IAI PCON-CA, PCON-CFB, PCON-CFA, PCON-CB, PCON-CGFB User Manual

...

PCON-CA/CFA/CB/CFB/CGB/CGFB,

ACON-CA/CB/CGB, DCON-CA/CB/CGB

First Step Guide Seventh Edition

Thank you for purchasing our product. Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to this First Step Guide to ensure correct use. This First Step Guide is original manual written by only this product.

• Using or copying all or part of this Instruction Manual without permission is prohibited.

• The company names, names of products and trademarks of each company shown in the sentences are registered

trademarks.

Product Check

The standard configuration of this product is comprised of the following parts. If you find any fault with the product you have received, or any missing parts, contact us or our distributor.

1. Parts

No. Part Name Model Reference

1 Controller Main Body

Refer to “How to read the model plate”, “How to read the model of the controller”

Accessories

2 Field Network Connector

MSTB2.5/5-STF-5.08AU (CC-Link) MSTB2.5/5-STF-5.08AUM (DeviceNet)

Prepare for separately except for CC, DV type.

3 Power Connector

FMC1.5/8-ST-3.5 (Supplier : PHOENIX CONTACT)

Recommended cable size AWG16 to 20 (1.25 to 0.5mm2)

4 Dummy plug DP-5 For the safety category compliant type 5 Absolute Battery (Option) AB-7 or SEP-ABU* If applicable for Simple Absolute Type

6 Serial Absolute Battery (Option) AB-5

If applicable for Serial Absolute Type

(for ACON only) 7 First Step Guide 8 Instruction Manual (DVD) 9 Safety Guide

2. Teaching Tool (to be purchased separately) A teaching tool, such as PC Software, is necessary when performing programming and commissioning, such as editing position data or parameters. Please utilise any of the following teaching tools. (Note) TB-01/01D/01DR are not applicable for CC-Link IE.

No. Part Name Model

PC Software (with RS232C converter adapter + external equipment communication cable)

RCM-101-MW

PC Software (with USB converter adapter + USB cable + external equipment communication cable)

RCM-101-USB

Touch Panel Teaching TB-01 (Standard / with Deadman Switch Attached on the Left/ Right side)

TB-01/01D/01DR

4 Touch Panel Teaching TB-02 (Standard / with Deadman Switch Attached)

TB-02/02D

5 Data Setter TB-03

TB-03

3. Instruction Manuals related to this product, which are contained in the Instruction Manual (DVD).

No. Name Manual No.

1 PCON-CA/CFA Controller Instruction Manual ME0289 2 PCON-CB/CFB Controller Instruction Manual ME0342 3 ACON-CA, DCON-CA Controller Instruction Manual ME0326 4 ACON-CB Series Contoroller, DCON-CB Series Contoroller Instruction Manual ME0343 5 PC Software RCM-101-MW/RCM-101-USB Instruction Manual ME0155 6 Touch Panel Teaching TB-01/TB-02/TB-03 Position Controller Instruction Manual

ME0324/ME0355/ME0376 7 Instruction Manual for the Serial Communication [for Modbus] ME0162 8 CC-Link Instruction Manual ME0254 9 DeviceNet Instruction Manual ME0256

10 PROFIBUS-DP Instruction Manual ME0258 11 CompoNet Instruction Manual ME0220

MECHATROLINK-Ⅰ/Ⅱ Instruction Manual

ME0221

MECHATROLINK-Ⅲ Instruction Manual

ME0317

14 EtherCAT Instruction Manual ME0273 15 EtherNet/IP Instruction Manual ME0278 16 PROFINET-IO Instruction Manual ME0333

MECHATROLINK-Ⅲ Instruction Manual

ME0317

18 CC-Link IE Instruction Manual ME0389

4. How to read the model plate

5. How to read the model of the controller

z PCON

PCON-CA-56P WAI-EP-2-0-ABU-DN-**

z ACON

ACON-CA-30 I-EC-2-0-AB-DN-**

z DCON

DCON-CA-3 I-EP-2-0-DN-**

Basic Specifications

PCON List of Specifications

Description

Item

PCON-CA/CB/CGB PCON-CFA/CFB/CGFB Number of controlled axes 1-axis Power-supply Voltage 24V DC ±10%

20P, 28P, 28SP MAX. 1A 35P, 42P, 56P MAX. 2.2A

RCP2 RCP3

Motor Type

60P, 86P MAX. 6A

High-thrust function is disabled

MAX.2.2A

28P, 35P, 42P, 56P

High-thrust function is enabled

Rated 3.5A / MAX. 4.2A

Load Capacity (including control side current consumption)

(Note1)

RCP4 RCP5 RCP6

Motor Type

56SP, 60P, 86P

MAX. 6A

Power Supply for Electromagnetic Brake (for actuator equipped with brake)

24V DC ±10% 0.15A (MAX.)

RCP2 , RCP3 5W 26.4W Heat Generation RCP4 to RCP6 3W

Rush Current

(Note2)

8.3A 10A Transient Power Cutoff Durability MAX. 500μs Motor Control System Weak f ield-magnet vector control

RCP2 to RCP5 Incremental Encoder, Battery-less Absolute Encoder Resolution 800pulse/rev Corresponding

Encoder

RCP6 Battery-less Absolute Encoder Resolution 8192pulse/rev Actuator Cable Length MAX. 20m Serial Communication Interface

(SIO Port)

RS485 : 1 CH (based on Modbus Protocol RTU/ASCII) Speed : 9.6 to 230.4Kbps Control available with serial communication in the modes other than the pulse train

PIO Type Signal I/O dedicated for 24V DC (selected from NPN/PNP) … Input 16 points max.,

output 16 points max. Cable length MAX. 10m

External Interface

Fieldbus Type DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, MECHATROLINK-Ⅰ/Ⅱ,

EtherCAT, EtherNet/IP, PROFINET-IO, MECHATROLINK-Ⅲ*, CC-Link IE*

(* Some types cannot connect it.) Data Setting and Input PC Software, Touch Panel Teaching, Teaching Pendant, Data Setter Data Retention Memory Saves position data and parameters to non-volatile memory

(There is no limitation to the number of times data may be written.) Operation Mode Positioner Mode/Pulse Train Control Mode (selected by parameter setting) Number of Positions in Positioner Mode Standard 64 points, MAX. 512 points (PIO Type)

(Note) Number of positions differs depending on the selection in PIO pattern.

