IAI RCON-NCN Instruction Manual

Gateway unit

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Driver non-connection specification

Instruction Manual

This instruction manual describes the contents related to the driver

unlinked type in the RCON gateway unit. For details of a controller

connected to this product, refer to an instruction manual of each product.

Gateway unit

First Edition

ME0456-1A

RCON-NCN System

Specifications

Startup

Operation

Parameter

Troubleshooting

Maintenance and

Inspection

Warranty

Chapter

Table of Contents

Troubleshooting

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Summary of Contents for IAI RCON-NCN

Page 1 Gateway unit Driver non-connection specification Instruction Manual First Edition ME0456-1A RCON-NCN System Chapter Specifications Chapter Startup Chapter Operation Chapter Parameter Chapter Troubleshooting Chapter Maintenance and Chapter Inspection Warranty Chapter This instruction manual describes the contents related to the driver unlinked type in the RCON gateway unit. For details of a controller...
Page 3: Please Read Before Use
• This instruction manual is an original document dedicated for this product. • This product cannot be used in ways not shown in this instruction manual. IAI shall not be liable for any result whatsoever arising from the use of the product in any other way than what is noted in the manual.
Page 4 IA-OS First Step Guide PC dedicated teaching software ME0391 * For how to operate, refer to the guiding features installed in IA-OS PSA-24 Instruction Manual 24V Power Supply Unit ME0379 The instruction manual is available to download in IAI homepage. URL: www.iai-robot.co.jp/data_dl/CAD_MANUAL/ ME0456-1A...
Page 5: Table Of Contents
Contents Contents Safety Guide ·················································································· Intro-1 Precautions for Handling ··································································· Intro-8 Precautions for PC connection to RCON-NCN gateway unit grounded at positive terminal of 24V DC power supply ····················· Intro-12 International Standard Compliance ······················································ Intro-14 Actuator Coordinate System ······························································ Intro-15 Chapter 1 RCON-NCN System Overview ················································································...
Page 6 Contents 2.5.7 PROFINET IO ························································································ 2-26 Chapter 3 Startup Starting Procedures ·································································· 3-1 3.1.1 Checking the Product ·············································································· 3-1 3.1.2 Starting Procedures ················································································ 3-3 3.1.3 Installation of IA-OS and Communication Driver ··········································· 3-5 Installation ·············································································· 3-13 3.2.1 Requests/Precautions ············································································· 3-13 3.2.2 DIN Rail Mounting ··················································································...
Page 7 Contents 4.4.5 Positioner 1 Mode Assignment ·································································· 4-40 4.4.6 Positioner 2 Mode Assignment ·································································· 4-43 4.4.7 Positioner 3 Mode Assignment ·································································· 4-44 4.4.8 Positioner 5 Mode Assignment ·································································· 4-47 I/O Signals ············································································· 4-50 4.5.1 Timing of I/O Signals ··············································································· 4-50 4.5.2 Function of I/O Signals ············································································...
