IAI PCON-CA Series First Step Manual

PCON-CA/CFA/CB/CFB/CGB/CGFB CBP/CGBP,
ACON-CA/CB/CGB, DCON-CA/CB/CGB
First Step Guide Eleventh 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.
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.
 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
Refer to "How to read the model plate",
1 Controller Main Body
"How to read the model of the controller"
Accessories
2 I/O Flat Cable □□□
CB-PAC-PIO
3 Power Connector FMC1.5/8-ST-3.5 (Supplier : PHOENIX CONTACT)
4 Dummy plug DP-5
5 Absolute Battery (Option) AB-7 or SEP-ABU*
6 Serial Absolute Battery (Option) AB-5
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 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
PC teaching software (equipped with USB conversion adaptor + USB cable + external device
1
communication cable)
PC teaching software (equipped with RS232C conversion adaptor + external device
2
communication cable)
PC teaching software (equipped with USB conversion adaptor + USB cable + external
3
device communication cable)
4 Touch Panel Teaching
Touch Panel Teaching
5
Data Setter
6

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

No. Name
1 PCON-CA/CFA Controller Instruction Manual
2 PCON-CB/CFB Controller Instruction Manual
3 ACON-CA, DCON-CA Controller Instruction Manual
4 ACON-CB Series Contoroller, DCON-CB Series Contoroller Instruction Manual
5 PC Software RCM-101-MW/ RCM-101-USB Instruction Manual
6 Touch Panel Teaching TB-01 Applicable for Position Controller Instruction Manual
7 Touch Panel Teaching TB-02 Applicable for Position Controller Instruction Manual
8 Data Setter TB-03 Position Controller, Wired Link Instruction Manual
9 Instruction Manual for the Serial Communication [for Modbus]
10 CC-Link Instruction Manual
11 DeviceNet Instruction Manual
12 PROFIBUS-DP Instruction Manual
13 CompoNet Instruction Manual
14 MECHATROLINK-Ⅰ/Ⅱ Instruction Manual
15 EtherCAT Instruction Manual
16 EtherNet/IP Instruction Manual
17 PROFINET-IO Instruction Manual
18 MECHATROLINK-Ⅲ Instruction Manual

4. How to read the model plate

Model
Model
*********
SER NO. *********
Input DC24V A *
Output IP20
Serial number 0-24Vac,3ph,0-333Hz, * A
Actuator *****
CAUTION: Connect the wiring correctly and
properly, use IAI specified cables
or min 60°C Cu wire.

