IAI PCON-CA, PCON-CFA, ACON-CA, ACON-CB, ACON-CGB First Step Manual

...

PCON-CA/CFA,

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

First Step Guide Eighth 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 Inst ruction 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 I/O Flat Cable

CB-PAC-PIO□□□ □□□shows the cable length

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

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

4 Absolute Battery (Option) AB-7 or SEP-ABU*

If applicable for Simple Absolute Type

5 Serial Absolute Battery (Option) AB-5

If applicable for Serial Absolute

Type (for ACON only) 6 First Step Guide 7 Instruction Manual (DVD) 8 Safety Guide

2. Teaching Tool (to be purchased separately) 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 (with RCS232C converter adapter + external equipment communication cable)

RCM-101-MW

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

RCM-101-USB

3 Touch Panel Teaching TB-01 4 Touch Panel Teaching (with Deadman Switch Attached on the Left side) TB-01D 5 Touch Panel Teaching (with Deadman Switch Attached on the Right side) T B-01DR 6 Touch Panel Teaching CON-PTA 7 Touch Panel Teaching (with Deadman Switch) CON-PDA 8 Touch Panel Teaching (with Deadman Switch + TP Adapter (RCB-LB-TG)) CON-PGAS

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 ACON-CA, DCON-CA Controller Instruction Manual ME0326 3 ACON-CB Series Contoroller, DCON-CB Series Contoroller Instruction Manual ME0343 4 PC Software RCM-101-MW/ RCM-101-USB Instruction Manual ME0155 5 Touch Panel Teaching CON-PTA/PDA/PGA Instruction Manual ME0295 6 Instruction Manual for the Serial Communication [for Modbus] ME0162 7 CC-Link Instruction Manual ME0254 8 DeviceNet Instruction Manual ME0256 9 PROFIBUS-DP Instruction Manual ME0258

10 CompoNet Instruction Manual ME0220

MECHATROLINK-Ⅰ/Ⅱ Instruction Manual

ME0221

12 EtherCAT Instruction Manual ME0273 13 EtherNet/IP Instruction Manual ME0278 14 PROFINET-IO Instruction Manual ME0333

4. How to read the model plate

5. How to read the model of the controller

z PCON

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

z ACON

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

z DCON

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

Basic Specifications

PCON List of Specifications

Description

Item

PCON-CA PCON-CFA Number of controlled axes 1-axis Power-supply Voltage

24V DC ±10% 20P, 28P, 28SP MAX. 1A 42P, 56P MAX. 2A

RCP2 RCP3

Motor Type

60P, 86P Rated 4.2A / 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

Motor Type

60P, 86P Rated 4.2A / 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, RCP5 3W

Rush Current

(Note2)

8.3A 10A

Transient Power Cutoff Durability

MAX. 500μs

Motor Control System Weak field-magnet vector control Corresponding Encoder Incremental Encoder, Battery-less Absolute Encoder Resolution 800pulse/rev Actuator Cable Length MAX. 20m Serial Communication Interface (SIO Port)

RS485 : 1 channel (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 Specification

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 Specification

DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, MECHATROLINK,

EtherCAT, EtherNet/IP, PROFINET-IO

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 (PIO Specification)

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

and fieldbus operation mode. 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×69.1D DIN rail fixed type : 35W×185H×77.6D

Screw fixed type : 35W×190H×69.1D

DIN rail fixed type : 35W×196.3H×77.6D 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 Value increases in 0.3A for Fieldbus Type 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 Value increases in 30g for Field Network Type.

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

*****

<Type>

CA : Standard Type CFA : High-Thrust Actuator Connection 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-Lin k 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

* 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 (W ith the Absolute Battery) ABU : Simple Absolute Type (W ith the Absolute Battery Unit (SEP-ABU)) ABUN : Simple Absolute Type (W ith no Absolute Battery)

<Power-supply Voltage>

0 : 24V DC

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

<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 : Absolute

* There is no identification in some cases.

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

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

<Power-supply Voltage>

0 : 24V DC

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

<Type>

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

[Motor Type] 3 : 2.5W DC Brushless motor

[Encoder Type] I : Incremental

* 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

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 4.4A

Load Capacity (including control side current consumption)

(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

Motor Control System Sinusoidal Waveform (AC) Drive Rectangular Waveform (DC) Drive

Corresponding Encoder Incremental Encoder

Serial Absolute Encoder Battery-less Aboslute 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

Corresponding Encoder Resolution

RCD

400pulse/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

Field Network Type DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, MECHATROLINK, EtherCAT,

EtherNet/IP, PROFINET-IO 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 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

(Note4)

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 : 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

Screw fixed type : 35W×190H×69.6D 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] Surrounding Storage Temperature

-20 to 70°C (Excluding battery)

Usage Altitude 1000m or less Protection Class IP20

Environment

Vibration Durability Frequen cy 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 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 excitation 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 (All Types Except for PCON-CFA)

● Screw fixed type

Incremental Type Simplified Absolute Type Serial Absolute Type Side View (Option) (Option)

84.8 Refer to Basic Specification

170.5

178.5

(40.5)

(58)

170.5

178.5

(34.5)

(52)

170.5

178.5

● DIN rail fixed type

Incremental Type Simplified Absolute Type Serial Absolute Type Side View (Option) (Option)

178.5

185

(5)

M3 (for FG cable attachment)

93.6 Refer to Basic Specification

8.5

104 from DIN rail center

35.4 (Width of 35mm DIN rail)

178.5

185

(5)

(52)

(for FG cable attachment)

178.5

185

(5)

(58)

(for FG cable attachment)

External Dimensions (PCON-CFA Type)

● Screw fixed type

84.8

69.1

190

(7)

● DIN rail fixed type

(5)

78.4

77.6

115 from DIN rail center

8.5

35.4(Width of 35mm DIN rail)

190

(7)

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.

Surge absorber

Relay coil

+24V 0V

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)

+ 3 hidden pages

IAI PCON-CA, PCON-CFA, ACON-CA, ACON-CB, ACON-CGB First Step Manual

Specifications and Main Features

Frequently Asked Questions

User Manual