Page 8 Contents 7.2.1 Maintenance Information ·········································································· 7-4 Predictive Maintenance Function ················································· 7-7 7.3.1 Fan Rotation Speed Monitoring ································································· 7-7 7.3.2 Overload Warning ··················································································· 7-8 Chapter 8 Warranty Warranty Period ······································································· 8-1 Scope of the Warranty ······························································ 8-1 Honoring the Warranty ······························································ 8-2 Limited Liability ········································································...
Page 9: Safety Guide
Safety Guide Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
Page 10 Safety Guide Operation Description Description Transportation ● When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader”...
Page 11 Safety Guide Operation Description Description Installation and (2) Cable Wiring Start ● Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. ● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
Page 12 Safety Guide Operation Description Description Installation and (4) Safety Measures Start ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers.
Page 13 Safety Guide Operation Description Description Trial Operation ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers. ●...
Page 14 Safety Guide Operation Description Description Maintenance ● When the work is carried out with 2 or more persons, make it clear who is to and Inspection be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers. ●...
Page 15: Alert Indication
Safety Guide Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the instruction manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger Danger product is not handled correctly, will result in death or serious injury.
Page 16: Precautions For Handling
Precautions for Handling Precautions for Handling Make sure to follow the usage condition, environment and specification range of the product. In case it is not secured, it may cause a drop in performance or malfunction of the product. Use the correct teaching tool. Refer to the [2.1.2 Tools to Use] for PC software and teaching pendant usable for this product.
Page 17 Precautions for Handling About Power Supply In a system using the RCON Driver non-connection specification, the power supply to controllers connected to the gateway is turned on first and then the power supply to the gateway unit should get turned on. Turn on MON Signal in the gateway control signals after the link with the PLC is established.
Page 18 Precautions for Handling Creation of sequence programs When creating a sequence program, be careful of the following. If exchanging data between devices with different scan time, the length of time required for a reliable signal reading process is greater than the longer scan time. (In order to safely perform the reading process on the PLC side, we recommend using a timer set value of at least twice the longer scan time.) ●...
Page 19 Have 4 seconds or more as an initializing time at the power on (startup). 12. Supported standards for CC-Link IE Our product supports CC-Link IE Field only. 13. Caution Regarding Controller Connected to RCON-NCN Gateway Refer to [Instruction manual of each controller] Intro-11...
Page 20: Precautions For Pc Connection To Rcon-Ncn Gateway Unit
Precautions for PC connection to RCON-NCN gateway unit grounded at positive terminal of 24V DC power supply Precautions for PC connection to RCON-NCN gateway unit grounded at positive terminal of 24V DC power supply If the RCON gateway unit is grounded at the positive terminal of the 24V DC power supply, a PC cannot be connected to the USB connector (mini-B) of the gateway unit.
Page 21 Precautions for PC connection to RCON-NCN gateway unit grounded at positive terminal of 24V DC power supply If the grounded at the positive terminal of the 24V DC power supply, use an SIO isolator (RCB-ISL-SIO) as shown in the diagram below when connecting a PC to the SIO connector of the controller.
Page 22: International Standard Compliance
International Standard Compliance International Standard Compliance This product complies with the following overseas standards. Refer to the Overseas Standard Compliance Manual (ME0287) for more detailed information. RoHS3 Directive CE Marking UL Certification Acquired Acquired Not Acquired Intro-14 ME0456-1A...
Page 23: Actuator Coordinate System
