IAI ACON-C First Step Manual

Applicable to Field Bus
ACON-C/CG, PCON-C/CG
First Step Guide
Eleventh 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 (The option is excluded.)
No. Part Name Model
1 Controller Refer to "How to read the model plate" and "How to read the model of the controller."
Accessories
DeviceNet type
MSTB2.5/5-STF-5.08AU (Maker : PHOENIX CONTACT)
CC-Link type
Field Bus
2 PROFIBUS type Prepare the Dsub 9-pin (female).
Connector
CompoNet type Prepare the CompoNet dedicated flat cable connector.
MECHATROLINK type Prepare the connector for MECHATROLINK-II.
3 First Step Guide ME0212
4 Safety Guide M0194
2. Teaching Tool (Option)
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 Serial Port Type
2 PC Software USB Type
3 Teaching pendant
4 Teaching pendant (Safety Category 4 type)
5 Simplified Teaching Pendant
6 Data setter *1
7 Touch Panel Indicator *2
*1 For the data setter, the actuator can not be moved.
*2 For the touch panel indicator, there are some parameters that can not be set.
* Instruction Manuals related to this product
No. Name
1 CC-Link Instruction Manual
2 DeviceNet Instruction Manual
3 PROFIBUS-DP Instruction Manual
4 CompoNet Instruction Manual
5 MECHATROLINK Instruction Manual
6 ACON-C/CG Controller Instruction Manual
7 PCON-C/CG/CF Controller Instruction Manual
8 PC Software RCM-101-MW/ RCM-101-USB
9 Teaching pendant CON-T/TG
10 Teaching pendant RCM-T/TD
11 Simplified Teaching Pendant RCM-E
12 Data setter RCM-P
13 Touch Panel Indicator RCM-PM-01
* How to read the model plate
Model
Model *********
SER NO.
*********
Input
DC24V A *
Output 0-24Vac,3ph,0-333Hz, * A
Actuator *****
Serial number
CAUTION: Connect the wiring correctly and
properly, use IAI specified cables
or min 60°C Cu wire.
* 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 Name>
C : Positioner Drive Interruption Relay: Built-in Type
<I/O cable length>
CG : Positioner Drive Interruption Relay: External Type
0: No Cable
<Actuator Characteristics> 2: 2m (standard)
[Motor Type] [Encoder type]
<I/O signal pattern>
2 : 2W I : Incremental
NP : NPN Specifications (Sink Type) (standard)
5 : 5W [Option]
PN : PNP Specifications (Source Type)
10 : 10W No description : Standard Type
DV : DeviceNet Connection Specifications
20S : RA3, RA4, TA5 HA : High Accel/Decel Type
CC : CC-Link Connection Specifications
Dedicated 20W LA : Less Power consumption Type
PR : PROFIBUS Connection Specifications
20 : 20W
CN : CompoNet Connection Specifications
30 : 30W
ML : MECHATROLINK Connection Specifications
[PCON-C/CG/CF]
P C O N - C - 2 0 I - P R - 2 - 0 - A B U - H
<Series>
<Type Name>
<Power-supply voltage>
C : Positioner Drive Interruption Relay: Built-in Type
0 : 24VDC
CG : Positioner Drive Interruption Relay: External Type
<I/O cable length>
<Actuator Characteristics> 0: No Cable
[Motor Flange Size] 2: 2m (standard)
20P : 20 square 35P : 35 square
<I/O signal pattern>
28P : 28 square 42P : 42 square
NP : NPN Specifications (Sink Type) (standard)
28SP : 28 square 56P : 56 square
PN : PNP Specifications (Source Type)
(Dedicated to RA3C) 86P : 86 square DV : DeviceNet Connection Specifications
[Encoder type] CC : CC-Link Connection Specifications
I: Incremental PR : PROFIBUS Connection Specifications
CN : CompoNet Connection Specifications
ML : MECHATROLINK Connection Specifications
11A
Characteristics
The mode can be selected from five operation modes including the mode where machine operation through PIO is
performed using the communication, and the mode where the machine operation is performed using direct numerical
command. Refer to the item about the operation modes and functions for the details.