Differential System (Line Driver System) : MAX. 200kpps

Cable length MAX. 10m

Input Pulse Frequency

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 Multiplying Factor (Electrical Gear : A/B)

1/50 < A/B < 50/1 Setting Range of A and B (set to parameter) : 1 to 4096

Pulse Train Interface

Feedback Pulse Output None

LED Display (mounted on Front Panel)

SV (GN)/ALM (RD)

: Servo ON/Alarm generated

STS0 to 3

: Status display

RDY (GN)/ALM (RD)

: Absolute function in normal / absolute function error (for the

simple absolute type)

1, 0 (GN) (RD)

: Absolute function status display (for the simple absolute type) Electromagnetic Brake Compulsory Release Switch (mounted on Front Panel)

Switching NOM (standard)/BK RLS (compulsory release)

Insulation Resistance 500V DC 10MΩ or more Protection Function against Electric Shock

Class I basic insulation

Incremental Type Screw fixed type : 250g or less

DIN rail fixed type : 285g or less

Screw fixed type : 270g or less DIN rail fixed type : 305g or less

Weight

(Note3)

Simple Absolute Type (including 190g for battery)

Screw fixed type : 450g or less DIN rail fixed type : 485g or less

Cooling Method Natural air-cooling Forced air-cooling

External dimensions

Screw fixed type : 35W×178.5H×69.6D DIN rail fixed type : 35W×185H×78.1D

Screw fixed type : 35W×190H×69.6D

DIN rail fixed type : 35W×196.5H×78.1D Surrounding Air Temperature 0 to 40°C Surrounding Humidity 85%RH or less (non-condensing) Surrounding Environment [Refer to Installation Environment] Surrounding Storage Temperature

-20 to 70°C (Excluding battery)

Usage Altitude 1000m or less Protection Class IP20

Environment

Vibration Durability Frequency 10 to 57Hz / Swing width : 0.075mm

Frequency 57 to 150Hz / Acceleration 9.8m/s2 XYZ directions Sweep time : 10 minutes Number of sweep : 10 times

Note1 Add an additional 0.3A inrush for Fieldbus Types. Note2 In-rush current will flow for approximately 5msec after the power is turned on (at 40°C).

Note that the value of in-rush current differs depending on the impedance of the power supply line.

Note3 Add an additional 30g for CA/CB/CGB Fieldbus Type. Add an additional 10g for CFA/CFB/CGFB Fieldbus Type.

ACON, DCON List of Specifications

Description

Item

ACON-CA/CB/CGB DCON-CA/CB/CGB Number of controlled axes 1-axis Power-supply Voltage 24V DC ±10%

Series Motor Type

Rated

Max. Power Consumption

MAX.

(Note5)

Rated MAX.

2W 0.8A 4.6A

5W 1.0A 6.4A

10W (RCL) 1.3A 6.4A

10W (RCA/ RCA2) 1.3A 2.5A 4.4A

20W 1.3A 2.5A 4.4A

20W (Model: 20S) 1.7A 3.4A 5.1A

RCA, RCA2, RCL

30W 1.3A 2.2A 4.0A

Load Capacity (It does not including control side current consump tion)

(Note1)

RCD 3W 0.7A 1.5A

Power Supply for Electromagnetic Brake (for actuator equipped with brake)

24V DC ±10% 0.15A (MAX.)

Heat Generation 8.4W 4W Rush Current

(Note2)

10A

Transient Power Cutoff Durability MAX. 500μs

* There is no identification in some cases.

(Not Specified) : Screw Attachment Type DN : DIN Rail Mounting Type

(Not Specified): Incremental

/ Battery-less Absolute AB : Simple Absolute Type (With the Absolute Battery) ABU : Simple Absolute Type (With the Absolute Battery Unit (SEP-ABU)) ABUN : Simple Absolute Type (With no Absolute Battery)

<Power-supply Voltage>

0 : 24V DC

0 : Equipped with no cable 2 : 2m (Standard) 3 : 3m 5 : 5m

Warning : Operation of this equipment requires detailed installation and operation instructions which are

provided on the DVD Manual included in the box this device was packaged in. It should be retained with this device at all times.

A hardcopy of the Manual can be requested by contacting your nearest IAI Sales Office listed at

the back cover of the Instruction Manual or on the First Step Guide.

Serial number

Model

Model SER NO. Input Output Actuator

CAUTION: Connect the wiring correctly and properly, use IAI specified cables or min 60°C Cu wire.

IP20

********* *********

DC24V A 0-24Vac,3ph,0-333Hz, A

*****

Applicable to Fieldbus

* There is no identification in some cases.

(Not Specified) : Screw Attachment Type DN : DIN Rail Mounting Type

AB : Simple Absolute Type (With the Absolute Battery) ABU : Simple Absolute Type (With the Absolute Battery Unit (SEP-ABU)) ABUN : Simple Absolute Type (With no Absolute Battery)

<Power-supply Voltage>

0 : 24V DC

0 : Equipped with no cable 2 : 2m (Standard) 3 : 3m 5 : 5m

* There is no identification in some cases.

(Not Specified) : Screw Attachment Type DN : DIN Rail Mounting Type

<Power-supply Voltage>

0 : 24V DC

0 : Equipped with no cable 2 : 2m (Standard) 3 : 3m 5 : 5m

<Type>

CA/CB : Standard Type CFA/CFB : High-Thrust Actuator Connection Type CGB

: Sagety Categories Complied Type CGFB : High-Thrust Actuator Connection Sagety Categories

Complied Type

[Motor Type] 20P : 20□ pulse motor, 20SP : 20□ pulse motor 28P : 28□ pulse motor, 28SP : 28□ pulse motor 35P : 35□ pulse motor, 42P : 42□ pulse motor 42SP : 42□ pulse motor, 56P : 56□ pulse motor 56SP : 56□ pulse motor, 60P : 60□ pulse motor 86P : 86□ pulse motor [Encoder Type] WAI : Incremental / Battery-less Absolute Shared SA : Simple Absolute

NP : NPN Type (Sync. Type) (Standard), PN : PNP Type (Source Type), PLN : Pulse Train Control NPN Type (Sync. Type), PLP : Pulse Train Control PNP Type (Source Type), DV : DeviceNet Connection Type, CC : CC-Link Connection Type PR : PROFIBUS-DP Connection Type, CN : CompoNet Connection Type PRT : PROFINET-IO Connection Type, EC : EtherCAT Connection Type EP : EtherNet/IP Connection Type, ML : MECHATROLINK-Ⅰ/Ⅱ Connection Type ML3 : MECHATROLINK-Ⅲ Connection Type (Except for PCON-CA/CFA) CIE : CC-Link IE Type (PCON-CB/CFB/CGB/CGFB only)

<Type>

CA/CB : Standard Type CGB : Safety Categories Complied Type

[Motor Type] 2 : 2W AC servo motor 5 : 5W AC servo motor 10 : 10W AC servo motor 20S : 20W AC servo motor 20 : 20W AC servo motor 30 : 30W AC servo motor [Encoder Type] WAI : Incremental / Battery-less Absolute

shared (CB only) I : Incremental A : Serial Absolute [Option] HA : High Acceleration/Deceleration Type LA : Low Power Consumption Type No description : Standard Type

<Type>

CA/CB : Standard Type

[Motor Type] 3 : 2.5W DC Brushless motor [Encoder Type] I : Incremental

Description

Item

ACON-CA/CB/CGB DCON-CA/CB/CGB

Motor Control System Sinusoidal Waveform (AC) Drive Rectangu lar Waveform (DC) Drive