 For models with which change is not possible, the actuator must be replaced. Contact IAI if anything is unclear. The "0" in the figure below shows home. The parentheses show home reverse specification. (1) Rod type...
Page 24 Actuator Coordinate System (2) Slider type (3) Table type (4) Arm type Intro-16 ME0456-1A...
Page 25 Actuator Coordinate System (5) Gripper type (3-claw gripper) Finger attachment (Note) Note: The finger attachment is not an accessory for the actuator. It is to be prepared by the customer. (6) Rotary type In the home reverse specification for the multi-rotation specification, the +/- directions are the reverse of the figure.
Page 26 Actuator Coordinate System Intro-18 ME0456-1A...
Page 27 RCON-NCN Chapter RCON-NCN System Overview ··························································· 1-1 Features ···························································· 1-2 System Configuration ··········································· 1-3...
Page 28: Overview
RS-485 and the slave address on this network is from 01h to 10h. The RCON-NCN gateway is a unit for connecting the field network master unit of a high-level programmable logic controller (hereinafter referred to as PLC) to the controller of the RCON-NCN system, which is a subnetwork.
Page 29: Features
PROFIBUS-DP • PROFINET IO (3) Selection from Various Operation Modes RCON-NCN Gateway is available for selection from six types of operation modes below. • Direct numerical control mode • Simple direct mode • Positioner 1 mode • Positioner 2 mode •...
Page 30: System Configuration
1.3 System Configuration 1.3 System Configuration The following shows the system configuration. Field network CC-Link, CC-Link IE Field, DeviceNet, EtherCAT, EtherNet/IP, PROFIBUS-DP, PROFINET IO Teaching tool Model: IA-OS Power supply unit Gateway unit +24V Terminal resistor SIO signal Model: PSA-24 PCON ACON DCON...
Page 31 RCON-NCN Chapter Specifications Product Check ···················································· 2-1 2.1.1 Parts ··································································· 2-1 2.1.2 Tools to Use ·························································· 2-2 2.1.3 How to Read the Model Plate ··································· 2-3 2.1.4 How to Read the Model ··········································· 2-4 Specifications ····················································· 2-5 2.2.1 General Specifications ············································ 2-5 2.2.2 Connectable Controller ············································...
Page 32 2.3.8 Control Power Connector ········································· 2-17 2.3.9 Field Network Connector ········································· 2-18 External Dimensions ············································ 2-19 Field Network General Specifications ······················· 2-20 2.5.1 CC-Link ································································ 2-20 2.5.2 CC-Link IE Field ····················································· 2-21 2.5.3 DeviceNet ····························································· 2-22 2.5.4 EtherCAT······························································ 2-23 2.5.5 EtherNet/IP ··························································· 2-24 2.5.6 PROFIBUS-DP ······················································...
Page 33: Product Check
Product Check 2.1 Product Check 2.1.1 Parts Shown in the table below are the product structures in the standard types. Check the accessories in the packaging details. If you find any fault in the contained model or any missing parts, contact us or our distributor. Part Name Shape Quantity...
Page 34: Tools To Use
The PC teaching software IA-OS is the only tool in those used for configuration and startup of the RCON-NCN system that is applicable for both RCON-NCN gateway and controllers. In this section and after in this instruction manual provides explanations with some examples of settings using the PC teaching software IA-OS (hereinafter described as IA-OS).
Page 35: How To Read The Model Plate
How to Read the Model Plate Explained below is where you should check on the model code label. 【Gateway unit】 RCON-GWG-CC-NCN [Nameplate Location] Model→ Serial number→ ↑Caution Mark X000000 X0 X000000 X0 Type↑ ↑Serial number Mark Explanation of Mark Use IAI specified cables only. ME0456-1A...
Page 36: How To Read The Model
