IAI ROBO NET RACON First Step Manual

RACON/RPCON/RABU
First Step Guide
Sixth 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.
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
(1) For RACON and RPCON Units
No. Part Name Model
Refer to "How to read the model plate", "How to
1 Controller Main Body
read the model"
Accessories
ROBONET Communication
2 JB-1
Connection PCB
3 Power Connection Board PP-1
4 First Step Guide ME0284
5 Safety Guide M0194
(2) For Simple Absolute R Unit (RABU)
No. Part Name Model
Refer to "How to read the model plate", "How to
1 Controller Main Body
read the model"
Accessories
ROBONET Communication
2 JB-1
Connection PCB
Simple Absolute Connection
3 JB-1
PCB
4 Power Connection Board PP-1
5 Backup battery AB-7
6 First Step Guide ME0284
7 Safety Guide M0194
2. Teaching Tool (to be purchased separately)
The PC software is required to teach positions and also to edit parameters during initial commissioning.
No. Name
PC Software (RS232C converter adapter and external equipment communication
1
cable are included)
PC Software (USB converter adapter, USB cable and external equipment
2
communication cable are included)
3 Touch Panel Teaching
4 Touch Panel Teaching (with deadman switch)
5 Touch Panel Teaching (deadman switch and TP Adapter RCB-LB-TG are included)
6 Teaching Pendant
7 Teaching Pendant (deadman switch and TP Adapter RCB-LB-TG are included)
8 Simple Teaching Pendant
9 Data Setter
10 Touch Panel Display
(Note) Other teaching tools than the PC software can be used for individual operations such as position table settings,
however they cannot be used for the ROBONET startup settings.
3. Instruction Manuals related to this product
No. Name
1 ROBONET Instruction Manual
2 SCON Controller Instruction Manual
3 PCON-C/CG/CF Controller Positioner Type Instruction Manual
4 ERC2 Actuator with integrated Controller Instruction Manual (SIO type)
5 ERC2 Actuator with integrated Controller Instruction Manual (PIO type)
6 PC Software RCM-101-MW/ RCM-101-USB Instruction Manual
7 Touch Panel Teaching CON-PT/PD/PG Instruction Manual
8 Teaching Pendant CON-T/TG Instruction Manual
9 Simple Teaching Pendant RCM-E Instruction Manual
10 Data Setter RCM-P Instruction Manual
11 Touch Panel Display RCM-PM-01 Instruction Manual
Instruction Manual for the serial communication [for Modbus]
12
(When RGW-SIO is used with SIO Thru Mode)
6A
4. How to read the model plate
Model
Serial number
5. How to read the model
(1) RACON Unit
R A C O N - 2 0 - H A - A B U
<Unit name>
<Motor type>
2 : 2W 20 : 20W
5 : 5W 20S : 20W
10 : 10W 30 : 30W
(2) RPCON Unit
R P C O N - 2 0 P - A B U - H
<Unit name>
<Motor type>
[Motor Flange Size]
20P : 20 □Size 35P : 35 □Size
28P : 28 □Size 42P : 42 □Size
28SP : 28 □Size 56P : 56 □Size
(3) Simple Absolute R Unit
Unit name : RABU
Reference
A typical ROBONET system is constructed not only with the RACON and RPCON that are explained in this
manual, but also with GatewayR Unit, Simple Absolute R Unit, extension unit and ROBO Cylinder Controller
1 pc
to connect to the extension unit. Please refer to First Step Guide and Instruction Manual (CD/DVD) of each
1 set (2 pc)
device for additional instruction related to that device.
RACON and RPCON units are controllers which are to be installed on the right side of Gateway R unit. Use
Simple Absolute R units to provide absolute encoder functionality for an axis. Place the unit on the right of
the corresponding RACON or RPCON unit.
Reference
1 pc each, the same
component.
1 set (2 pc)
1 unit
GatewayR Unit
1. RACON/RPCON Unit Specifications
Item
Power Supply
Current Consumption
Model
Heat Generation
RCM-101-MW
Number of Controllable Axes
Communication Protocol
RCM-101-USB
Communication System
CON-PT
Baud Rate
CON-PD
Error Control System
CON-PG
RACON
Motor Control System
CON-T
RPCON
CON-TG
Corresponding Encoder
RCM-E
Motor • Encoder Cable Length
RCM-P
Data Retention Memory
RCM-PM-01
Number of positions
LED Display (Front Panel)
Electromagnetic Brake Forced
Release Switch (Front Panel)
Manual No.
Surrounding air temperature
ME0208
Surrounding humidity
ME0161
Surrounding environment
ME0170
Surrounding storage temperature −25 to 70°C
ME0159
Surrounding storage humidity 95%RH or less (non-condensing)
ME0158
Vibration durability
ME0155
ME0227
Protection class
ME0178
Cooling Method
ME0174
Insulation Resistance
ME0175
Product Life
ME0182
External Dimensions
ME0162
Weight
*1 CRC : Cyclic Redundancy Check It is a data error detection method often used for the synchronous transmission
Model
*********
SER NO. *********
Input DC24V A
*
IP20
Output 0-24Vac,3ph,0-333Hz, * A
Actuator
*****
CAUTION: Connect the wiring correctly and
properly, use IAI specified cables
or min 60°C Cu wire.