ACON Specifications (Controller for RCA2/RCA/RCL Series)
Specification Item
Number of controlled axes
Power-supply voltage
Control Power Capacity
Motor
Actuator Motor Type
Power
*1
Capacity
10W
20W [Model No. 20]
RCA
30W
/
RCA2 20W [Model No. 20S]
Dedicated to RA3, RA4 and
RA5 Types
2W
RCL 5W
10W
Heating value
Axis Control System
Data input method
Field Bus Port
Communication cable length
Protective functions
Backup Memory
Encoder RCA
Resolu-
RCA2-□□□N
tion RCA2
Except for RCA2-□□□N
RA1L·SA1L·SA4L·SM4L
RCL RA2L·SA2L·SA5L·SM5L
RA3L·SA3L·SA6L·SM6L
Serial Communication
Electromagnetic Brake Forced Releasing
Function
Cable length
Insulation strength
Environ- Surrounding air temperature
ment
Surrounding humidity
Surrounding environment
Surrounding storage temperature
Surrounding storage humidity
Model
Vibration resistance
RCM-101-MW
RCM-101-USB
Protection class
CON-T
Cooling method
CON-TG Weight
External dimensions
RCM-E
RCM-P *1 For rush current, current 5 times to 12 times more of the rated current passes
about 1 to 2 msec. after the power is input. The rush current value varies
RCM-PM-01
depending on the impedance of the power line.
*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 2 sec, Max.: 10 sec)
Manual No.
Note : Position data and parameters are written to EEPROM.
ME0123
ME0124
ME0153
PCON Specifications (Controller for RCP3/RCP2 Series)
ME0220
Specification Item
ME0221
ME0176 Number of controlled axes
ME0170 Power-supply voltage
ME0155 Control Power Capacity
Motor Actuator
ME0178
Power
20P, 28P, 28SP Motor
ME0173
Capacity *1
35P, 42P, 56P Motor
ME0174
Heating value
ME0175
Control method
ME0182
Data input method
Field Bus Port
Communication cable length
IP20
Protective functions
Backup Memory
Encoder Resolution
Serial Communication
For Simplified Absolute Unit
Electromagnetic Brake Forced Releasing Function NOM/BK RLS Switch (Front Panel)
Connection
Cable length
<Power-supply voltage>
Insulation strength
0 : 24VDC
Environ- Surrounding air temperature
3: 3m
ment
Surrounding humidity
5: 5m
Surrounding environment
Surrounding storage temperature
Surrounding storage humidity
Vibration resistance
Protection class
Cooling method
Weight
External dimensions
High Acceleration *1 For rush current, current 5 times to 12 times more of the rated current passes
Transport Type
about 1 to 2 msec. after the power is input. The rush current value varies
For Simplified Absolute
depending on the impedance of the power line.
Unit Connection
*2 The excitation detection operation is performed after the power is input. In such
a case, the current becomes maximum (normally 100 msec)
However, a current of approx. 6.0 A flows if the motor driving power is turned on
3: 3m
again after its shutdown. (for approx. 1 to 2 msec)
5: 5m
Note : Position data and parameters are written to EEPROM.
Basic Specifications
ACON-C (Driving Source Interruption Relay: Built-in Type)/
ACON-CG (Driving Source Interruption Relay: External Type)
1 Axis/unit
24VDC±10%
0.5A
Standard Type /High Accel/Decel Type Low or Less (LA) Power consumption Type
*2 *2
Rated Max Rated Max
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
Teaching pendant, PC software
1CH Complying with the standards for each field bus (Refer to the wiring diagram for
the connector).
Comply with the standards for each field bus. (Refer to the standards for each field
bus described later.)
