IAI ACON-CY First Step Manual

ACON-CY,SE,PL/PO
PCON-CY,SE,PL/PO
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
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or
our distributor.
1. Parts
No. Part Name
Refer to "How to read the model label" and "How
1 Controller
to read the model of the controller."
Accessories
CB-PAC-PIO*** (*** indicates the cable length.)
I/O cable for ACON-CY, PCON-CY
Attached to ACON-CY and PCON-CY
2
I/O cable for ACON-PL/PO, CB-PACPU-PIO*** (*** indicates the cable length.)
PCON-PL/PO Attached to ACON-PL/PO and PCON-PL/PO
3 First Step Guide ME0201
4 Safety Guide M0194
2. Teaching Tool
The PC software or teaching pendant is necessary to perform setup operations
such as position and parameter settings through teaching or other means.
Prepare any PC software or teaching pendant.
No. Part Name
1 PC software
2 PC software
3 Teaching pendant
4 Teaching pendant
5 Teaching pendant
6 Teaching pendant (with deadman switch)
Teaching pendant
7
(with deadman switch + TP adapter (RCB-LB-TG))
8 Simple teaching pendant
9 Data setter *1
10 Touch Panel Display *2
*1 For the data setter, the actuator can not be moved.
*2 For the touch panel display unit, there are some parameters that can not
be set.
3. Instruction Manuals related to this product
No. Name
1 ACON-CY, SE, PL/PO Controller Instruction Manual
2 PCON-CY, SE, PL/PO Controller Instruction Manual
3 PC Software RCM-101-MW/RCM-101-USB
4 Teaching Pendant CON-T/TG
5 Teaching Pendant CON-PT/PD/PG
6 Teaching Pendant RCM-T/TD
7 Simple Teaching Pendant RCM-E
8 Data Setter RCM-P
9 Touch Panel Display RCM-PM-01
7A
4. How to read the model label
Model
Serial number
5. How to read the model of the controller
[ACON-CY, SE, PL/PO]
A C O N - C Y - 2 0 I H A - N P - 2 - 0 - A B U
<Series name>
<Type name>
CY : Solenoid Valve Type
SE : Serial Communication Type
PL : Pulse Train Control Type (Differential Method)
PO : Pulse Train Control Type (Open collector)
< Actuator characteristics >
[Motor wattage]
2 : 2W 20S : 20W dedicated for RA3, TA4 and TA5
5 : 5W 20 : 20W
10 : 10W 30 : 30 W
[Encoder type]
I : Incremental
[Option]
No description : Standard Type
HA : High Accel/Decel Type
LA : Less Power consumption Type
[PCON-CY, SE, PL/PO]
P C O N - C Y - 2 0 I H A - N P - 2 - 0 - A B U - H
Model <Series name>
<Type name>
CY : Solenoid Valve Type
SE : Serial Communication Type
PL : Pulse Train Control Type (Differential Method)
PO : Pulse Train Control Type (Open collector)
< Actuator characteristics>
[Motor wattage]
20P : 20, square
28P : 28, square
28SP : 28, square (RA3C type only)
35P : 35, square
42P : 42, square
56P : 56, square
[Encoder type]
I : Incremental
Model
RCM-101-MW
RCM-101-USB
CON-T
CON-TG
CON-PT
CON-PD
CON-PG
RCM-E
RCM-P
RCM-PM-01
Manual No.
ME0167/ME0171/ME0166
ME0156/ME0163/ME0164
ME0155
ME0178
ME0227
ME0173
ME0174
ME0175
ME0182
Model *********
SER NO. *********
Input DC24V A *
Output IP20
0-24Vac,3ph,0-333Hz, * A
Actuator *****
CAUTION: Connect the wiring correctly and
properly, use IAI specified cables
or min 60°C Cu wire.
For simple absolute unit connection
[Connectable Controller]
ACON-CY, ACON-SE
<Power-supply voltage>
0: 24VDC
<I/O flat cable length>
0: No cable
1: 2m (standard)
2: 3m
3: 5m
<Input/Output signal pattern >
NP : NPN (Sink type) (Standard)
PN : PNP (Source type)
N : Only for SE type
High Acceleration
Transport Type
For simple absolute unit connection
[Connectable Controller]
PCON-CY, PCON-SE
<Power-supply voltage>
0: 24VDC
<I/O flat cable length>
0: No cable 2: 3m
1: 2m (standard) 3: 5m
<Input/Output signal pattern>
NP : NPN (Sink type) (Standard)
PN : PNP (Source type)
N : Only for SE type
External Dimensions
* For ACON-CY, SE, PL/PO, PCON-CY,
SE and PL/PO, the dimensions are the
same as above.
