IAI PCON-CA First Step Manual

PCON-CA/CFA/CB/CFB/CBP/CGBP,
ACON-CA/CB/CGB, DCON-CA/CB/CGB
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.
• EtherCAT® is a registered mark of Beckoff Automation GmbH.
• EtherNet/IP is a trademark used under the license of ODVA.
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", "How to read
1 Controller Main Body
the model of the controller"
Accessories
2 I/O Flat Cable CB-PAC-PIO □□□
3 Power Connector FMC1.5/8-ST-3.5 (Supplier : PHOENIX CONTACT)
4 Dummy plug DP-5
5 Absolute Battery (Option) AB-7 or SEP-ABU*
6 Serial Absolute Battery (Option) AB-5
7 First Step Guide ME0304
8 Safety Guide M0194
2. Teaching Tool (to be purchased separately)
A teaching tool, such as PC Software, is necessary when performing programming and commissioning,
such as editing position data or parameters.
Please utilise any of the following teaching tools.
No. Part Name
PC teaching software (equipped with USB conversion adaptor + USB cable + external
1
device communication cable)
PC teaching software (equipped with RS232C conversion adaptor + external device
2
communication cable)
PC teaching software (equipped with USB conversion adaptor + USB cable + external
3
device communication cable)
4 Touch Panel Teaching
5 Touch Panel Teaching
6 Data Setter
3. Instruction Manuals related to this product
No. Name
1 PCON-CA/CFA Controller Instruction Manual
2 PCON-CB/CFB Controller Instruction Manual
3 ACON-CA, DCON-CA Controller Instruction Manual
4 ACON-CB Series Controller, DCON-CB Series Controller, Instruction Manual
5 PC Software RCM-101-MW/RCM-101-USB Instruction Manual
6 Touch Panel Teaching TB-01 Position Controller Instruction Manual
7 Touch Panel Teaching TB-02 Position Controller Instruction Manual
8 Data Setter TB-03 Position Controller Wired Connection Instruction Manual
9 Instruction Manual for the Serial Communication [for Modbus]
10 CC-Link Instruction Manual
11 DeviceNet Instruction Manual
12 PROFIBUS-DP Instruction Manual
13 CompoNet Instruction Manual
14 MECHATROLINK-Ⅰ/Ⅱ Instruction Manual
15 EtherCAT Instruction Manual
16 EtherNet/IP Instruction Manual
17 PROFINET-IO Instruction Manual
18 MECHATROLINK-Ⅲ Instruction Manual
4. How to read the model plate
Model
Model *********
SER NO. *********
Input DC24V A *
Serial number 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.
7B
5. How to read the model of the controller
 PCON
PROFINET-IO
P C O N - C A - 5 6 P W A I - E P - 2 - 0 - A B U - D N - * *
<Series>
<Type>
CA/CB : Standard Type
CFA/CFB : High-Thrust Actuator
Connection Type
CGB : Safety Categories Complied Type
CGFB : High-Thrust Actuator
Connection Safety Categories
Complied Type
CBP : Pulse Pressing Connection
Applicable Type
CGBP : Pulse Pressing Connection
Safety Categories Complied 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, 56SP : 56□ pulse motor
60P : 60□ pulse motor, 86P : 86□ pulse motor
[Encoder Type]
WAI : Incremental / Battery-less Absolute Shared
SA : Simple Absolute
*PCON-CBP/CGBP is not applicable for
the simple absolute type.
 ACON
Reference
A C O N - C A - 3 0 I - E C - 2 - 0 - A B - D N - * *
<Series>
□□□ shows the cable length
<Type>
CA/CB : Standard Type
Recommended cable size
CGB : Safety Categories Complied Type
AWG16 to 20 (1.25 to 0.5mm 2 )
For the safety category
<Detail of Connected Axis>
compliant type
[Motor Type]
If applicable for Simple Absolute Type
2 : 2W AC servo motor
If applicable for Serial Absolute
5 : 5W AC servo motor
Type (for ACON only)
10 : 10W AC servo motor
20S : 20W AC servo motor
20 : 20W AC servo motor
30 : 30W AC servo motor
[Encoder Type]
WAI : Incremental/Battery-less Absolute Shared
(CB dedicated)
I : Incremental
A : Absolute
Model
IA-OS-C
<I/O Type>
NP : NPN Type (Sync. Type) (Standard),
PN : PNP Type (Source Type),
RCM-101-MW
PLN : Pulse Train Control NPN Type (Sync. Type),
PLP : Pulse Train Control PNP Type (Source Type),
RCM-101-USB
DV : DeviceNet Connection Type,
TB-01/D/DR PR : PROFIBUS-DP Connection Type,
ML : MECHATROLINK-Ⅰ/ⅡConnection Type, EC
TB-02/02D
EP : EtherNet/IP Connection Type,
TB-03
ML3 : MECHATROLINK-Ⅲ Connection Type (Except for ACON-CA)
Manual No.