5. How to read the model of the controller

 PCON
P C O N - C A - 5 6 P W A I - N P - 2 - 0 - A B U - D N - * *
<Series>
<Type>
CA/CB : Standard Type
CFA/CFB : High-Thrust Actuator
Connection Type
CGB : Safety Categories Complied Type
CGFB : High-Thrust Actuator
Connection Safety Categories
Complied Type
CBP : Pulse Pressing Connection
Applicable Type
CGBP : Pulse Pressing Connection
Safety Categories Complied Type
<Detail of Connected Axis>
[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
*PCON-CBP/CGBP is not applicable for
the simple absolute type.
Reference
 ACON
□□□
shows the cable length
A C O N - C A - 3 0 I - N P - 2 - 0 - A B - D N - * *
Recommended cable size
AWG16 to 20(1.25 to 0.5mm 2 )
<Series>
For the safety category
<Type>
compliant type
CA/CB : Standard Type
If applicable for Simple
CGB : Safety Categories Complied Type
Absolute Type
If applicable for Serial Absolute
<Detail of Connected Axis>
Type (for ACON only)
[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
Model
shared (CB only)
I : Incremental A : Absolute
IA-OS-C
[Option]
HA : High Acceleration/Deceleration Type
RCM-101-MW
LA : Low Power Consumption Type
No description : Standard Type
RCM-101-USB
<I/O Type>
TB-01/D/DR
NP : NPN Type (Sync. Type) (Standard),
TB-02/D PN : PNP Type (Source Type),
PLN : Pulse Train Control NPN Type (Sync. Type),
TB-03
PLP : Pulse Train Control PNP Type (Source Type),
DV : DeviceNet Connection Type,
PR : PROFIBUS-DP Connection Type,
Manual No.
PRT : PROFINET-IO Connection Type,
ME0289
EP : EtherNet/IP Connection Type
ME0342
ML3 : MECHATROLINK-Ⅲ Connection Type (Except for ACON-CA)
ME0326
 DCON
ME0343
ME0155
D C O N - C A - 3 I - N P - 2 - 0 - D N - * *
ME0324
<Series>
ME0355
ME0376
<Type>
ME0162 CA/CB : Standard Type
CGB : Safety Categories Complied Type
ME0254
ME0256
<Detail of Connected Axis>
ME0258
[Motor Type]
ME0220 3 : 2.5W DC Brushless motor
ME0221
[Encoder Type]
ME0273
I : Incremental
ME0278
ME0333
<I/O Type>
ME0317 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,
PR : PROFIBUS-DP Connection Type,
PRT : PROFINET-IO Connection Type,
EP : EtherNet/IP Connection Type,
ML3 : MECHATROLINK-Ⅲ Connection Type (Except for DCON-CA)
<Identification for IAI use only>
* There is no identification in some cases.
<Type of Installation>
(Not Specified) : Screw Attachment Type
DN : DIN Rail Mounting Type
<Applicable to Simplified Absolute Unit>
(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
<I/O Cable Length>
0 : Equipped with no cable
2 : 2m (Standard)
3 : 3m
5 : 5m
<I/O Type>
NP : NPN Type (Sync. Type) (Standard),
PN : PNP Type (Source Type),
PLN : Pulse Train Control NPN Type (Sync. Type PCON-CBP/CGBP Except)
PLP : Pulse Train Control PNP Type (Source Type PCON-CBP/CGBP Except)
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/ⅡConnection Type
ML3 : MECHATROLINK-Ⅲ Connection Type (Except for PCON-CA/CFA/CBP/CGBP)
<Identification for IAI use only>
* There is no identification in some cases.
<Type of Installation>
(Not Specified) : Screw Attachment Type
DN : DIN Rail Mounting Type
<Applicable to Simplified Absolute Unit>
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
<I/O Cable Length>
0 : Equipped with no cable
2 : 2m (Standard)
3 : 3m
5 : 5m
CC : CC-Link Connection Type
CN : CompoNet Connection Type
EC : EtherCAT Connection Type
ML : MECHATROLINK-Ⅰ/Ⅱ Connection Type
<Identification for IAI use only>
* There is no identification in some cases.
<Type of Installation>
(Not Specified) : Screw Attachment Type
DN : DIN Rail Mounting Type
<Power-supply Voltage>
0 : 24V DC
<I/O Cable Length>
0 : Equipped with no cable
2 : 2m (Standard)
3 : 3m
5 : 5m
CC : CC-Link Connection Type
CN : CompoNet Connection Type
EC : EtherCAT Connection Type
ML : MECHATROLINK-Ⅰ/Ⅱ Connection Type
Basic Specifications
PCON List of Specifications
Description
Item
PCON-CA/CB/CGB/CBP/CGBP
Number of controlled axes 1-axis
Power-supply Voltage 24V DC 10%
RCP2 Motor 20P, 28P, 28SP MAX. 1A
RCP3 Type
Load 42P, 56P MAX. 2.2A
Capacity
60P, 86P
(including
RCP4 Motor 28P, 35P, 42P, High-thrust function
control side MAX.2.2A
RCP5 Type 56P is disabled
current
RCP6
High-thrust function Rated 3.5A /
consumption)
is enabled MAX. 4.2A
(Note1)
56SP, 60P, 86P
Power Supply for Electromagnetic Brake
24V DC 10% 0.15A (MAX.)
(for actuator equipped with brake)
Heat Generation RCP2, RCP3 5W
RCP4 to RCP6 3W
(Note2)
Rush Current 8.3A
Transient Power Cutoff Durability MAX. 500s
Motor Control System Weak field-magnet vector control
Corresponding RCP2 to RCP5 Incremental Encoder, Battery-less Absolute Encoder Resolution 800 pulse/rev
Encoder
RCP6 Battery-less Encoder Resolution 8192 pulse/rev
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 Interface 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
Fieldbus Type DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, MECHATROLINK-Ⅰ/Ⅱ,
EtherCAT, EtherNet/IP, PROFINET-IO, MECHATROLINK-Ⅲ (Except for
PCON-CA/CFA/CBP/CGBP)
Loadcell Interface RS485 Communication
(dedicated for PCON-CBP/CGBP)
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 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.
Pulse Train Input Pulse Frequency Differential System (Line Driver System) : MAX. 200kpps
Interface Cable length MAX. 10m
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 (GN)/ALM (RD) : Servo ON/Alarm generated
(mounted on Front Panel) 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 Switching NOM (standard)/BK RLS (compulsory release)
Release Switch (mounted on Front Panel)
Insulation Resistance 500V DC 10M or more
Protection Function against Electric Shock Class I basic insulation
Weight Incremental Type Screw fixed type : 250g or less
(Note3) DIN rail fixed type : 285g or less
Simple Absolute Type Screw fixed type : 450g or less
(including 190g for battery) DIN rail fixed type : 485g or less
Cooling Method Natural air-cooling
Screw fixed type : 35W×178.5H×69.6D
External dimensions
DIN rail fixed type : 35W×185H×78.1D
Environment Surrounding Air
0 to 40C
Temperature
Surrounding Humidity 5%RH to 85%RH or less (There should be no condensation or freeze)
Surrounding [Refer to Installation Environment]
Environment
Surrounding Storage
-20 to 70C (Excluding battery)
Temperature
Usage Altitude 1000m or less
Protection Class IP20
Vibration Durability Frequency 10 to 57Hz / Swing width : 0.075mm
Frequency 57 to 150Hz / Acceleration 9.8m/s
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 5ms 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 Fieldbus Type.
PCON-CFA/CFB/CGFB
MAX. 6A
MAX. 6A
26.4W
10A
Screw fixed type : 270g or less
DIN rail fixed type : 305g or less
Forced air-cooling
Screw fixed type : 35W×190H×69.6D
DIN rail fixed type : 35W×196.5H×78.1D
2