Corresponding Encoder Incremental Encoder

Serial Absolute Encoder Battery-less Absolute Encoder

Incremental Encoder

Incremental Type 800pulse/rev RCA

Serial Absolute Type 16384pulse/rev

RCA2_*** N 1048pulse/rev RCA2

Other than RCA2_*** N

800pulse/rev

RCA /RCA2

Battery-less Absolute Type

16384pulse/rev

RA1, RA4, SA1, SA4 715pu lse/rev

RA2, RA5, SA2, SA5 855pu lse/rev

RCL

RA3, RA6, SA3, SA6 1145pulse /rev

Correspon ding Encoder Resolution

RCD 400pulse/rev

Actuator Cable Length MAX. 20m MAX. 10m Serial Communication Interface

(SIO Port)

RS485 : 1 CH (based on Modbus Protocol RTU/ASCII) Speed : 9.6 to 230.4Kbps Control available with serial communication in the modes other than the pulse train

PIO Type Signal I/O dedicated for 24V DC (selected from NPN/PNP) … Input 16 points max.,

output 16 points max. Cable length MAX. 10m

External Interface

Field Network Type DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, MECHATROLINK-Ⅰ/Ⅱ,

EtherCAT, EtherNet/IP, PROFINET-IO, MECHATROLINK-Ⅲ*, CC-Link IE*

(Note) Number of positions differs depending on the selection in PIO pattern.

Differential System (Line Driver System) : MAX. 200kpps

Cable length MAX. 10m

Input Pulse Frequency

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 Multiplying Factor (Electrical Gear : A/B)

1/50 < A/B < 50/1 Setting Range of A and B (set to parameter) : 1 to 4096

Pulse Train Interface

(Note4)

Feedback Pulse Output None

LED Display (mounted on Front Panel)

SV (GN)/ALM (RD)

: Servo ON/Alarm generated

STS0 to 3

: Status disp lay

RDY (GN)/ALM (RD)

: Absolute function in normal / absolute function error (for the

simple absolute type)

1, 0 (GN) (RD)

: Absolute function status display (for the simple absolute type) Electromagnetic Brake Compulsory Release Switch (mounted on Front Panel)

Switching NOM (standard)/BK RLS (compulsory release)

Insulation Resistance 500V DC 10MΩ or more Protection Function against Electric Shock

Class I basic insulation Incremental Type Screw fixed type : 230g or less DIN rail fixed type : 265g or less Simple Absolute Type Battery (AB-7) : 190g or less

Absolute Battery Case (SEP-ABU) :

140g or less

Weight

(Note3)

(Other than Field Network Type)

Serial Absolute Type Battery (AB-5) : 20g

Cooling Method Natural air-cooling

External dimensions

Screw fixed type : 35W×178.5H×69.6D

DIN rail fixed type : 35W×185H×78.1D

Surrounding Air Temperature 0 to 40°C Surrounding Humidity 85%RH or less (non-condensing) Surrounding Environment [Refer to Installation Environment] Surrounding Storage Temperature

-20 to 70°C (Excluding battery)

Usage Altitude 1000m or less Protection Class IP20

Environment

Vibration Durability Frequency 10 to 57Hz / Swing width : 0.075mm

Frequency 57 to 150Hz / Acceleration 9.8m/s2

XYZ directions Sweep time : 10 minutes Number of sweep : 10 times

Note1 Control power capacity is 0.3A. Note2 In -rush current will flow for approximately 5msec after the power is turned on (at 40°C).

Note that the value of in-rush current differs depending on the impedance of the power supply line. Note3 Add the weight of the battery (case) for “Simple Absolute Type” and “Serial Absolute Type”. Note4 Serial absolute type is not applicable for the pulse train control mode. Note5 The current reaches the maximum at the e xcitation phase detection of the motor conducted when the servo is turned

on for the first time after the power is supplied. (TYP 1 to 2 second, MAX. 10 second)

External Dimensions (ACON, DCON, PCON-CA/CB/CGB)

* There is only Incremental Type in DCON.

● Screw fixed type

● DIN rail fixed type

178.5

185

178.5

185

178.5

185

8.5

(5)

(58)

(5)

(52)

78.1

Simplified Absolute Type

(Option)

Serial Absolute Type

(Option)

Side View

Battery-less Absolute/

Incremental Type

104 from DIN rail center

35.4 (Width of 35mm DIN rail)

(for FG cable attachment)

External Dimensions (PCON-CFA/CFB/CGFB)

● Screw fixed type

● DIN rail fixed

Installation 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 Installation and Noise Elimination]

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 preserved 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.

Installation and Noise Elimination

1. Noise Elimination Grounding (Frame Ground)

2. Precautions regarding wiring method

1) Wire is to be twisted for the 24V DC 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 power devices on the same power path and in the same equipment. The following are examples of measures to eliminate noise sources.

1) AC solenoid valves, magnet switches and relays

[Measure] Install a Surge absorber parallel with the coil.

2) DC solenoid valves, magnet switches and relays

[Measure] Install a diode parallel with the coil. Use a DC

relay with a built-in diode.

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.

Connection Diagram

● Connection to RCP2 (High-Thrust), RCA and RCL Series

● Connection to RCP3, RCP4, RCP5, RCP6 and RCA2 Series

Surge absorber

Relay coil

+24V 0V

MIN. 30mm

MIN. 100mm

MIN. 50mm

MIN. 100mm

Ensure enough space for wiring.

(Note1) Detach the fan unit before

attaching screws to the main unit.

PCON ACON

Motor/ Encoder Connector

Connection Cable

(Note1)

Connection Cable

(Note1)

PCON ACON

Motor/ Encoder Connector

Do not share the ground wire with or connect to other equipment. Ground each controller.

Controller

Other

equipment

Controller

Other

equipment

Other

equipment

Connect the ground cable using the tapped hole for FG connection on the main unit.

M3 × 5 nickeled pan head machine screw (enclosure dedicated for DIN rail fixed type)

Screw fixed type DIN rail fixed type

Connect the ground line together to the main unit using the fixing screw.

Copper wire: Connect a ground wire with a diameter of 1.6mm (2mm

) or larger.