 DCON
ME0289
D C O N - C A - 3 I - P R T - 2 - 0 - D N - * *
ME0342
ME0326
<Series>
ME0343
<Type>
ME0155
CA/CB : Standard Type
ME0324
CGB : Safety Categories Complied Type
ME0355
ME0376
<Detail of Connected Axis>
[Motor Type]
ME0162
3 : 2.5W DC Brushless motor
ME0254
[Encoder Type]
ME0256
I : Incremental
ME0258
ME0220 <I/O Type>
ME0221 NP : NPN Type (Sync. Type) (Standard),
PN : PNP Type (Source Type),
ME0273
PLN : Pulse Train Control NPN Type (Sync. Type),
ME0278
PLP : Pulse Train Control PNP Type (Source Type),
ME0333 DV : DeviceNet Connection Type,
PR : PROFIBUS-DP Connection Type,
ME0317
ML : MECHATROLINK-Ⅰ/ⅡConnection Type, EC
EP : EtherNet/IP Connection Type,
ML3 : MECHATROLINK-Ⅲ Connection Type (Except for DCON-CA)
IP20
<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
<Applicable to Simplified Absolute Unit>
AB : Simple Absolute Type
(With the Absolute Battery)
ABU : Simple Absolute Type
(With the Absolute Battery Unit
(SEP-ABU))
ABUN : Simple Absolute Type
(With no Absolute Battery)
<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 Type (Sync. Type) (Standard),
PN : PNP Type (Source Type),
PLN : Pulse Train Control NPN Type (Sync. Type PCON-CBP/CGBP Except)
PLP : Pulse Train Control PNP Type (Source Type PCON-CBP/CGBP Except)
DV : DeviceNet Connection Type, CC : CC-Link Connection Type,
PR : PROFIBUS-DP Connection Type, CN : CompoNet Connection Type,
ML : MECHATROLINK-Ⅰ/ⅡConnection Type, EC : EtherCAT Connection Type,
EP : EtherNet/IP Connection Type, PRT : PROFINET-IO Connection Type
ML3 : MECHATROLINK-Ⅲ Connection Type (Except for PCON-CA/CFA/CBP/CGBP)
<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
<Applicable to Simplified Absolute Unit>
AB : Simple Absolute Type
(With the Absolute Battery)
ABU : Simple Absolute Type
(With the Absolute Battery Unit
(SEP-ABU))
ABUN : Simple Absolute Type
(With no Absolute Battery)
<Power-supply Voltage>
0 : 24V DC
<I/O Cable Length>
0 : Equipped with no cable
2 : 2m (Standard)
3 : 3m
5 : 5m
CC : CC-Link Connection Type,
CN : CompoNet Connection Type,
: EtherCAT Connection Type,
PRT : PROFINET-IO Connection 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
CC : CC-Link Connection Type,
CN : CompoNet Connection Type,
: EtherCAT Connection Type,
PRT : PROFINET-IO Connection Type
Basic Specifications
PCON List of Specifications
Description
Item
PCON-CA/CB/CGB/CBP/CGBP
Number of controlled axes 1-axis
24V DC ±10%
Power-supply Voltage
Load RCP2 Motor 20P, 28P, 28SP MAX. 1A
Capacity RCP3 Type
42P, 56P MAX. 2A
(including
86P
control side
RCP4 Motor 28P, 35P, 42P, High-thrust function
current
MAX.2.0A
RCP5 Type 56P is disabled
consumption)
RCP6
(Note1) High-thrust function Rated 3.5A /
is enabled MAX. 4.2A
60P, 86P
Power Supply for Electromagnetic Brake
24V DC ±10% 0.15A (MAX.)
(for actuator equipped with brake)
Heat Generation RCP2, RCP3 5W
RCP4 to RCP6 3W
Rush Current (Note2) 8.3A
Transient Power Cutoff Durability MAX. 500μs
Motor Control System Weak field-magnet vector control
Corresponding RCP2 to RCP5 Incremental Encoder, Battery-less Absolute Encoder Resolution 800pulse/rev
Encoder
RCP6 Battery-less Absolute Encoder Resolution 8192pulse/rev
Actuator Cable Length MAX. 20m
Serial Communication Interface RS485 : 1 CH (based on Modbus Protocol RTU/ASCII)
(SIO Port) Speed : 9.6 to 230.4Kbps
Control available with serial communication in the modes other than the pulse
train
External Interface PIO Type Signal I/O dedicated for 24V DC (selected from NPN/PNP) ... Input 16 points
max., output 16 points max.
Cable length MAX. 10m
Fieldbus Type
DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, MECHATROLINK-Ⅰ/Ⅱ,
EtherCAT, EtherNet/IP, PROFINET-IO, MECHATROLINK-Ⅲ
(Except for PCON-CA/CFA/CBP/CGBP)
Loadcell Interface
RS485 Communication
(dedicated for PCON-CBP/CGBP)
Data Setting and Input PC Software, Touch Panel Teaching, Teaching Pendant
Data Retention Memory Saves position data and parameters to non-volatile memory
(There is no limitation to the number of times data may be written.)
Operation Mode Positioner Mode/Pulse Train Control Mode (selected by parameter setting)
Number of Positions in Positioner Mode Standard 64 points, MAX. 512 points (PIO Type)
(Note) Number of positions differs depending on the selection in PIO pattern.
Pulse Train Input Pulse Frequency Differential System (Line Driver System) : MAX. 200kpps
Interface Cable length MAX. 10m
Open Collector System : Not applicable.
* If the host applies the open collector output, prepare AK-04 (option) separately
to convert to the differential type.
Command Pulse Multiplying 1/50 < A/B < 50/1
Factor
Setting Range of A and B (set to parameter) : 1 to 4096
(Electrical Gear : A/B)
Feedback Pulse Output None
LED Display SV (GN)/ALM (RD) : Servo ON/Alarm generated
(mounted on Front Panel) STS0 to 3 : Status display
RDY (GN)/ALM (RD) : Absolute function in normal / absolute function error (for
the simple absolute type)
1, 0 (GN) (RD) : Absolute function status display (for the simple absolute
type)
Electromagnetic Brake Compulsory Switching NOM (standard)/BK RLS (compulsory release)
Release Switch (mounted on Front Panel)
Insulation Resistance
500V DC 10MΩ or more
Protection Function against Electric Shock Class I basic insulation
(Note3)
Weight Incremental Type Screw fixed type : 250g or less
DIN rail fixed type : 285g or less
Simple Absolute Type Screw fixed type : 450g or less
(including 190g for battery) DIN rail fixed type : 485g or less
Cooling Method Natural air-cooling
External dimensions Screw fixed type : 35W×178.5H×69.1D
DIN rail fixed type : 35W×185H×77.6D
Environment Surrounding Air 0 to 40°C
Temperature
Surrounding Humidity 5%RH to 85%RH or less (There should be no condensation or freeze)
Surrounding [Refer to Installation Environment]
Environment
Surrounding Storage -20 to 70°C (Excluding battery)
Temperature
Usage Altitude 1000m or less
Protection Class IP20
Vibration Durability Frequency 10 to 57Hz / Swing width : 0.075mm
Frequency 57 to 150Hz / Acceleration 9.8m/s
XYZ directions Sweep time : 10 minutes Number of sweep : 10 times
Note1 Add an additional 0.3A inrush for Fieldbus Types.
Note2 In-rush current will flow for approximately 5ms after the power is turned on (at 40°C).
Note that the value of in-rush current differs depending on the impedance of the power supply line.
Note3 Add an additional 30g for Fieldbus Type of CA/CB/CGB Type. Add an additional 10g for Fieldbus Type of
CFA/CFB/CGFB Type .
PCON-CFA/CFB/CGFB
Rated 4.2A / MAX. 6A
Rated 4.2A / MAX. 6A
26.4W
10A
Screw fixed type : 270g or less
DIN rail fixed type : 305g or less
Forced air-cooling
Screw fixed type : 35W×190H×69.1D
DIN rail fixed type : 35W×196.3H×77.6D
2