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 (Note 1)
800 Pulse/rev
1048 Pulse/rev
800 Pulse/rev
715 Pulse/rev
855 Pulse/rev
1145 Pulse/rev
RS485 1ch (Modbus Complying to the Protocol)
NOM/BK RLS Switch (Front Panel)
Actuator Cable : 20m or less
500VDC 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
Natural air-cooling
300g or less
35W × 178.5H × 68.1D (mm)
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.
The limitation for the reload is about 100,000 times.
PCON-C PCON-CG
(Interruption Relay: Built-in Type) (Interruption Relay: External Type)
1 Axis/unit
24VDC±10%
0.5A
Rated Max *2 *2
Rated Max
0.4A 0.4A
2.0A 2.0A
1.2A 1.2A
9.6W
Weak field-magnet vector control
Teaching pendant, PC software
1CH Complying with the standards for each field bus (Refer to the wiring diagram for
the connector).
Comply with the standards for each field bus. (Refer to the standards for each field
bus described later.)
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 (Note 1)
Incremental Type 800 Pulse/rev
RS485 1ch (Modbus Complying to the Protocol)
Actuator Cable : 20m or less
500VDC 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)
2 2
0.075mm (intermittent) 57 to 150Hz 4.9m/s (continuous) 9.8m/s (intermittent)
IP20
Natural air-cooling
300g or less
35W × 178.5H × 68.1D (mm)
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.
The limitation for the reload is about 100,000 times.
External Dimensions
φ5 68.1
5
35 Field Bus Connector
(The connector type varies depending on the field bus.
Refer to the interface section of each field bus for
the connector model No.)
Connection Diagram
Teaching pendant (Option)
Axis No. Setting Switch
Mode Change Switch
Personal Computer
PC Software (Option)
Installation Environment
*1
This product is capable for use in the environment of pollution degree 2
*1 Pollution Degree 2 : Environment that may cause non-conductive pollution or transient conductive
pollution by frost. (IEC60664-1)
1. Installation Environment
Do not use this product in the following environment.
• Location where the surrounding air temperature exceeds the range of 0 to 40°C
• Location where condensation occurs due to abrupt temperature changes
• Location where relative humidity exceeds 85%RH
• Location exposed to corrosive gases or combustible gases
• Location exposed to significant amount of dust, salt or iron powder
• Location subject to direct vibration or impact
• Location exposed to direct sunlight
• Location where the product may come in contact with water, oil or chemical droplets
• Environment that blocks the air vent [Refer to Installation and Noise Elimination Section]
When using the product in any of the locations specified below, provide a sufficient shield.
• Location subject to electrostatic noise
• Location where high electrical or magnetic field is present
• Location with the mains or power lines passing nearby
2. Storage and Preservation Environment
The storage and preservation environment should comply with the same standards as those for the installation
environment. In particular, when the machine is to be stored for a long time, pay close attention to environmental
conditions so that no condensation forms. Unless specially specified, moisture absorbency protection is not included in the
package when the machine is delivered. In the case that the machine is to be stored and preserved in an environment
where condensation is anticipated, take the condensation preventive measures from outside of the entire package, or
directly after opening the package.
Installation and Noise Elimination
1. Noise Elimination Grounding (Frame Ground)
Controller
Connect the grounding cable to
Controller
the set machine screw on the
main machine.
Annealed copper wire:
Controller
Connect a ground wire with
a diameter of 1.6mm or larger.
Earth Terminal
Class D grounding
Do not share the ground wire with or connect
(Formerly Class-III grounding:
to other equipment. Ground each controller.
Grounding resistance at 100Ω or less)
2. Precautions regarding wiring method
(1) Twist the wires for the 24VDC power unit.
(2) Separate the communication line from the power line.
Host System <PLC>
Brake Release Switch
Actuator
or equivalent.
Other
equipment
Other Other
equipment equipment