Earth Terminal Grounding resistance 100Ω or less (Class D grounding)

Teaching Pendant (Option)

PC Software

(Option)

Personal Computer

Actuator

Brake Release Switch

Host System <PLC>

Axis No. Setting Switch

Operation Mode Setting Switch

(7)

170.5

190

69.6

(Note1)

(7)

190

(5)

78.1

8.5

196.5

115 from DIN rail center

35.4 (Width of 35mm DIN rail)

170.5

178.5

(40.5)

(58)

170.5

178.5

(34.5)

(52)

170.5

178.5

69.6

Simplified Absolute Type

(Option)

Serial Absolute Type

(Option)

Side View

Battery-less Absolute/

Incremental Type

● Connection t o RCD Series

Note 1 Applicable Connection Cable Model Codes □□□ : Cable Length Example) 030 = 3m

Model Name Cable Reference

RCP2 CB-PSEP-MPA□□□ Robot cable from 0.5 to 20m

CB-APSEP-MPA□□□ Robot cable from 0.5 to 20m

RCP3

CB-APSEP-MPA□□□-LC Standard cable from 0.5 to 20m CB-CA-MPA□□□-RB Robot cable from 0.5 to 20m

RCP4 (Other than GR* Type)

RCD (Applicable Controller Symbol : D3)

CB-CA-MPA□□□ Standard cable from 0.5 to 20m CB-CAN-MPA□□□ Standard cable from 0.5 to 20m

RCP4 (GR Type), RCP5, 6

RCD (Applicable Controller Symbol : D5)

CB-CAN-MPA□□□-RB Robot cable from 0. 5 to 20m CB-CFA-MPA□□□ Standard cable for CFA type from 0.5 to 20m

RCP2

CB-CFA-MPA□□□-RB Robot cable for CFA type from 0.5 to 20m

CB-CFA2-MPA□□□

Standard cable for CFA type from 0.5 to 20m

RCP4

CB-CFA2-MPA□□□-RB

Robot cable for CFA type from 0.5 to 20m

CB-CFA3-MPA□□□

Standard cable for CFA type from 0.5 to 20m

High-Thrust

RCP5, RCP6

CB-CFA3-MPA□□□-RB

Robot cable for CFA type from 0.5 to 20m

RCA, RCL (Incremental Type)

CB-ASEP-MPA□□□ CB-ASEP2-MPA□□□

Robot cable from 0.5 to 20m

RCA (Serial Absolute Type)

RCA2

CB-APSEP-MPA□□□ Robot cable from 0.5 to 20m

(Note) There are some exceptions. See in the general catalog.

Power Supply and Emergency Stop Circuit

This shows the circuit example when the emergency stop switch in the teaching pendant is enabled on the emergency stop circuit to be built up by the client. In the example below, uses PCON-CA. It is the same in case of except for PCON-CA.

Note 1 : The safety categories complied type (CGB Type, etc.) is not equipped with the relay to have the controller

automatically identify that a teaching tool was plugged in and switch the wiring layout. Those other than the safety categories complied type do the automatic identification and have S1 and S2 short-circuited.

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. Also, the ratings for the emergency stop signal that turns ON/OFF at the contact CR1 are 24V DC and 10mA or less.

Note 3 : For CR1, select the one with coil current 0.1A or less.

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).

[Reference] Example for operating an actuator by using the standard type ( CA or CB Type) with optimum wiring layout

(Note) In this example, the emergency stop switch on the teaching pendant would not work.

Operation Modes and Functions (Except for MECHATROLINK-Ⅲ)

(Note) Refer to the Section for MECHATROLINK-Ⅲ for the operation modes and features of MECHATROLINK-Ⅲ.

The machine can be operated selecting one mode from the following five operation modes.

(1) Remote I/O Mode : This is the method where the operation through PIO (24V I/O) is performed using the fieldbus. (2) Position/ : This is the method where the machine is operated by means of directly specifying the target

Simple Direct position using numerical values.

Value Mode For the speed, acceleration, deceleration, or positioning width, the already registered position

data values are used.

(3) Half Direct Value Mode : In this operation mode, in addition to the target position, the speed, acceleration, deceleration

and push current value are directly specified using numerical values.

(4) Full Direct Value Mode : In this operation mode, all the values related to the position control, are directly specified using

numerical values.

(5) Remote I/O Mode 2 : Additionally, the current position and current speed reading functions are added to the remote I/O mode.

Operation Modes and Main Functions

Main Functions

Remote I/O

Mode

Position/Simple

Direct Value Mode

Half Direct

Value Mo de

Full Direct

Value Mo de

Remote I/O

Mode 2 No. of Occupied Channels (DeviceNet) 1 4 8 16 6 Number of occupied stations (CC-Link) 1 1 2 4 1 No. of Occupied Bytes (PROFIBUS) 2 8 16 32 12 No. of Occupied Bytes (CompoNet) 2 8 16 32 12 Operation with the Position No. Specified ○ ○ × × ○ Operation with the Position Data Specified × ○ (*1) ○ ○ × Speed and Acceleration Direct Setup × × ○ ○ × Pressing Operation ○ ○ ○ ○ ○ Current Position Read × ○ ○ ○ ○ Current Speed Read × × ○ ○ ○ Completion Position No. Read ○ ○ × × ○ Max. Number of position table 512 768 Unused Unused 512

(*1) The actuator is operated by specifying all position data, other than the position, using a position number.

Address Map

The table shows the address maps separately for CC-Link type, CC-Link IE type and those other.

z CC-Link

• PLC output → Input in PCON / ACON / DCON (* n is the top register address for each axis.)

DI on the PCON / ACON / DCON side and Input Data Register

Remote I/O Mode

Position/Simple

Direct Value Mode

Half Direct Value

Mode

Full Direct Value

Mode

Remote I/O Mode 2

Parameter No.84 : 0

(Set in delivery)

Parameter No.84 : 1 Parameter No.84 : 2 Parameter No.84 : 3 Parameter No.84 : 4

Address on the

PLC side

Number of occupied

stations : 1 Station

Number of occupied

stations : 1 Station

Number of occupied stations : 2 Stations

Number of occupied

stations : 4 Stations

Number of occupied

stations : 1 Station

RY n0 to nF Port No.0 to 15 Occupied Domain Port No.0 to 15

RY (n +1) 0 to (n+1) F

System Domains System Domains

Occupied Domain

System Domains

RY (n +2) 0 to (n+2) F

System Domains RY (n +3) 0 to (n+3) F RY (n +4) 0 to (n+4) F RY (n +5) 0 to (n+5) F RY (n +6) 0 to (n+6) F

Occupied Domain

RY (n +7) 0 to (n+7) F

System Domains RWw (n+0) RWw (n+1)

Target Position Target Position Target Position

RWw ( n+2) Specified Position No. RWw (n+3)

Occupied Domain

Control Signal

Positioning Width Positioning Width

Occupied Domain

RWw (n+4) Speed RWw (n+5)

Acceleration/Deceleration

Speed

RWw (n+6)

Push Current Limit Value

RWw (n+7) Control Signal

Zone Boundary Value+

RWw (n+8) RWw (n+9)

Zone Boundary Value-

RWw (n+A) Acceleration RWw (n+B) Deceleration RWw (n+C)

Push Current Limit Value

RWw (n+D)

Load Current Threshold RWw (n+E) Control Signal 1 RWw (n+F)

Control Signal 2

• PCON / ACON / DCON output → PLC input side (* n is the top register address for each axis.)

