IAI ROBO NET RGW First Step Manual

GatewayR Unit RGW
First Step Guide
Seventh 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
No. Part Name Model
Refer to "How to read the model plate",
1 Controller Main Body
"How to read the model"
Accessories
MC1.5/2-STF-3.81
2 Connector for Emergency Stop
(Supplier : PHOENIX CONTACT)
DeviceNet type
MSTB2.5/5-ST-5.08ABGYAU
(Supplier : PHOENIX CONTACT)
CC-Link type
Fieldbus
3
PROFIBUS type Prepare Dsub 9-pin (female) connector.
Connector
MC1.5/4-ST-3.5
SIO (RS485 conformance)
(Supplier : PHOENIX CONTACT)
Use a termination resistor with the last in
DeviceNet type
the DeviceNet trunk.
Fieldbus
130Ω1/2W, 110Ω1/2W enclosed one unit
CC-Link type
4 Terminal
each
Resistor
PROFIBUS type Prepare it if the controller comes to the end 220Ω1/4W × 1, 390Ω1/4W × 2
SIO (RS485 conformance) Built-in terminal resistance (220Ω)
5 Terminal Resistance PCB TN-1
6 First Step Guide ME0211
7 Safety Guide M0194
2. Teaching Tool (to be purchased separately)
There are two software programs required to commission a ROBONET system. To edit controller parameters, use "ROBO
CYLINDER PC Software". To configure the gateway parameters, use "ROBONET Gateway Parameter Setting Tool", which
is available for download from the Intelligent Actuator.com website.
No. Part 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)
7A
4. How to read the model plate
Model
Serial number
5. How to read the model
R G W - D V : G a t e w a y R U n i t D e v i c e N e t T y p e
R G W - C C : G a t e w a y R U n i t C C - L i n k T y p e
R G W - P R : G a t e w a y R U n i t P R O F I B U S T y p e
R G W - S I O : G a t e w a y R U n i t S I O T y p e
A typical ROBONET system is constructed not only with the Gateway R Unit that is explained in this manual,
but also with RACON, RPCON, Simple Absolute R Unit, extension unit and ROBO Cylinder Controller to
connect to the extension unit. Please refer to First Step Guide and Instruction Manual of each device for
additional instruction related to that device.
Gateway R Unit is a communication unit to be connected to the field network and must be located on the
most left side of the ROBONET system.
Reference
Recommended Cable Size
0.5 to 1.25mm 2
(AWG20 to 16)
1. RGW-DV
Item
Communication Protocol
Recommended Cable Size
For Communication
0.3mm 2 (AWG22)
121Ω ±1% 1/4W
Baud Rate
Communication Cable
Length (Note 1)
ROBONET Terminal Resistor
Circuit Board
Number of Occupied Nodes 1 node
Communication Power
Supply
Communications Cable
Note 1 Refer to the instruction manuals for the master unit and the mounted programmable logic controller (stated as PLC
from now on) when a T-junction communication is to be conducted.
Model
2. RGW-CC
RCM-101-MW
Item
Communication Protocol
RCM-101-USB
Baud Rate
CON-PT
Communication System
CON-PD
Synchronization System
CON-PG
Transmission Path Format
CON-T
Error Control System
CON-TG
Number of Occupied
RCM-E
Stations
RCM-P
Communication Cable
RCM-PM-01
Length (Note 2)
Communications Cable
Note 1 If the host CC-Link master unit is Ver. 1, RGW-CC is 4-pole occupied remote device station, thus a limitation to the
number of controllable axes occurs. Refer to Instruction Manual for the details.
Manual No.
Note 2 Refer to the instruction manuals for the master unit and the mounted programmable logic controller (stated as PLC
ME0208
from now on) when a T-junction communication is to be conducted.
ME0161
*1 CRC : Cyclic Redundancy Check It is a data error detection method often used for the synchronous transmission
ME0170
3. RGW-PR
ME0159
Item
ME0158
Communication Protocol
ME0155
Interface Specifications
ME0227
Baud Rate
ME0178
ME0174
Communication Cable
ME0175
Length
ME0182
Connector Specification
ME0162
Address Range
Model
*********
SER NO. *********
Input DC24V,CLASS2, A *
IP20
CAUTION: Connect the wiring correctly and
properly, use IAI specified cables
or min 60°C Cu wire.