2.1 Product Check 2.1.4 How to Read the Model The model of the gateway unit is as follows. RCON －－－ Type I/O Type Option Safety category type Driver non-connection CC-Link connection type specification CC-Link IE Field connection type (*) Other options are not available to select DeviceNet connection type EtherCAT connection type...
Page 37: Specifications
2.2 Specifications 2.2 Specifications 2.2.1 General Specifications [Power supply specifications] Item Specifications Input power supply 24V DC ±10% Control power capacity 0.8A In-rush current Instantaneous power By 24V power source outage endurance Electric shock protection Class III mechanism [Installation conditions] Item Specifications Ambient operating...
Page 38 2.2 Specifications [Specifications of control part] Item Specifications Number of controlled 1 to 16 axes (depending on the operation mode) axes Data recording device FRAM 256kbit CC-Link, CC-Link IE Field, DeviceNet, EtherCAT, EtherNet/IP; Field network interface PROFIBUS-DP, PROFINET IO Communication RS-485 SIO interface Protocol...
Page 39: Connectable Controller
2.2 Specifications 2.2.2 Connectable Controller Shown below is a list of controllers available to connect to RCON-NCN gateway Series Type ACON CB/CGB/CYB/PLB/POB DCON CB/CGB/CYB/PLB/POB PCON CB/CGB/CFB/CGFB/CYB/PLB/POB SCON CB/CGB (Note) With the controllers above, connection is available regardless of order. Caution ...
Page 40: Restriction In Occupied Size
2.2 Specifications 2.2.3 Restriction in Occupied Size There are restrictions to each field network for the occupied size in the field network I/O domains. Any value exceeding the occupied size described in the following table cannot be selected. The system has to be constructed using two units or more of the gateway unit if exceeding the occupied size due.
Page 41: Part Names/Functions
2.3 Part Names/Functions 2.3 Part Names/Functions 2.3.1 Part Names RCON-GWG-□□-NCN (*) □□ represents type of I/O (Reference figure is CC) ME0456-1A...
Page 42 2.3 Part Names/Functions T RUN LED SYS LED AUTO/MANU switch Field network connector T.P. connector STOP LED USB connector MODE LED System I/O connector C ERR LED Unused connector STATUS 0 LED Control power connector STATUS 1 LED Front Connector upper part Connector bottom part DIN tab Left side...
Page 43: Led Display
2.3 Part Names/Functions 2.3.2 LED Display LED for indicating gateway unit status and field network status or RCON-NCN system. Panel Display Status Explanation notation color Illuminating Normal internal bus communication Green T RUN Flashing Waiting for initialization signal Orange Illuminating...
Page 44: Auto/Manu Switch
2.3 Part Names/Functions 2.3.3 AUTO/MANU Switch Switches between automatic and manual operation. System I/O connector AUTO/MANU input is connected in series. Symbol Explanation Online operation mode that enables reception of commands from host devices such as PLCs AUTO Controller communication from a teaching pendant or PC teaching software is not available.
Page 45: Connector
PC software can also be connected with a USB. If the PC software is to be connected, it is necessary to prepare a PC communication cable dedicated for IAI and to install the communication driver (Note 1). Note 1 When IA-OS is installed, the communication driver will be automatically installed.
Page 46: Usb Connector
2.3 Part Names/Functions 2.3.5 USB Connector A connector for connecting the teaching pendant to PC software. For a PC with Windows 10, there is an applicable driver already installed. For a PC with Windows 8.1 or earlier, the USB connection driver for RCON will be automatically installed when installing IA-OS.
Page 47: System I/O Connector
2.3 Part Names/Functions 2.3.6 System I/O Connector There is a serial communication line (Modbus communication) equipped for an external AUTO/MANU switchover input, STOP input and connection of external controller. Note that the following pins are short-circuited at shipment. (1st and 6th, pins 2nd and 7th, pins 3rd and 8th pins) Wire the 4th, 5th and 10th pins in order to connect the controller with the gateway.
Page 48: Power Connector
2.3 Part Names/Functions 2.3.7 24V Power Connector This should not used in RCON-NCN system. Pin No. Signal name Explanation Not for use Not for use 2-16 ME0456-1A...
Page 49: Control Power Connector