DO on the PCON / ACON / DCON side and Input Data Register

Remote I/O Mode

Position/Simple

Direct Value Mode

Half Direct Value

Mode

Full Direct Value

Mode

Remote I/O Mode 2

Parameter No.84 : 0

(Set in delivery)

Parameter No.84 : 1 Parameter No.84 : 2 Parameter No.84 : 3 Parameter No.84 : 4

Address on the

PLC side

Number of occupied

stations : 1 Station

Number of occupied

stations : 1 Station

Number of occupied stations : 2 Stations

Number of occupied

stations : 4 Stations

Number of occupied

stations : 1 Station

RX n0 to nF Port No.0 to 15*2Occupied Domain Port No.0 to 15*2

RX (n +1) 0 to (n+1) F

System Domains System Domains System Domains

RX (n +2) 0 to (n+2) F

Occupied Domain

RX (n +3) 0 to (n+3) F

System Domains RX (n +4) 0 to (n+4) F RX (n +5) 0 to (n+5) F RX (n +6) 0 to (n+6) F

Occupied Domain

RX (n +7) 0 to (n+7) F

System Domains RWr (n+0) RWr (n+1)

Current Position Current Position Current Position Current Position

RWr (n+2)

Completion Position No.

(Simple Alarm ID)

RWr (n+3)

Occupied Domain

Status Signal

Command Current Comm and Current Command Current

RWr (n+4) RWr (n+5)

Current Speed Current Speed

RWr (n+6) Alarm Code Alarm Code RWr (n+7) Status Signal RWr (n+8) RWr (n+9)

Occupied Domain

RWr (n+A) RWr (n+B)

Total Number of

Movement RWr (n+C) RWr (n+D)

Total Number of

Drive RWr (n+E) Status Signal 1 RWr (n+F)

Status Signal 2 *1 The Occupied Domain stands for the domain occupied depending on the setting of the remote device station quantity. Therefore, this domain cannot be used for any other purpose. Also, take care to avoid shared use of the data register. *2 When an alarm is sounded, the completion position No. (4 bits for PM1 to PM8) shows the simple alarm code.

z CC-Link IE

• PLC output → Input in PCON / ACON / DCON (* n is the top register address for each axis.)

DI on the PCON / ACON / DCON side and Input Data Register

Remote I/O Mode

Position/Simple

Direct Value Mode

Half Direct Value

Mode

Full Direct Value

Mode

Remote I/O Mode 2

Parameter No.84 : 0

(Set in delivery)

Parameter No.84 : 1 Parameter No.84 : 2 Parameter No.84 : 3 Parameter No.84 : 4

Address on the

PLC side

Number of Occupied

Words : 4

Number of Occupied

Words : 4

Number of Occupied

Words : 8

Number of Occupied

Words : 16

Number of Occupied

Words : 4

RY n0 to nF Port No.0 to 15 Port No.0 to 15

(n+1) 0 to (n+1) F

Occupied Domain Occupied Domain Occupied Domain

RWw (n+0) RWw (n+1)

Target Position Target Position Target Position

RWw ( n+2) Specified Position No. RWw (n+3)

Occupied Domain

Control Signal

Positioning Width Positioning Width

Occupied Domain

RWw (n+4) Speed

RWw (n+5)

Acceleration/ Deceleration

Speed

RWw (n+6)

Push Current Limit

Value

RWw (n+7) Control Signal

Zone Boundary

Value+

RWw (n+8) RWw (n+9)

Zone Boundary

ValueRWw (n+A) Acceleration RWw (n+B) Deceleration

RWw (n+C)

Push Current Limit

Value

RWw (n+D)

Load Current

Threshold RWw (n+E) Control Signal 1 RWw (n+F)

Control Signal 2

• PCON / ACON / DCON output → PLC input side (* n is the top register address for each axis.)

DO on the PCON / ACON / DCON side and Input Data Register

Remote I/O Mode

Position/Simple

Direct Value Mode

Half Direct Value

Mode

Full Direct Value

Mode

Remote I/O Mode 2

Parameter No.84 : 0

(Set in delivery)

Parameter No.84 : 1 Parameter No.84 : 2 Parameter No.84 : 3 Parameter No.84 : 4

Address on the

PLC side

Number of Occupied

Words : 4

Number of Occupied

Words : 4

Number of Occupied

Words : 8

Number of Occupied

Words : 16

Number of Occupied

Words : 4

RX n0 to nF Port No.0 to 15*2 Port No.0 to 15*2

(n+1) 0 to (n+1) F

Occupied Domain Occupied Domain Occupied Domain

Occupied Domain

RWr (n+0) RWr (n+1)

Current Position Current Position Current Position Current Position

RWr (n+2)

Completion Position No.

(Simple Alarm ID)

RWr (n+3)

Occupied Domain

Status Signal

Command Current Comm and Current Command Current

RWr (n+4) RWr (n+5)

Current Speed Current Speed

RWr (n+6) Alarm Code Alarm Code RWr (n+7) Status Signal RWr (n+8) RWr (n+9)

Occupied Domain

RWr (n+A) RWr (n+B)

Total Number of

Movement

RWr (n+C) RWr (n+D)

Total Number of

Drive

RWr (n+E) Status Signal 1 RWr (n+F)

Status Signal 2

*1 The Occupied Domain describes the domains occupied for each mode. Therefore, this domain cannot be used for any other purpose. Also, take care to avoid shared use of the data register. *2 When an alarm is sounded, the completion position No. (4 bits for PM1 to PM8) shows the simple alarm code.

z Other than CC-Link (DeviceNet / PROFIBUS-DP / CompoNet / MECHATROLINK-Ⅰ/Ⅱ)

• PLC output → Input in PCON / ACON / DCON

DI on the PCON / ACON / DCON side and Input Data Register

Remote I/O Mode

Position / Simple

Direct Value Mode

Half Direct Value

Mode

Full Direct Value

Mode*4

Remote I/O Mode 2

Parameter No.84 : 0

(Set in delivery)

Parameter No.84 : 1 Parameter No.84 : 2 Parameter No.84 : 3 Parameter No.84 : 4

PLC Output

Area*3

Number of Occupied

Channels : 1CH

Number of Occupied

Channels : 4CH

Number of Occupied

Channels : 8CH

Number of Occupied

Channels : 16CH

Number of Occupied

Channels : 6CH

n Port No.0 to 15 Port No.0 to 15

n+1

Target Position Target Position Target Position

n+2 Specified Position No. n+3 Control Signal

Positioning Width Positioning Width

n+4 Speed

n+5

Acceleration/ Deceleration

Speed Setup

Occupied Domain

n+6

Push Current Limit

Value

n+7 Control Signal

Zone Boundary

Value+

n+8 n+9

Zone Boundary

Valuen+10 Acceleration n+11 Deceleration

n+12

Push Current Limit

Value

n+13

Load Current

Threshold n+14 Control Signal 1 n+15

Control Signal 2

• PCON / ACON / DCON output → PLC input side

DO on the PCON / ACON / DCON side and Output Data Register

Remote I/O Mode

Position / Simple

Direct Value Mode

Half Direct Value

Mode

Full Direct Value

Mode*4

Remote I/O Mode2

Parameter No.84 : 0

(Set in delivery)

Parameter No.84 : 1 Parameter No.84 : 2 Parameter No.84 : 3 Parameter No.84 : 4

PLC Output

Area*3

Number of Occupied

Channels : 1CH

Number of Occupied

Channels : 4CH

Number of Occupied

Channels : 8CH

Number of Occupied

Channels : 16CH

Number of Occupied

Channels : 6CH

n Port No.0 to 15*2 Port No.0 to 15*2

n+1

Current Position Current Position Current Position

Occupied Domain

n+2

Completion Position No.

