O parameter No. 90 from “0” to “1”.  You can monitor the variables and running of the program using your PC software or teaching pendant in this condition. For more information on monitor methods, refer to “Monitor” in the operation manual for your PC software or teaching pendant.

Q: If the linear servo actuator is controlled with pulse train, what is the minimum unit in mm in which the actuator can move?

A: You can operate your LSA-N15 by 0.001 mm per pulse. Note, however, that the maximum input frequency receivable on the controller side is 500 kpps, which means that when the travel is set to 0.001 mm per pulse, the maximum speed will be limited to 500 mm/sec. (The speed will increase if the travel per pulse is increased.)

Q: The error “Voltage error of absolute data backup battery” occurred during operation using an IX SCARA robot. What should we do?

A: Replace the absolute data backup battery and perform an absolute reset (set the home). The absolute reset procedure is specified in the operation manual for your SCARA robot. The key points of this process are as follows:

1. Back up the parameters and data beforehand.
2. To perform an absolute reset, a dedicated jig is required, as a rule. (No dedicated jig is required for an absolute reset of arm 1 or 2.)
3. Disable the automatic update of home preset value.  As long as you follow the correct procedure by keeping the above points in mind, the system will continue to work according to the same positions (without generating position deviations) even after the battery is replaced and an absolute reset is performed.