* The front panel shown in the above
figure is for ACON-CY.
Basic Specifications
Characteristics
[ACON-CY, PCON-CY]
In these position controllers with three positioning points, the same control as in the air cylinder is available.
[ACON-SE, PCON-SE]
These position controllers can be controlled with the serial communication RS485 (complying with Modbus
Protocol).
[ACON-PL/PO, PCON-PL/PO]
These controllers are controlled with the pulse train input.
ACON Specifications (Controller for RCA2/RCA/RCL Series)
[Common Specifications]
Specification Item ACON-CY, SE, PL/PO
Number of control Axes 1 axis/unit
Supply voltage 24VDC ±10%
Motor Actuator Motor Type Standard Type
Power High Accel/Decel Type
Capacity
Rated [A] Peak [A] *2
*1
RCA/ 10W 1.3 4.4
RCA2
20W [Model No. : 20] 1.3 4.4
30W 1.3 4.4
20W [Model No. : 20S]
Dedicated to RA3, RA4 1.7 5.1
and TA5 Types
2W 0.8 4.6
RCL
5W 1.0 6.4
10W 1.3 6.4
Heating value 8.4W
Encoder RCA 800Pulse/rev
resolution
RCA2 RCA2-□□□N 1048 Pulse/rev
Excluding RCA2-□□□N 800 Pulse/rev
RCL RA1L · SA1L · SA4L · SM4L 715 Pulse/rev
RA2L · SA2L · SA5L · SM5L 855 Pulse/rev
RA3L · SA3L · SA6L · SM6L 1145 Pulse/rev
LED indicators SV (Green) - Servo ON, ALM (Red) - Alarm present
Forced release of electromagnetic brake 24V impressed on the BK terminal on the power terminal board
Cable length Actuator cable: 20m or less
Insulation strength 500VDC 10MΩ
Surrounding air temperature 0 to 40°C
Surrounding humidity 85%RH or less (non-condensing)
Surrounding environment Refer to Installation Environment.
Surrounding storage temperature -10 to 65°C
Surrounding storage humidity 90%RH or less (non-condensing)
10 to 57Hz in XYZ directions/Pulsating amplitude 0.035mm
Vibration Durability (continuous), 0.075mm (intermittent)
57 to 150Hz/4.9 m/s² (continuous), 9.8m/s² (intermittent)
Protection class IP20
Cooling method Natural air-cooling
Weight 128g or less
External dimensions 35W × 120H × 68.1D (mm)
[Individual Specifications]
Specification Item ACON-CY ACON-SE
Positioning Command Position number No. of Positions
specification 3 Specification
Value Specification
Simplified Direct Value/No.
of Positions Specification
Backup Memory Serial EEPROM Rewrite limit of 100,000 times (Refer to the Note).
Position data and parameters are saved in the
nonvolatile memory.
Maximum Input Pulse
Frequency
Command Pulse
Magnifications
A
(Electronic Gear: B )
PIO Interface Power 24VDC±10%
Supply (Externally supplied)
Serial Communication Teaching Pendant RS485 1ch
Interface PC Software (Complying with ModBus
Protocol)
RTU or ASCII
I/O cable length 10m or less
Communication Cable Total Cable Length: 100m
Length or less
*1 The rush current, which is approx. 5 to 12 times the rated current, flows
for approx. 1 to 2msec after power-on. Please note that the rush current
value varies depending on the impedance of the power line.
*2 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 : Position data and parameters are written to EEPROM.
Please note that the rewrite limit is around 100,000 times.
Power consumption Type
Rated [A] Peak [A] *2
1.3 2.5
1.3 2.5
1.3 2.2
1.7 3.4
ACON-PL/PO
Parameters are saved in
nonvolatile memory.
MAX. 60kpps(Open collector)
MAX. 200kpps
(Differential Method)
A, B=1 to 4096
1 A 50
50 < <
B 1
(Parameter Setting)
24VDC±10%
(Externally supplied)
Teaching Pendant
PC Software
Open collector:2m or less
Differential Method:10m or less
As a +24V DC power supply,
select the power supply of the
"peak load support" specification
or one with sufficient capacity.
In particular, in the case of the unit
with the remote sensing function,
the greatest care is required.