(Simple Alarm ID)

n+3 Status Signal

Command Current Command Current Current Position

n+4 n+5

Current Speed Current Speed Command Current

Connection Cable

(Note1)

DCON

Motor/ Encoder Connector

MPI

MPO

24V

EMG-

BKLS

Power Supply

Connector

Emergency-stop Switch on the Teaching Pendant

Control Power Supply

SIO Connector

Wiring Condected at Delivery

24V DC Power Supply

Motor Power Supply

Emergency Stop Control Circuit

Brake Release Power Supply

(Note) Supply 24V when connecting actuator equipped with brake and release brake compulsorily

Emergency

-stop Switch

24V 0V

Emergency Stop Reset Switch

Emergency Stop Switch

CR1

MPI

MPO

24V

EMG-

BKLS

CR1

(Note 3)

Brake Forced Release Switch

Power Supply Connector

PCON-CA

Emergency-stop Switch on the Teaching Pendant

Control Power Supply

SIO Connector

(Note 1)

Motor Power Supply

CR1

(Note 2)

Emergency Stop Control Circuit

Brake Release Power Supply

(Note) Supply 24V when connecting actuator equipped with brake and release brake compulsorily

SV ALM

Status indicator LEDs

BS-

BDL

BDH

BS+

Monitor LED : The board operation status and network conditions can be obtained.

CompoNet Communication Connector : XW7D-PB4-R (OMRON)

DO on the PCON / ACON / DCON side and Output Data Register

Remote I/O Mode

Position / Simple

Direct Value Mode

Half Direct Value

Mode

Full Direct Value

Mode*4

Remote I/O Mode2

Parameter No.84 : 0

(Set in delivery)

Parameter No.84 : 1 Parameter No.84 : 2 Parameter No.84 : 3 Parameter No.84 : 4

PLC Output

Area*3

Number of Occupied

Channels : 1CH

Number of Occupied

Channels : 4CH

Number of Occupied

Channels : 8CH

Number of Occupied

Channels : 16CH

Number of Occupied

Channels : 6CH n+6 Alarm Code Alarm Code n+7 Status Signal n+8 n+9

Occupied Domain

n+10 n+11

Total Number of

Movement

n+12 n+13

Total Number of

Drive

n+14 Status Signal 1 n+15

Status Signal 2

*1 The Occupied Domain shows the domain to be occupied with the operation mode setting. Therefore, this domain cannot be used for any other purpose. Also, be careful of using duplicated node addresses. *2 When an alarm is sounded, the completion position No. (4 bits for PM1 to PM8) shows the simple alarm code. *3 The unit differs for each field network.

・DeviceNet or CompoNet : CH Number ・PROFIBUS-DP or MECHATROLINK : byte address

*4 It is not applicable for MECHATROLINK-Ⅰ/Ⅱ

DeviceNet

● Specification Refer to section DeviceNet instruction manual (ME0256).

● Interface Section

LED color

Indication

Status

Description

Illuminating

Normal operation

Flashing

Hardware Error. It might be recovered with reconnect of the power.

Illuminating

Hardware Error. The replacement of the board is required.

Flashing

It is a minor error such as a us er setting error or configurat ion error. It can be recovered by re-setting, etc.

－

OFF

The DeviceNet is being initialized, or the power is not su pplied.

Illuminating

The connection has been established and the communication is being performed normally.

Flashing

The machine is on-line, but the connection has not been established. Communication Stop (Network is normal).

Illuminating

Node address is duplicated or Busoff is detected. Communication Unavailable.

Flashing

Communication Error (Communication Time-out Detection)

－ OFF

The machine is not on-line. The power to the DeviceNet is not supplied.

● Wiring

● Operation Mode Setting and Address Allocation

The operation mode is set using the parameters. Set the mode change switch on the front of the board to “MANU” side and set the parameter No. 84 “FMOD: Fieldbus

Operation Mode” using the Personal Computer Application Software for RC. [Refer to Address Map]

● Station No. Setting

The station No. is set using specific parameters. Set the parameter No.85 “NADR: Fieldbus No de Address” using the personal computer application software for RC. Settable Range:0 to 63 (It is set to “63” when the machine is delivered from the factory.)

● Communication Speed Setting

The setting for the communication speed is not required because it automatically follows the master’s communication speed.

(Note)

After the parameter setting, cycle the control power, and return the mode toggle switch on the front of the controller to “AUTO” side.

CC-Link

● Specification Refer to section CC-Link instruction manual (ME0254).

● Interface Section

LED Color

Indication

Status

Indication Description

(Meaning of the Indication)

Illuminating

• An error occurs. (CRC Error/Station No. (parameters) Setting

Error/Baud Rate Setting (parameters) Error)

• Period between the power injection or software

reset and the CC-Link initialization completion

OFF • Under Normal Communication

ERR OR

Flashing

• Station No. setting or communication speed setting is changed during the communication.

Illuminating • Under communication

RUN GN

OFF • Not communicated

● Wiring

● Operation Mode Setting and Address Allocation

The operation mode is set using the parameters.

Set the mode change switch on the front of the board t o “MANU” side and set the parameter No.84 “FMOD:

Fieldbus Operation Mode” using the Personal Computer Application Software for RC.

● Station No. Setting

The station No. is set using specific parameters. Set the parameter No.85 “NADR: Fieldbus Node Address” using the personal computer application software for RC. Settable Range : 1 to 64 (Already set in system delivery)

● Communication Speed Setting

Set the parameter No.86 “FBRS: Fieldbus Communication Speed” using the personal computer application

software for RC.

Set Value Communications speed

0 (Set in delivery) 156kbps

1 625kbps 2 2.5Mbps 3 5Mbps 4 10Mbps

(Note) Set the Station Data for the Master Station to “ver 1, Remote Device Station”. (Note) After the parameter setting, cycle the con trol power, and return the mode toggle switch on the front of the

controller to “AUTO” side.

PROFIBUS-DP

● Specification Refer to section PROFIBUS-DP instruction manual (ME0258).

● Interface Section

LED Color

Indication

Status

Indication Description (Meaning of the Indication)

Illuminating

The communication is being performed normally from the fieldbus in online mode.

Flashing The machine is in offline mode from the fieldbus

OR Flashing A communication error is caused.

Illuminating The machine is in the normal operation.

Flashing Preparation for the operation is performed.

OR Illuminating

A communication hardware error was detected in the operation preparation mode.

