IAI ACON-C ACON-CG First Step Manual

ACON-C/CG, PCON-C/CG
First Step Guide
Fourth Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual as well as this First Step Guide to ensure correct use.
This Instruction Manual is original.
Warning : Read the instruction manual carefully and follow the instruction manual when handling this equipment.
Please downloaded the user's manual from our website.
You can download it free of change. User registration is required for first time users.
URL:www.iai-robot.co.jp/data_dl/CAD_MANUAL/
Keep a printout of the introduction manual near the equipment in which this product is installed so
that it can be checked at all times, or display it on your computer, tablet terminal, etc. so that you
can check it immediately.
If you need a bound copy of the instruction manual, order it from the nearest sales office listed in
the First Step Guide or at the end of the instruction manual. It will be provided for a fee.
• 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.
• EtherCAT® is a registered mark of Beckoff Automation GmbH.
• EtherNet/IP is a trademark used under the license of ODVA.
Product Check
A standard configuration of this product is comprised of the following parts.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts
No. Part Name Model
Refer to "How to read the model plate" and "How to read
1 Controller
the model of the controller".
Accessories
2 First Step Guide ME0275
3 Safety Guide M0194
2. Teaching Tool (Option)
The PC software or teaching tool is necessary to perform setup operations such as position and parameter settings
through teaching or other means. Prepare any teaching tool.
No. Part Name
PC Software
1
(RS232C converter adapter + External equipment communication cable are included)
PC Software
2
(USB converter adapter + USB cable + External equipment communication cable are included)
3 Touch panel teaching
4 Touch panel teaching (Dead-man Switch is included)
5 Touch panel teaching (Dead-man Switch + TP Adapter (RCB-LB-TG) are included)
6 Teaching pendant
Teaching pendant (Dead-man Switch + TP Adapter (RCB-LB-TG) are included)
7
8 Simplified teaching pendant
9 Data setter *1
*1 For the data setter, the actuator can not be moved.
3. Instruction Manuals related to this product
No. Name
1 EtherCAT® Instruction Manual
2 EtherNet/IP Instruction Manual
3 ACON-C/CG Controller Instruction Manual
4 PCON-C/CG/CF Controller Instruction Manual
5 PC Software RCM-101-MW/ RCM-101-USB Instruction Manual
6 Touch panel teaching CON-PT/PD/PG Instruction Manual
7 Teaching pendant CON-T/TG Instruction Manual
8 Simplified Teaching Pendant RCM-E Instruction Manual
9 Data setter RCM-P Instruction Manual
4. How to read the model plate
Model
Serial number
5. How to read the model of the controller
[ACON-C/CG]
A C O N - C - 2 0 I H A - N P - 2 - 0 - A B U
<Series>
<Type>
C : Positioner Drive Interruption Relay: Built-in Type <I/O Cable Length>
CG : Positioner Drive Interruption Relay: External Type
0 : Equipped with no cable
2 : 2m (standard)
<Actuator Characteristics>
<I/O Type>
[Motor Type] [Encoder type]
NP : NPN Specification (Sink Type) (Standard)
2 : 2W I : Incremental
PN : PNP Specification (Source Type)
5 : 5W [Option]
DV : DeviceNet Connection Type
10 : 10W No Indication : Standard Type
CC : CC-Link Connection Type
20S : RA3, RA4, TA5 HA : High Acceleration/Deceleration Type
EC : EtherCAT® Connection Type
Dedicated 20W LA : Less Power consumption Type
PR : PROFIBUS Connection Type
20 : 20W
CN : CompoNet Connection Type
30 : 30W
ML : MECHATROLINK Connection Type
EP : EtherNet/IP Connection Type
P C O N - C - 2 0 I - P R - 2 - 0 - A B U - H
[PCON-C/CG/CF]
<Series>
<Type>
<Power-supply Voltage>
C : Positioner Drive Interruption Relay: Built-in Type
0 : 24V DC
CG : Positioner Drive Interruption Relay: External Type
<I/O Type>
0 : Equipped with no cable
<Actuator Characteristics>
2 : 2m (standard)
[Motor Flange Size]
20P : 20 □Size 35P : 35 □Size <I/O Type>