2.3 Part Names/Functions 2.3.8 Control Power Connector It is the control power source supply and FG connector of the gateway unit. Pin No. Signal name Explanation Frame ground Control power +24V input Complied Wire for Control Power Supply Item Specification Compatible wire AWG24 to 12 Strip iength...
Page 50: Field Network Connector
2.3 Part Names/Functions 2.3.9 Field Network Connector A connector for connecting to field networks. Refer to for details on field networks, [2.5 Field Network General Specifications]. (Note) This product is not applicable for the motion network (MECHATROLINK-III, EtherCAT Motion or SSCNET III/H). 2-18 ME0456-1A...
Page 51: External Dimensions
2.4 External Dimensions 2.4 External Dimensions Item Specification External dimensions W42.6mm×H115mm×D95ｍｍ Mass Approx. 190g External view See figure below 2-19 ME0456-1A...
Page 52: Field Network General Specifications
2.5 Field Network General Specifications 2.5 Field Network General Specifications 2.5.1 CC-Link Cable connector name: MSTB2.5/5-STF-5.08 AU (Phoenix Contact) Pin No. Signal name Explanation Signal line A Signal line B Digital ground Connects the shield of shielded cables (This connector's 5-pin FG and the control power connector's 1 pin FG are connected internally) Frame ground (This connector's 4-pin SLD and the control power...
Page 53: Cc-Link Ie Field
2.5 Field Network General Specifications 2.5.2 CC-Link IE Field L ER LINK L ER LINK Cable/connector specifications: Ethernet ANSI/TIA/EIA-568-B Category 5e or higher, shielded 8P8C modular plug (RJ45) * It is to be prepared by the customer. LED display Panel Display Name Status...
Page 54: Devicenet
2.5 Field Network General Specifications 2.5.3 DeviceNet Cable connector name: MSTB2.5/5-STF-5.08 AU M (Phoenix Contact) Pin No. Pin color scheme Explanation Black Power supply cable - side Blue Signal data low side Shield White Signal data high side Power supply cable + side LED display Panel Name...
Page 55: Ethercat
2.5 Field Network General Specifications 2.5.4 EtherCAT Cable/connector specifications: Ethernet ANSI/TIA/EIA-568-B Category 5 or higher, shielded 8P8C modular plug (RJ45) * It is to be prepared by the customer. LED display Panel Display Name Status Explanation notation color Communication component (module) Illuminating error Flashing...
Page 56: Ethernet/Ip
2.5 Field Network General Specifications 2.5.5 EtherNet/IP Cable/connector specifications: Ethernet ANSI/TIA/EIA-568-B Category 5 or higher, shielded 8P8C modular plug (RJ45) * It is to be prepared by the customer. LED display Panel Display Name Status Explanation notation color Illuminating Operation in normal conditions Green There is no configuration information, or Flashing...
Page 57: Profibus-Dp
2.5 Field Network General Specifications 2.5.6 PROFIBUS-DP Cable connector name: 9-pin D sub connector (male) * It is to be prepared by the customer. Pin No. Signal name Explanation Not connected Not connected B-Line Signal line B (RS-485) Transmission request 0V (isolated) ＋5V +5V output (isolated)
Page 58: Profinet Io
2.5 Field Network General Specifications 2.5.7 PROFINET IO Cable/connector specifications: Ethernet ANSI/TIA/EIA-568-B Category 5 or higher, shielded 8P8C modular plug (RJ45) * It is to be prepared by the customer. LED display Panel Display Name Status Explanation notation color Illuminating Communication in normal conditions Flashing In network diagnosis...
Page 59 RCON-NCN Chapter Startup Starting Procedures ············································· 3-1 3.1.1 Checking the Product ·············································· 3-1 3.1.2 Starting Procedures ················································ 3-3 3.1.3 Installation of IA-OS and Communication Driver ··········· 3-5 Installation ························································· 3-11 3.2.1 Requests/Precautions ············································· 3-11 3.2.2 DIN Rail Mounting ·················································· 3-14 Wiring ·······························································...
Page 60 Controller Setting ················································ 3-40 3.4.1 Slave Number Setup on Connected Controller ············· 3-40 3.4.2 Parameter Setup in Connected Controller ··················· 3-42 Setting Gateway Parameters ································· 3-45 3.5.1 Communication Connection Between IA-OS and Gateway Unit ·················································· 3-45 3.5.2 Setting in IA-OS and Gateway Unit ···························· 3-50 3.5.3 Parameter Edit in Gateway ······································...