Pin No. Description Contents

3 B-Line RxD·TxD(Communication Line on the Plus Terminal Side)

5 GND Signal Cable Grounding (Insulated)

6 +5V +5V Output (Insulated)

8 A-Line /RxD·/TxD (Signal Line on the Minus Terminal Side)

Housing Shield Cable Shield (for Case and Connection)

● W iring

● Bus Terminal Treatment

When the line is connected to the network terminal, connect the terminal resistance to the

PROFIBUS-DP communication connector as shown in the following figure, or use the connector with the terminal resistance.

•

Example of using the connector with the terminal resistance : SUBCON-PLUS-PROFIB/AX/SC (PHOENIX CONTACT)

• Connection of the Terminal Resistance

● Operation Mode Setting and Address Allocation

The operation mode is set using the parameters.

Set the mode change switch on the front of the board to “MANU” side and set the parameter No. 84 “FMOD :

Fieldbus Operation Mode” using the Personal Computer Application Software for RC.

● Station No. Setting

The station No. is set using specific parameters. Set the parameter No.85 “NADR: Fieldbus Node Address” using the personal computer application software for RC. Settable Range : 0 to 125 (It is set to “1” when the machine is deli vered from the factory.)

● Communication Speed Setting

The setting for the communication speed is not required because it automatically follows the master’s

communication speed.

(Note) After the parameter setting, cycle the control power, and return the mode toggle switch on the front of the

controller to “AUTO” side.

CompoNet

● Specification Refer to section CompoNet instruction manual (ME0220).

● Interface Section

LED Color

Indication

Status

Description

GN Illuminating In the normal operation

Illuminating Hardware Error. The replacement of the board is required.

Flashing

It is a minor error such as a user setting error or configuration error. It can be recovered by re-setting, etc.

- OFF The CompoNet is being initialized, or the power is not supplied.

Illuminating

The connection has been established and the communication is being performed normally.

Flashing

The machine is on-line, but the connection has not been established. Communication Stop (Network is normal).

Illuminating A duplicated node address is considered.

Flashing Communication Error (Communication Time-out Detection)

- OFF

The machine is not on-line. The power is not supplied.

● Wiring

* Comnication supply power is not required. However, when multiple power supply is to be conducted to another slave, there would be no problem

even if connecting to the communication power to BS+ and BS- terminals.

● Station No. Setting

The station No. is set using specific parameters.

Set the parameter No.85 “NADR: Fieldbus Node Address” using the personal computer application software for RC. Settable Range : 0 to 63 (It is set to “0” when the machine is de livered from the factory.)

(Note) The setting for the communication speed is not required beca use it automatically follows the master’s

communication speed.

(Note) After the parameter setting, cycle the control power, and return the mode toggle switch on the front of the

controller to “AUTO” side.

MECHATROLINK-Ⅰ/Ⅱ

● Specification Refer to section MECHATROLINK instruction manual (ME0221).

● Interface Section

SV ALM

Red White

Blue

Black

DeviceNet Communication Connector : MSTB2.5/5-GF-5.08AU (PHOENIX CONTACT)

Status indicator LEDs Monitor LED : The board operation status and network conditions can be obtained.

ERR

ALM

SLD

Status indicator LEDs

Status LED : The board operation status and network conditions can be obtained.

CC-Link Communication Connector : MSTB2.5/5-GF-5.08AU (PHOENIX CONTACT)

RUN

* Prepare for 9 pin male D-sub connector at Cable side connector.

SV ALM

Status indicator LEDs

Status LED : The board operation status and network conditions can be obtained.

PROFIBUS-DP Communication Connector : 9 pin female D-sub

STATUS

SV ALM

Status LED : The board operation status and network conditions can be obtained.

Status indicator LEDs

MECHATROLINK Communication Connector : DUSB-ARB82-T11A-FA (DDK)

/DATA

DATA

aster Unit

PCON, ACON, DCON

+5V

A-Line

B-Line

GND

+5V

A-Line

B-Line

GND

+5V

A-Line

B-Line

GND

390W

220W

390W

220W

390W

PCON, ACON, DCON

SLD

PCON, ACON, DCON

Master

Unit

Terminal Resistance

Terminal

Resistance

CC-Link Dedicated Cable CC-Link Dedicated Cable

SLD and FG are internally connected.

The terminator varies according to the model name of the CC-Link compatible cable as follows:

·Cable FANC-SBH···130W1/2W (CC-Link dedicated high performance cable)

·Cable FANC-SB······110W1/2W (CC-Link Dedicated Cable)

PCON, ACON, DCON

Female Connector

on the Controller Side

Male Connector

on the Network Side

(Viewing from the opposite

of the insertion side)

GND

A-Line

B-Line

+5V

390Ω, 1/4W

220Ω, 1/4W

390Ω, 1/4W

Network Wiring

CAN_H

CAN_L

V+

V-

Drain

(Shield)

CAN_H

CAN_L

V+

V-

Drain

(Shield)

CAN_H

CAN_L

V+

V-

Drain

(Shield)

Terminal Resistance 121

Terminal Resistance

121

Grouding resistance

100 or less

24V

Power supply

Master

Unit

PCON, ACON, DCON

BS+

BDH

BDL

BS-

BS+ BDH BDL BS-

PCON, ACON, DCON PCON, ACON, DCON

Terminal Resistance 121

Communication cable

·Round Cable l/ll

·Flat Cable l/ll

● Wiring

Set Value Communications speed Data Length

0 4 Mbps (MECHATROLINK-Ⅰ) 17 byte 1 10 Mbps (MECHATROLINK-Ⅱ) 17 byte

2 (Set in delivery) 10 Mbps (MECHATROLINK-Ⅱ) 32 byte

(Note) After the parameter setting, cycle the control power, and return the mode toggle switch on the front of the

controller to “AUTO” side.

MECHATROLINK-Ⅲ(Dedicated for CB Type)

Since MECHATROLINK-III is applicable for the standard servo profile but not for the standard I/O profile, it is not applicable for the operation modes for other fieldbus products (such as Full Direct Mode).

● Specification

Refer to the Instruction Manual (ME0317)

● Status LE D

LED Color

Illumination Status

Explanation

Illuminating

Receiving CONNECT (connected to master)

CON

−

Off

Connection is not established to master

Illuminating

Illumination flashes when communication alarm or command alarm is generated (warning excepted). Illumination turned off when alarm is cancelled

ERR

−

Off

In normal condition (no alarm generated)

LK1

GN Illuminating

LK2

GN Illuminating

Illumination turns on when physically connected to another device applicable for MECHATROLINK-Ⅲ (for cable breakage check purpose)

● Interface Area

● Node Address Setting

Node address can be set with the parameter. Set Parameter No. 85 “NADR : Fieldbus Node Address” with using the PC software for RC. Available range for Setting : 3 to 239 [hex] (setting at delivery : 3)

● Data Length Setting Establish the setting in Parameter No. 86 “FBRS : Fieldbus Communication Speed” in RC PC software considering the data length to be used.