28P : 28 □Size 42P : 42 □Size NP : NPN Specification (Sink Type) (Standard)
PN : PNP Specification (Source Type)
28SP : 28 □Size 56P : 56 □Size
(Dedicated to RA3C) 86P : 86 □Size DV : DeviceNet Connection Type
[Encoder type] CC : CC-Link Connection Type
EC : EtherCAT® Connection Type
I : Incremental
PR : PROFIBUS Connection Type
CN : CompoNet Connection Type
ML : MECHATROLINK Connection Type
EP : EtherNet/IP Connection Type
4A
ACON Specifications (Controller for RCA2/RCA/RCL Series)
Specification Item
Number of Controlled Axes
Power-supply Voltage
Control Power Capacity
Motor Power Actuator Motor Type
Capacity Note 1
10W
20W (Model No. : 20)
RCA/ 30W
RCA2
20W (Model No. : 20S)
Dedicated to RA3, RA4
and TA5 Types
2W
RCL 5W
10W
Heat Generation
Axis Control System
Data Input Method
Field Bus Port
Communication Cable Length
Protective Functions
Backup Memory
Encoder RCA
Resolution
RCA2-□□□N
RCA2
Except for RCA2□□□N
RA1L·SA1L·SA4L·SM4
L
RA2L·SA2L·SA5L·SM5
RCL
L
RA3L·SA3L·SA6L·SM6
Remarks
L
Serial Communication
Electromagnetic Brake Forced Releasing Function
Cable Length
Insulation Strength
Environment Surrounding air temperature
Surrounding humidity
Surrounding environment
Surrounding storage temperature
Model
Surrounding storage humidity
RCM-101-MW Vibration resistance
Protection Class
RCM-101-USB
Use Enviroment
CON-PT
Cooling Method
CON-PD
Weight
CON-PG
External Dimensions
CON-T
Note 1 For inrush current, current 5 times to 12 times more of the rated current
CON-TG
passes about 1 to 2msec. after the power is input. The inrush current
RCM-E
value varies depending on the impedance of the power line.
RCM-P
Note 2 The current reaches its maximum level when the servo-motor exciting
phase is detected which is to be performed in the first servo-motor turning
ON processing after the power injection. (Normal: Approx. 1 to 2sec, Max.:
10sec)
Manual No.
ME0273 PCON Specifications (Controller for RCP3/RCP2 Series)
ME0278
Specification Item
ME0176
ME0170 Number of Controlled Axes
ME0155 Power-supply Voltage
ME0227 Control Power Capacity
ME0178 Motor Power Actuator
Capacity Note 1
ME0174 20P, 28P, 28SP Motor
ME0175
35P, 42P, 56P Motor
Waste Heat Value
Control Method
Data Input Method
Field Bus Port
Communication Cable Length
Protective Functions
Backup Memory
For Simplified Absolute Unit Connection Encoder Resolution
Serial Communication
<Power-supply Voltage>
Electromagnetic Brake Forced Releasing Function
0 : 24V DC
Cable Length
3 : 3m
Insulation Strength
5 : 5m
Environment Surrounding air temperature
Surrounding humidity
Surrounding environment
Surrounding storage temperature
Surrounding storage humidity
Vibration resistance
Protection Class
Use Enviroment
High Acceleration Transport Type Cooling Method
Weight
For Simplified Absolute Unit Connection
External Dimensions
Note 1 For inrush current, current 5 times to 12 times more of the rated current
passes about 1 to 2msec. after the power is input. The inrush current
3 : 3m
value varies depending on the impedance of the power line.
5 : 5m
Note 2 The excitation detection operation is performed after the power is input.
In such a case, the current becomes maximum (normally 100msec)
However, a current of approx. 6.0A flows if the motor driving power is
turned on again after it is shutdown. (for approx. 1 to 2msec)
Basic Specifications
ACON-C (Driving Source Interruption Relay: Built-in Type)/
ACON-CG (Driving Source Interruption Relay: External Type)
1 Axis/unit
24V DC±10%
0.5A
Standard Type /High Accel/Decel Type Low or Less (LA) Power consumption Type
Rated Max Note 2 Rated Max Note 2
1.3A 4.4A 1.3A 2.5A
1.3A 4.4A 1.3A 2.5A
1.3A 4.4A 1.3A 2.2A
1.7A 5.1A 1.7A 3.4A
0.8A 4.6A
1.0A 6.4A
1.3A 6.4A
8.4W
Sinusoidal wave PWM vector current control
Connecting a teaching tool such as PC software [Refer to teaching tool (option)]
For input 1 channel, For output 1 channel
Refer to each Fieldbus specification
Overvoltage, motor over current, motor overload, driver temperature abnormality,
and Encoder abnormality etc.