<Option 2>
ABU : Applicable to Simple Absolute Unit
Not Specified : Incremental (Standard)
<Option 1>
HA : High Accel/Decel Type
LA : Less power consumption Type
Not Specified : Standard
<High Acceleration Transport Type>
H : High Acceleration Transport Type
RCP3-SA4/SA5/SA6
RCP2-SA5/SA6
Not Specified : Standard
<Option 1>
ABU : Simple Absolute Unit Type
Not Specified : Incremental (Standard)
Basic Specifications
RPCON Unit Simple Absolute R Unit RACON Unit Simple Absolute R Unit
Specifications
24V DC±10%
[Refer to 3. Current Consumption and Heat Generation]
1-axis
RS485 conformance
Start-Stop Synchronization System Half-Duplex Communication
230.4kbps
Non parity bit, CRC *1
Sinusoidal Wave PWM Vector Control
Weak Field-magnet Vector Control
Incremental Encoder (Incremental/Simple Absolute)
MAX. 20m
EEPROM(Position Table/Parameter) Limitation in number of writing about 100,000 times
Refer to GatewayR Unit First Step Guide or ROBONET Instruction Manual (CD/DVD)
Controller status indicator LEDs [Refer to the Trouble Shooting for the details]
Normal Operation/Compulsory Brake Release Switchover
0 to 40°C
95%RH or less (non-condensing)
[Refer to Installation Environment section]
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
Forced Air Cooling (Built-in fan unit)
Between power supply terminal and FG 500V DC 10MΩ or more
(Reference) 5 to 10 years:
It varies significantly by the effects of the usage condition (especially temperature).
34W × 105H × 73.3D [mm]
Approx. 200g
2. Simple Absolute R Unit Specifications
Item Specifications
Power Supply 24V DC±10%
Current Consumption
[Refer to 3. Current Consumption and Heat Generation]
Heat Generation
Number of Controllable Axes 1-axis
Name Ni-MH battery
Model AB-7
Backup
Supplier FDK Corporation
Battery
Rated 3.6V 3300mAh
(Absolute
Nominal 3.6V 3700mAh
Battery)
Product Life About 3 years (reference)
Charging Time About 72 hours
Surrounding air temperature 0 to 40°C
Surrounding humidity 95%RH or less (non-condensing)
Surrounding environment [Refer to Installation Environment section]
Surrounding storage temperature
-25 to 70°C
Surrounding storage humidity 95%RH or less (non-condensing)
XYZ Each direction 10 to 57Hz Pulsating amplitude 0.035mm (continuous) 0.075mm (intermittent)
Vibration durability
57 to 150Hz 4.9m/s 2 (continuous) 9.8m/s
Protection class IP20
Cooling Method Natural air-cooling
Insulation Resistance Between power supply terminal and FG 500V DC 10MΩ or more
Product Life (Reference) 5 to 10 years:
It varies significantly by the effects of the usage condition (especially temperature).
External Dimensions 34W × 105H × 73.3D [mm]
Weight Approx. 330g (including backup battery)
Note ： Please have the battery charged for more than 72 hours before using for the first time or after replacing with
a new one. (Keep the ROBONET power ON. Operating the actuator during the battery charge will not cause
any problem.)
Also charge the battery when the ROBONET power is OFF for more than the battery retention time.
[Refer to Absolute Battery Retention Time Condition Setting section for the details of the battery retention
time.]
3. Current Consumption and Heat Generation
Unit Current Consumption
Standard Type /
High Accel/Decel Type
Motor Type
Rated MAX. (Note 1)
10 1.3A 4.4A
20 1.3A 4.4A
30 1.3A 4.0A
RACON Unit
20S
RCA-RA3□/RGS3□/RGD3□, 1.7A 5.1A
RCA2-SA4□/TA5□
2 (RCL) 0.8A 4.6A
5 (RCL) 1.0A 6.4A
10 (RCL) 1.3A 6.4A
Motor Type Rated
RPCON Unit 20P, 28P, 28SP 0.4A
35P, 42P, 56P 1.2A
Simple Absolute R
― MAX. 300mA
Unit
Note 1 The current becomes maximum when the excitation phase of the servo-motor is detected, which is performed during
the initial servo-motor ON processing after the power is injected (Normal: Approx. 1 to 2sec, Max.: 10sec).
Note 2 The current is maximized at the excitation phase detection conducted in the first servo ON process after the power is
supplied (ordinary 100ms). However, approximately 6A current flows at the recovery (when the drive power is
supplied) from an emergency stop (approx. 1 to 2ms).
External Dimensions
69.3
73.3
(0.5) 34
RACON/RPCON
2 (intermittent)
Heat
Generation
Low Power Consumption
Type
Rated MAX. (Note 1)
1.3A 2.5A
1.3A 2.5A
1.3A 2.2A
8.4W
1.7A 3.4A
― ―
― ―
― ―
MAX. (Note 2)
2.0A 9.6W
2.0A
7.2W
RABU