Basic Specifications
GatewayR Unit
Specifications
DeviceNet2.0 (certified interface)
Master/Slave Connection Bit Strobe
Polling
Cyclic
500k/250k/125kbps
Baud Rate Max. Network Length Max. Branch Line Total Branch Line
Length Length
500kbps 100m 6m 39m
250kbps 250m 78m
125kbps 500m 156m
(Note) When DeviceNet dedicated thick cable is used
Voltage 24V DC Current Consumption 60mA Externally Supplied (Supplied from
DeviceNet communication cable side)
DeviceNet dedicated cable
Specifications
CC-Link Ver.1.10/Ver.2 (Note 1) (certified)
10M/5M/2.5M/625k/156kbps
Broadcast polling system
Frame synchronization system
Bus format (EIA RS485 conformance 3-line type)
CRC (X 16 + X 12 + X 5 + 1) *1
Remote Device Station [Refer to Field Network Wirings and Settings Section]
Baud Rate 10Mbps 5Mbps 2.5Mbps 625kbps 156kbps
Total Cable 100m 160m 400m 900m 1200m
Length
CC-Link dedicated cable
Specifications
PROFIBUS DP-V1
PROFIBUS DP Slave Type (RS-485 Insulation Type)
12M/6M/3M/1.5M/500k/187.5k/93.75k/45.45k/19.2k/9.6kbps
93.75/45.45/
Baud Rate 12/6/3Mbps 1.5Mbps 500kbps 187.5kbps
19.2/9.6kbps
Total Cable
100m 200m 400m 1000m 1200m
Length
9-pin D-sub female connector
1 to 125
4. RGW-SIO
Item Specifications
Communication Protocol RS485 conformance
Communication System Start-Stop Synchronization System Half-Duplex Communication
Transmission Mode Modbus RTU
Communication Mode
Modbus gateway mode SIO Thru Mode
(SW selection)
Slave ID Fixed to 63 (3FH) 1 ≤ N ≤ 16 (Axis No. + 1)
Baud Rate (Note 1) 9.6kbps 19.2kbps 38.4kbps 57.6kbps
Delay Time between Frames t3.5 (character)
Data Transfer Buffer Max.
160bytes
Length
Bit Length 8bits
Start Bit 1bit
Stop Bit 1bit
Parity None
Twisted-pair shielded cable
Communications Cable
(Recommended : Taiyo Cabletec Corporation HK-SB/20276 × Length [m] 2P × AWG22)
Cable Length MAX. 100m
Note 1 It is recommended to have 230.4kbps that is in common with the baud rate of ROBONET main unit. 9.6kbps cannot be
applied in SIO Thru Mode. It causes a communication error.
5. Common Specifications
Item Specifications
Power Supply 24V DC±10%
Current Consumption Total current consumption of all the connected units
[Refer to current consumption and heat generation of each unit stated below.]
Heat Generation Total heat generation consumption of all the connected units
[Refer to current consumption and heat generation of each unit stated below.]
Number of Max. Controllable Axes 16-axis (Controllable range in Modbus Gateway Mode could be 5 to 10 axes at maximum
depending on the way to use.)
Communication Protocol RS485 conformance
Communication System Start-Stop Synchronization System Half-Duplex Communication
Baud Rate 230.4kbps
Error Control System Non parity bit, CRC *1
Communication Cable Length Total Cable Length 30m or less (when extension unit is used)
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. 140g
*1 CRC : Cyclic Redundancy Check It is a data error detection method often used for the synchronous transmission
[Current Consumption and Heat Generation of Each Unit]
Unit Current Consumption
GatewayR Unit MAX. 600mA
Standard Type /
High Accel/Decel Type
Motor Type
Rated MAX. (Note 1)
10, 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
Extension Unit MAX. 100mA
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).
<Calculation of 24V DC Power Capacity>
(1) Current Consumption of Actuator Controller
= RACON Rated Current × Number of Connected Controller to RACON (≥ 1) + RPCON Rated Current ×
Number of Connected Controller to RPCON (≥ 1) ····························································································· 1)
(2) Current Consumption of Other Units
= 0.6A (Gateway R Unit) + 0.3A × Number of Simple Absolute R Units + 0.7A × Number of Extension Units +
Current of Controllers Connected to Extension Unit ··························································································· 2)
For the current of the controller connected to the extension unit, refer to Instruction Manual of the connected controller.
The value of 1) + 2) should equal to the load current of the whole ROBONET.
(3) Current Consumption at Excitation Phase Detection
= RACON Max. Current × Number of RACON Units to Turn Servo ON at the Same Time (≥ 1) + RPCON Max. Current ×
Number of RPCON Units to Turn Servo ON at the Same Time (≥ 1) ····································································· 3)
Usually, the rated current is to be approximately 1.3 times higher than 1) + 2) above considering approximately 30% of margin
to the load current. However, considering the current of 3), even though it is a short time, select a power supply with "peak
load corresponding" type or that with enough capacity. Also pay attention to the peak current stated in "Note 2" at the bottom
of the table above for RPCON.
115.2kbps 230.4kbps
Fixed to 1.75ms
2 (intermittent)
Heat
Generation
6W
Low Power Consumption
Type
Rated MAX. (Note 1)
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
2.5W