Page 61: Starting Procedures
 It is necessary to prepare the controller link cable (model code: CB-RCBR-CTL002) described in the next page separate from the gateway unit.  Below are examples of the products shipped together. [RCON-NCN Gateway Unit] Part Name Shape Quantity...
Page 62 3.1 Starting Procedures [Controller Link Cable] * Necessary to prepare separately from gateway unit Part Name Shape Quantity Remarks Model: CB-RCBR-CTL002 Controller Link Cable (Includes accessaries below) Single product model number: Four-way Junction 5-1473574-4 (manufactured by AMP) Single product model number: e-CON Connector 4-1473562-4...
Page 63: Starting Procedures
When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below. Setup of Controller Connected to RCON-NCN Gateway Unit. For the installation and wiring of other devices and controllers connected to the network, and installation and wiring of actuators, follow the respective instruction manuals.
Page 64 3.1 Starting Procedures From previous page Now, it is succeeded to establish communication and ready for operation. Move on to the system operation check and adjustment. Servo ON Turn ON the servo of all connected axes using the teaching tool. Caution : ●Keep this operation as far away from the mechanical end and interfering objects as possible.
Page 65: Installation Of Ia-Os And Communication Driver
3.1.3 Installation of IA-OS and Communication Driver Items to prepare PC/ IA-OS supplied DVD-ROM The operation is explained in the IAI PC software (Model Code: IA-OS, PC OS environment Windows10) Installation Preparation (1) Insert the IA-OS DVD-ROM into the DVD drive of the PC.
Page 66 3.1 Starting Procedures IA-OS Installation (1) Click the Tool for installation screen Tool for installation screen (2) Select Setup Language screen will be displayed. Select English and Select Setup Language screen click (3) An instruction regarding installation of Welcome to the IA-OS Setup Wizard screen softwares to be set up other than "IA-OS"...
Page 67 (6) Ready to Install screen will be PC software InstallShield Wizard screen displayed. Clicking will start of the installation on the PC software. Once installation of IA-OS is ready, a setup window for the IAI toolbox should get launched. ME0456-1A...
Page 68 Select Setup Language screen displayed. Select English and click (2) Welcome to the IAI Toolbox Setup Welcome to the IAI Toolbox Setup Wizard screen Wizard screen will be displayed. Click (3) Select Destination Location screen is Select Destination Location screen displayed.
Page 69 (6) Once the setup is completed, Completing the IAI Toolbox Setup Wizard screen Completing the IAI Toolbox Setup Wizard screen will show up. Click to finish the work. A shortcut for IAI Toolbox will be created on your PC desktop. IAI Tool Box ME0456-1A...
Page 70 3.1 Starting Procedures IA-OS Installing PC software 1) Installation of IA-OS should start after the Installation Status screen installation of the calculator. 2) Once the setup is complete, the IA-OS Calculator Setup Wizard Complete screen setup wizard complete window should display.
Page 71: Installation
3.2 Installation 3.2 Installation 3.2.1 Requests/Precautions In order to enhance the reliability of RCON-NCN Gateway and to fully utilize its functions, consider the following before installation. [1] Installation Environment Usage is possible in environments of pollution degree 2 or equivalent.
Page 72 3.2 Installation [2] Installation and Mounting Consider the size of the control panel, placement of the RCON-NCN gateway and the controller to be connected, cooling and the like when designing and manufacturing so that the ambient temperature is 0 to 40°C.
Page 73 3.2 Installation [3] Noise Countermeasures and Mounting Method (1) Grounding for noise countermeasures (frame ground) Connect the ground wire to the FG Controller Other devices terminal block of the main body. Push in the square hole with a screwdriver or the like to connect. Annealed copper wire: 1.6 mm Controller Other devices...
Page 74: Din Rail Mounting
3.2 Installation 3.2.2 DIN Rail Mounting Pull down the DIN tab visible from the lower part of the housing rear (circled in a dashed line in the figure below), mount on the DIN rail, then push the DIN part upward to lock it. DIN tab Front Rear...