Save the position data and parameters onto the non-volatile memory.
About 100,000 times of serial EEPROM reload
800 Pulse/rev
1048 Pulse/rev
800 Pulse/rev
715 Pulse/rev
855 Pulse/rev
1145 Pulse/rev
RS485 1 channel (Modbus Complying to the Protocol)
Releasing can be performed with NOM/BK RLS switch (on front panel)
Actuator cable : 20m or less
500V DC 10MΩ
0 to 40°C
85%RH or less (non-condensing)
Refer to Installation Environment
−10 to 65°C
90% RH or less (non-condensing)
XYZ Each direction 10 to 57Hz Pulsating amplitude 0.035mm (continuous) 0.075mm (intermittent)
57 to 150Hz 4.9m/s 2 (continuous) 9.8m/s 2 (intermittent)
IP20
Pollution degree 2
Natural air-cooling
300g or less
35W × 178.5H × 69.1D [mm]
Select a +24V DC power supply
preferably offering "peak load support",
or one with sufficient inrush capacity.
In particular, in the case of the unit with
the remote sensing function, the
greatest care is required.
PCON-C PCON-CG
(Interruption Relay: Built-in Type) (Interruption Relay: External Type)
1 Axis/unit
24V DC±10%
0.5A
Rated Max Note 2 Rated Max Note 2
0.4A 0.4A
2.0A 2.0A
1.2A 1.2A
9.6W
Weak field-magnet vector control
Connecting a teaching tool such as PC software [Refer to teaching tool (option)]
For input 1 channel, For output 1 channel
Refer to each Fieldbus specification
Overvoltage, motor over current, motor overload, driver temperature abnormality,
and Encoder abnormality etc.
Save the position data and parameters onto the non-volatile memory.
About 100,000 times of serial EEPROM reload
Incremental Type 800 Pulse/rev
RS485 1 channel (Modbus Complying to the Protocol)
Releasing can be performed with NOM/BK RLS switch (on front panel)
Actuator cable : 20m or less
500V DC 10MΩ
0 to 40°C
85%RH or less (non-condensing)
Refer to Installation Environment
−10 to 65°C
90% RH or less (non-condensing)
XYZ Each direction 10 to 57Hz Pulsating amplitude 0.035mm (continuous) 0.075mm (intermittent)
57 to 150Hz 4.9m/s 2 (continuous) 9.8m/s 2 (intermittent)
IP20
Pollution degree 2
Natural air-cooling
300g or less
35W × 178.5H × 69.1D [mm]
Select a +24V DC power supply
preferably offering "peak load
support", or one with sufficient inrush
capacity.
In particular, in the case of the unit
with the remote sensing function, the
greatest care is required.
External Dimensions
Shown below are the dimensions for EtherCAT® type. The dimensions for EtherNet/IP should also be the same.
69.1
35
5
35
Connection Diagram
● In the case of EtherCAT®
Host System (PLC)
Ethernet Straight Cable
(general-purpose cable, Category 5e or more)
Touch Panel Teaching
Status Display LED
(Option)
Status LED
Mode Change
Switch
Brake Release
Switch
PC Software
(Option)
Power Supply Terminal
(Connect the cables referring the
section for the power supply
Actuator
and emergency stop circuit.)
(Note 1) STP (single twisted pair) (with shield) is recommended for Ethernet cable.
(Note 2) It is necessary to prepare a power supply cable and the cables for the emergency stop circuit wiring
as well as this cable. [Refer to Power Supply and Emergency Stop Circuit.]
● In the case of EtherNet/IP
Host System (PLC)
Ethernet
Hub
(Note 1)
Straight Cable
Touch Panel Teaching
Status Display LED
(Option)
Status LED
Mode Change
Switch
Brake Release
Switch
PC Software
(Option)
Power Supply Terminal
(Connect the cables referring the
section for the power supply
Actuator Actuator
and emergency stop circuit.)
(Note 1) STP (single twisted pair) (with shield) is recommended for Ethernet cable.
(Note 2) It is necessary to prepare a power supply cable and the cables for the emergency stop circuit wiring
as well as this cable. [Refer to Power Supply and Emergency Stop Circuit.]
(Note 1)
I/O Slave, etc.
Actuator
Ethernet
(Note 1)
Straight Cable
(general-purpose cable,
Category 5e or more)
I/O Slave, etc.