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The IH SCARA has been moved to the obsolete archive.

Q: In the Controller Operating Manual, I noticed that there is an emergency stop contact input listed on pin 2 of the I/O diagram. I tried to use this, but it doesn't seem to be working.

A: That is actually a typographical error. There is no emergency stop control through the I/O, only via the front of the controller, the back terminal, or the RS232 Cable.

Q: We've got a few other machines running on the same 220VAC line as the IH-SCARA. When we're in full production sometimes the IH-SCARA will fault out 'A7' on all 4 axes and the z-axis will drop.

A: We recommend that the IH-SCARA controller is powered by a dedicated constant-voltage transformer. If one is not available, please use a dedicated 220VAC line that runs at a voltage level of 200/220VAC +/- 10%. The A7 and z-drop is due to a quick dip in voltage level forcing the controller to think the motors are still on, even though the dip cut power.

Q: We've been running production now for about 14 months at a very low payload and about 60% speed. We've followed the maintenance procedure for re-greasing the ballscrew, but the z-axis has just lately started to "squeal" when it moves up.

A: When the IH-SCARA is shipped from the factory, the driver parameters are configured based on maximum payload and maximum speed. These work for most people most of the time. However, after the IH-SCARA has settled in to a routine, it may not need all the power it receives for the driver, so the axes may act strange. The parameter change routine is available through us.

Q: What's the difference between wiring for the NPN I/O card and PNP IO card?

A: The main difference is that the power connection for Power (+24V) and Common (0V) are switched. On the NPN I/O card, the power connection is on pin 1A (Brown) and the common is on 25B (Black). The PNP card is the exact opposite from the NPN card.

Q: Our system has grown in size and we're considering the option of a vision system. We didn't purchase the original system with the 2ch RS232c option installed. Is this something that we can install ourselves?

A: Expansion I/O and 2ch RS232 cards can be added in the field. Anything above and beyond this, however, would require an IA Engineer to modify the controller in-house or on-site.

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