Page 75: Wiring
3.3 Wiring 3.3 Wiring 3.3.1 Overall Configuration The overall configuration related to wiring is as shown in the figure below. For the details of each cable, refer to the item numbers in the figure. Teaching tool [3.3.4 Wiring the Field Network] [3.3.7 Teaching Connecting the Connector] Gateway unit...
Page 76 In case several units of PSA-24 (up to 5 units with the same specifications) manufactured by IAI is to be used in a parallel connection as the power supply for the RCON-NCN system, pay attention to the following point for the wire layout.
Page 77: Wiring Of Gateway Unit Power
Wiring of Gateway Unit Power Wire each terminal to supply power to the gateway unit. 24V DC power supply (Model : PSA-24(L)) +24V RCON-NCN Gateway Flathead screwdriver insertion port (Model: RCON-GWG-CC-NCN) Ground terminal Grounding resistance: 100W or less (Class D grounding construction) * Annealed copper wire: 1.6mm diameter...
Page 78 3.3 Wiring [Electric wire diameter used for RCON-NCN Gateway Unit 24V power supply wiring] For the wires to be connected to the power connector, use the following applicable wires. ● Compatible wire Signal name Content Compatible wire 24V power supply...
Page 79 3.3 Wiring [Wiring of power supply to controller connected to RCON-NCN gateway] Refer to [an instruction manual of each controller] for wire layout of controllers connected to the RCON-NCN gateway. Caution The voltage to be supplied should differ depending on a controller to be connected.
Page 80: Connecting The Gateway Unit And Controller Link Cable
3.3 Wiring 3.3.3 Connecting the Gateway Unit and Controller Link Cable Connection should be established between the gateway unit and a controller with SIO communication. Caution  The communication path should be established with a bus connection and make sure to connect a terminal resistor (220Ω, 1/2W) at the terminal (enclosed in the gateway unit).
Page 81 3.3 Wiring [2] Details of Connection Diagrams Shown in the figure below is the detail of the SIO communication connection. Controller link cable is available as an option. However, the communication trunk line must be provided by the customer. System I/O connector Pin number and signal name to be wired 10 : 24V_SD+ (SDA) 5 : 24V_SD- (SDB)
Page 82 3.3 Wiring [3] Setup of Communication Main Line [Process of Cable End] (1) Unsheathe the twisted pair shielded cable for 15 to 20mm 15 to 20mm Cut Sheath (2) Twist the shielded wires and solder a vinyl wire equivalent to AWG22. Solder Soldering Twisted shielded wires...
Page 83 3.3 Wiring [How to Press-Fit e-CON Connector] Check the applicable cable size. Clamp Lever Pin No. Check the applicable cable. If it is not applicable, it may cause a connection failure or a breakage of the connector. Check the pin numbers, do not reveal the sheath, Wire and insert the cable till it reaches the end.
Page 84 3.3 Wiring [4] Terminal Resistor (Accessories in Gateway Unit) It is necessary when establishing the multi-drop connection for an external controller to the RCON-NCN gateway. A terminal resistor is 220Ω and is connected to the e-CON connector. Signal Wiring 220Ω 1/2W...
Page 85: Field Network Wiring
3.3 Wiring 3.3.4 Field Network Wiring For details of the connection method, follow the instruction manuals of the master unit of each field network and the PLC configured. [1] CC-Link Shield (SLD) Yellow (DG) White (DB) Blue (DA) Controller side Connector top view Connector CC-Link cable connector...
Page 86 3.3 Wiring [2] CC-Link IE Field L ER LINK L ER LINK Controller side Connector top view Connector CC-Link IE Field cable connector Remarks name Ethernet ANSI/TIA/EIA-568-B Category 5e or higher shielded To be prepared Cable side 8P8C modular plug (RJ-45) by the customer Ethernet ANSI/TIA/EIA-568-B Category 5e or higher shielded Controller side...
Page 87 3.3 Wiring [3] DeviceNet Red (V+) White (CAN H) Shield Blue (CAN L) Black (V-) Controller side Connector top view Connector DeviceNet cable connector Remarks name Standard Cable side MSTB2.5/5-STF-5.08 AU M (Phoenix Contact) accessories Controller side MSTB2.5/5-GF-5.08 AU (Phoenix Contact) Signal name Compatible Pin No.