Setting Value

Data Length

Baud Rate

0 32 bytes

1 (at the delivery)

48 bytes

100Mbps

● Electronic Gear Ratio Setting

Set the electronic gear numerator in Parameter No. 65 “CNUM : Electronic Gear Numerator” and the electronic gear denominator in No. 66 “CDEN : Electronic Gear Denominator”. In the RC PC software Establish the settings to satisfy the following condition:

Stroke [mm] Electronic Gear Ratio Denominator Ball Screw Lead Length [mm] Electronic Gear Ratio Numerator

● Pulse Count Direction Setting

Set the value in Parameter No. 62 “FPIO : Pulse Count Direction” to be the same as what is set in No. 5 “ ORG :

Home-Return Direction” in the RC PC software.

(Note) Reboot the power on the controller after the parameter settings are completed, and make sure to put the

switchover switch on the front face of the controller back to the AUTO side.

● Wiring

Wiring, please use the MECHATROLINK-Ⅲ dedicated cable.

CC-Link IE

(Except for PCON-CA/CFA, ACON-CA, DCON-CA)

● Specification Refer to the CC-Link IE Instruction Manual

● Status LED

LED Color

Illumination Status

Explanation

Steady Light Operation in normal conditions

GN: RUN

Off Hardware error occurred, Power not supplied

Steady Light

Error being occurred (Node Error / Station Number Setting Error)

OR: ERR

Off Operation in normal conditions, Power not supplied

Steady Light Cyclic transmission in process

Blinking Cyclic transmission paused

GN: D LINK

Off

Cyclic transmission not conducted, parallel off, Power not supplied

Steady Light Received data in error (Lightened up together with L.ER)

OR: L ERR

Off Received data in normal conditions, Power not supplied

Steady Light Linkup in process

LINK GN

Off Link-down in process, Power not supplied

Steady Light Received data in error

L.ER OR

Off Received data in normal conditions, Power not supplied

● Interface Area

Connector

Name

CC-Link IE Connector Remarks

Cable Side

Ethernet ANSI/TIA/EIA-568-B Category 5e and above 8P8C modular plug equipped with shield (RJ45)

Please prepare separately

Controller Side

Ethernet ANSI/TIA/EIA-568-B Category 5e and above 8P8C modular Jack equipped with shield (RJ45)

Pin No. Signal Name Description Applicable cable diameter

1 TP0+ Data 0+

2 TP0- Data 0-

3 TP1+ Data 1+

4 TP2+ Data 2+

5 TP2- Data 2-

6 TP1- Data 1-

7 TP3+ Data 3+

8 TP3- Data 3-

It is recommended to prepare a straight STP cable in Category 5e or above for the Ethernet cable.

● Wiring

Starting Procedure

When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below

● Node Address Setting The node address is set using specific parameters. Set the parameter No.85 “NADR: Fieldbus Node Address” using the personal computer application software for RC. Settable Range : 61 to 7F [hex] (It is set to “61” when the machine is delivered from the factory.)

● Communication Speed Setting Set the parameter No.86 “FBRS: Fieldbus Communication Speed” using the personal computer application software for RC.

Manual No.: ME0303-7A

Check of Packed Items Are there all the delivered items?

Contact the sales shop.

Installation and Wiring Install the controller and actuator and perform wiring according to the instruction manual and the contents in this book.

Yes

Point Check Item

·Have you performed the frame grounding (FG) and protective earthing (PE)?

·Has the noise countermeasure been taken?

Yes Operation Mode Setting Set it according to the items for the operation modes and functions, and each fieldbus. (Operation Mode, Station No. and Communication Speed)

Power Supply and Alarm Check Connect the personal computer or teaching pendant, set the mode change switch to “MANU” side and input the power to each unit. Select [Teaching Mode 1 Safety Speed Enabled/PIO Startup Disabled] in the personal computer application software or the teaching pendant.

Check Item Is the LED indicator [ALM] turned OFF on the front panel?

Yes

Connect the personal computer or teaching pendant and confirm the alarm description to treat the problem.

Set the Safety Speed Set it using the parameter No.35, if necessary. When the machine is delivered, the safety speed has been set to “100mm/s”.

Servo ON Turn ON the servo motor with the personal computer or teaching pendant operation.

Caution When the machine is turned ON/OFF repeatedly at the same position, it might be lowered slightly due to its own weight. Take care not to catch your hand or damage the work.

Check Item Does the Status LED Indicator [SV] illuminate in green?

When an alarm is sounded, connect the personal computer or teaching pendant and confirm the alarm description to treat the problem.

Check of Safety Circuit

Yes

Check that the emergency stop circuit (or motor drive-power cutoff circuit) operates normally to turn OFF the servo.

Check the emergency stop circuit.

Target Position Setting Set a target position in the “Position” field for each position in the position table. When carrying out direct teaching, perform home return operation first. When the unit is equipped with the brake, move it after setting the brake release switch to “BK RLS” side.

Caution To ensure safety, it is recommended that safety speed be enabled during initial movements.

Trial Run Adjustment (1) Set the safety speed to “Disable” using the personal computer application software or teaching pendant and perform the performance check. (2) Set the personal computer or teaching pendant to “MANU” operation mode, select the “Monitor Mode 2: Safety Speed Disabled/PIO Start-up Permitted” and then, remove it from the controller. (3) Set the mode toggle switch to “AUTO”. (4) Set the fieldbus on the host side.

In the case that vibration or abnormal noise is caused Confirm that there is no problem in the actuator installation or the actuator operation condition demands more than the rated voltage.

Check Item Start up the host side and check if the LED indications on the front panel for each fieldbus are as follows. CC-Link : ERR OFF, RUN Green Light is turned ON. DeviceNet, CompoNet, PROFIBUS : Green light is turned ON for both MS and NS. MECHATROLINK : Green light is turned ON for both STATUS1 and STATUS0.

·Check the station No. setting.

·Check the terminal resistance.

·Check the communication speed setting.

The driving preparation was completed above. Please do the system driving adjustment.

/DATA

DATA

/DATA

DATA

/DATA

DATA

Master

Unit

PCON, ACON, DCON

Terminator JEPMC-W6022

MECHATROLINK Cable

·JEPMC-W6002-□□

·JEPMC-W6003-□□

PCON, ACON, DCON

CON

ERR

Status LED

Upstream Side LK1 (link 1)LED

Downstream Side LK2 (link 2)LED

× No. of Encoder Pulses ×

≤

Top Vi e w of

Connector on

Controller side

L.ER

LINK

L.ER

LINK

Ethernet Straight Cable Category 5e or more Double shielded cable braided with aluminum foil recommended (Note) Terminal resistance is not required

There is no distinction of IN/OUT on the connector.

Master Unit Slave Devices PCON, ACON, DCON CC-Link IE Type

IAI PCON-CA, PCON-CFB, PCON-CFA, PCON-CB, PCON-CGFB User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual