IAI PCON-CYB First Step Manual

PCON-CYB/PLB/POB,
ACON-CYB/PLB/POB, DCON-CYB/PLB/POB
First Step Guide Second 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 instruction manual when handling
this product.
Please downloaded instruction manual from our website.
You can download it free of charge. User registration is required for the first time
downloading.
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
I/O Flat Cable
2 CB-PAD-PIO□□□
(Enclosed in CYB type)
I/O Flat Cable
3 CB-PAD-PIOS□□□
(Enclosed in PLB/POB type)
4 First Step Guide ME0357
5 Safety Guide M0194
2. Teaching Tool (to be purchased separately)
A teaching tool such as PC software is necessary when performing the setup for position
setting, parameter setting, etc. that can only be done on the teaching tool.
Please prepare either of the following teaching tools.
No. Name
PC Software IA-OS (USB converter adapter, USB cable and external
1
equipment communication cable are included )
PC Software (RS-232C converter adapter and external equipment
2
communication cable are included)
PC Software (USB converter adapter, USB cable and external equipment
3
communication cable are included)
Touch Panel Teaching (Standard/ with dead-man switch attached on the left/
4
with deadman switch attached on the right))
5 Touch Panel Teaching TB-02 (Standard/ Dead Man's Switch Mounted)
6 Touch Panel Teaching (with deadman switch attached on the right)
3. Instruction Manuals related to this product.
No. Name
PCON-CYB/PLB/POB Controller Instruction Manual
1
2 ACON-CYB/PLB/POB and DCON-CYB/PLB/POB Controller Instruction Manual
IA-OS First Step Guide
3
* For how to operate, refer to the guiding features installed in IA-OS
4 PC Software RCM-101-MW/ RCM-101-USB Instruction Manual
5 Touch Panel Teaching to Apply for TB-01 Instruction Manual
Touch Panel Teaching Pendant TB-02 Applicable for Position Controller Instruction
6
Manual
Touch Panel Teaching Pendant TB-03 Wired Link Applicable for Position Controller
7
Instruction Manual
Instruction Manual for the serial communication [for Modbus]
8
(When RGW-SIO is used with SIO Thru Mode)
2A
4. How to read the model plate
Model
Serial number
5. How to read the model
P C O N - C Y B - 5 6 P W A I - N P - 2 - 0 - D N - * *
● PCON
<Series>
<Type>
CYB : Solenoid Valve Type
PLB/POB: Pulse Train Control Type
<Detail of Connected Axis>
[Motor Type]
20P : 20□ pulse motor 20SP : 20□ pulse motor
28P : 28□ pulse motor 28SP : 28□ pulse motor
35P : 35□ pulse motor 42P : 42□ pulse motor
42SP: 42□ pulse motor 56P : 56□ pulse motor
[Encoder Type]
WAI : Incremental/Battery-less Absolute Shared
A C O N - C Y B - 2 0 W A I - N P - 2 - 0 - D N - * *
● ACON
<Series>
<Type>
CYB : Solenoid Valve Type
PLB/POB: Pulse Train Control Type
<Detail of Connected Axis>
[Motor Type]
Reference
2 : 2W□ AC servo motor
5 : 5W□ AC servo motor
10 : 10W□ AC servo motor
20 : 20W□ AC servo motor
20S : 20W□ AC servo motor
□□□ shows the cable
30 : 30W□ AC servo motor
length
[Encoder Type]
□□□ shows the cable
WAI : Incremental/Battery-less Absolute Shared
length
[Option]
This guide
HA: High Acceleration/Deceleration Type
LA: Low Power Consumption Type
No description: Standard Type
D C O N - C Y B - 3 I - N P - 2 - 0 - D N - * *
● DCON
<Series>
Model
<Type>
CYB : Solenoid Valve Type
IA-OS-C
PLB/POB: Pulse Train Control Type
<Detail of Connected Axis>
RCM-101-MW
[Motor Type]
3: 2.5W Brushless DC Motor
RCM-101-USB
[Encoder Type]
TB-01/ TB-01D / I: Incremental
TB-01DR
<I/O Type>
TB-02/TB-02D
NP : NPN Specification (Sync. Type) (Standard)
TB-03 PN: PNP Specification (Source Type)
Manual No.
ME0353
ME0354
ME0391
ME0155
ME0324
ME0355
ME0376
ME0162
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.
<Identification for IAI use only>
* There is no identification in some cases
<Type of Installation>
(Not Specified) : Screw Attachment Type
DN : DIN Rail Mounting Type
<Power-supply Voltage>
0: 24V DC
<I/O Cable Length>
0: Equipped with No Cable
2: 2m (Standard)
3: 3m
5: 5m
<I/O Type>
NP : NPN Specification (Sync. Type)
(Standard)
PN : PNP Specification (Source Type)
<Identification for IAI use only>
* There is no identification in some cases
<Type of Installation>
(Not Specified) : Screw Attachment Type
DN : DIN Rail Mounting Type
<Power-supply Voltage>
0: 24V DC
<I/O Cable Length>
0: Equipped with No Cable
2: 2m (Standard)
3: 3m
5: 5m
<I/O Type>
NP : NPN Specification (Sync. Type)
(Standard)
PN : PNP Specification (Source Type)
<Identification for IAI use only>
* There is no identification in some cases
<Type of Installation>
(Not Specified) : Screw Attachment Type
DN : DIN Rail Mounting Type
<Power-supply Voltage>
0: 24V DC
<I/O Cable Length>
0: Equipped with No Cable
2: 2m (Standard)
3: 3m
5: 5m
Basic Specifications
PCON Specification
Item Contents
Number of Controlled Axes 1 axis
Power-supply Voltage DC24V ±10%
Load current Motor 20P, 20SP,
Max. 1A
(including control Type 28P
side current
28SP, 35P, High-thrust function is disabled Max. 2.2A
consumption)
42P, 56P High-thrust function is enabled Rated 3.5A / Max. 4.2A
Power Supply for Electromagnetic Brake 24V DC ±10% 0.15A (Max.)
(for actuator equipped with brake)
Heat Generation 8W (5W when high output setting is invalid)
Rush Current (Note 1) 8.3A
Motor Control System Weak field-magnet vector control
Corresponding Encoder Incremental encoder, Battery-less absolute encoder: Resolution 800pulse/rev
High resolution battery-less absolute encoder: Resolution 8192pulse/rev
Actuator Cable Length Max. 20m
Serial Communication Interface (SIO port) RS-485: 1 channel (based on Modbus Protocol RTU/ASCII)
Speed : 9.6 to 230.4Kbps
External PIO Spec. Signal I/O dedicated for 24V DC (selected from NPN/PNP) ... Input 8 points
Interface max., Output 8 points max. Cable length Max. 10m
Data Setting and Input PC software, touch panel teaching
Data Retention Memory Saves position data and parameters to non-volatile memory
(There is no limitation in number of writing.)
Operation Mode CYB Positioner mode / Solenoid valve mode (selected by parameter setting)
PLB/POB Pulse train control mode
Number of Positions in Positioner Mode Max. 64 points
(Note) Number of positions differs depending on the selection in PIO pattern.
Pulse Train Input Pulse Differential system: Max. 200kpps Cable length Max. 10m
Interface Open collector system: Max. 60kpps Cable length Max. 2m
(PLB/POB)
Command Pulse 1/50 < A/B < 50/1
Multiplying Factor Setting range of A and B (set to parameter) : 1 to 4096
(Electrical Gear: A/B)
Feedback Pulse Output None
LED Display (mounted on front panel) SV (Green)/ALM (Red): Servo ON/Alarm generated
Electromagnetic Brake Control Release Brake released by inputting 24V DC and 150mA to dedicated terminal (BKLS) on
power supply connector
Insulation Resistance 500V DC 10MΩ or more
Protection Function against Electric Class Ι Basic insulation
Shock
Mass Screw-fixed type: 230g or less, DIN rail-fixed type: 265g or less
Cooling Method Natural air-cooling
External Dimensions Screw-fixed type: 28W×80H×69D, DIN rail-fixed type: 28W×85H×77.5D
Environment Surrounding Air Temperature 0 to 40°C
External
Surrounding Humidity 5%RH to 85%RH (non-condensing)
Dimensions
Surrounding Environment Refer to [Installation and Storage Environment]
Surrounding Storage -20 to 70°C (Excluding battery)
Temperature
Usage Altitude 1,000m or lower above sea level
Protection Class IP20
Vibration Durability Frequency 10 to 57Hz / Swing width: 0.075mm
Frequency 57 to 150Hz / Acceleration: 9.8m/s
XYZ Each direction Sweep time: 10 min. Number of sweep: 10 times
Note 1: In-rush current can differ depending on the impedance of the power line.
ACON and DCON Specification
Contents
Item
ACON
Number of Controlled Axes 1 axis
Power-supply Voltage DC24V ±10%
Load Motor Type Low Power Max. (Note
Series Rated
current Consumption Type 2)
(It does not
RCA, 2W 0.8A 4.6A
including
RCA2
5W 1.0A 6.4A
control side
,RCL
10W(RCL) 1.3A 6.4A
current
10W(RCA/RCA2) 1.3A 2.5A 4.4A
oonsumption)
(Note3) 20W 1.3A 2.5A 4.4A
20W(Model: 20S) 1.7A 3.4A 5.1A
30W 1.3A 2.2A 4.0A
RCD 3W
Power Supply for Electromagnetic Brake 24V DC ±10% 0.15A (Max.)
(for actuator equipped with brake)
Heat Generation 8W (5W when high output setting is invalid)
(Note 1)
Rush Current 10A
Motor Control System Sinusoidal waveform (AC) drive
Corresponding Encoder Incremental encoder
Battery-less absolute encoder
RCA Incremental Spec. 800pulse/rev
RCA2 RCA2-***N 1048pulse/rev
Other than RCA2-***N 800pulse/rev
RCA Battery-less Absolute 16834pulse/rev
/RCA2 Mounted
RCL RA1, RA4, SA1, SA4 715pulse/rev
RA2, RA5, SA2, SA5 855pulse/rev
RA3, RA6, SA3, SA6 1145pulse/rev
RCD
Actuator Cable Length MAX. 20m
Serial Communication Interface (SIO port) RS-485 : 1 channel (based on Modbus Protocol RTU/ASCII)
Speed : 9.6 to 230.4Kbps
2
DCON
Rated Max.
0.7A 1.5A
Rectangular waveform (DC) drive
Incremental encoder
400pulse/rev (RA1D/GRSN)
480pulse/rev (RA1DA/GRSNA)