Page 88 3.3 Wiring [4] EtherCAT Controller side Connector top view Connector EtherCAT cable connector Remarks name Ethernet ANSI/TIA/EIA-568-B Category 5 or higher shielded To be prepared Cable side 8P8C modular plug (RJ45) by the customer Ethernet ANSI/TIA/EIA-568-B Category 5 or higher shielded Controller side 8P8C modular jack (RJ45) Pin No.
Page 89 3.3 Wiring [5] EtherNet/IP, PROFINET IO Controller side Connector top view Connector EtherNet/IP, PROFINET IO cable connector Remarks name Ethernet ANSI/TIA/EIA-568-B Category 5 or higher shielded To be prepared Cable side 8P8C modular plug (RJ45) by the customer Ethernet ANSI/TIA/EIA-568-B Category 5 or higher shielded Controller side 8P8C modular jack (RJ45) Pin No.
Page 90 3.3 Wiring [6] PROFIBUS-DP Red B line (positive side) Green A line (negative side) Cable Shield Controller side Connector top view Connector PROFIBUS-DP cable connector Remarks name To be prepared Cable side 9-pin D sub connector (male) by the customer Controller side 9-pin D sub connector (female) Pin No.
Page 91: Stop Circuit Wiring Of The Drive Source Cutoff Circuit
There are two ways as shown below to make a compulsory stop for actuator in RCON-NCN System. (1) To stop all the axes of RCON-NCN system actuator at once by pressing and holding the stop switch on a teaching pendant (wired connection).
Page 92 Provide an emergency stop relay or drive source shutdown relay separately. Caution  If the RCON-NCN gateway is not connected to the T.P. connector, S1 and S2 will be short-circuited in the controller. To short-circuit, connect the supplied dummy plug DP-5 to the T.P. connector.
Page 93 3.3 Wiring [Example for Stop Circuit] Gateway unit The teaching box stop switch TP Connectors (Note 1) Stop reset Stop switch system I/O switch connect or Unused Connectors (Unused) Power Supply Connector Control power supply Brake Power release Motor power supply Control Emergency stop...
Page 94 3.3 Wiring Note 1 …The Gateway Unit is not equipped with a relay that automatically recognizes that a communication connection cable is inserted into the T.P. connector and switches the wiring. Therefore, when a teaching tool is not connected, it is necessary to connect a dummy plug to the T.P.
Page 95: Auto/Manu Mode Switching Circuit Wiring
3.3 Wiring 3.3.6 AUTO/MANU Mode Switching Circuit Wiring You can also switch AUTO/MANU by connecting the PLC/contact to the AUTO/MANU (automatic/manual operation) input of the system I/O connector of the gateway unit. Pin No. Signal name Explanation AUTO/MANU－ AUTO/MANU signal input AUTO/MANU＋...
Page 96 3.3 Wiring (2) Switch and external contact Connect the switch and external contact in series as shown in the figure. It is AUTO if both are connected and MANU if one is open. [Switch and external contact] AUTO MANU VP24 5.6k 100k Internal...
Page 97: Connection The T.p. Connector
3.3 Wiring 3.3.7 Connection the T.P. Connector Connect a teaching pendant such as the PC software. Mode switch Teaching pendant PC connection cable （Supplied with PC software) ●Teaching connector specification Teaching connector Model Remarks Controller side TCS7587-0121077 Manufactured by Hosiden Corporation Cable side mini DIN 8 pin Teaching connector...
Page 98 3.3 Wiring ●Cable Enclosed to PC Teaching Software, Conversion unit (1) External device communication cable (CB-RCA-SIO050) 5m cable * It is enclosed to IA-OS-C, RCM-101-MW and RCM-101-USB. 5,000 Color Signal Signal Color Brown Yellow Yellow Orange Brown/Green Orange EMGS Blue EMGA Black CB-RCA-SIO050 (Cable length 5m)
Page 99: Connection The Usb Connector
3.3 Wiring 3.3.8 Connection the USB Connector It is available to use the PC software by connecting a PC to a USB port. USB cable (A, mini-B) (prepared by the customer) ●USB connection connector specification Connector to be Used USB mini-B 51387-0530 (Molex) Connector name Communication...
Page 100: Controller Setting
[1] For Controller Equipped with Rotary Switch The axis numbers are to be set to each controller on the SIO link in the RCON-NCN gateway in the hexadecimal numbers from 0h to Fh with the 16th axis as Fh.
Page 101 3.4 Controller Setting [2] For Controller Equipped without Rotary Switch Those controllers with no SW for axis number setting other than those shown in [Figure 3.3-1] (PCON-CYB/PLB/POB, ACON-CYB/PLB/POB, DCON-CYB/PLB/POB) should be connected with a teaching tool such as the PC teaching software one on one in order to set up the axis numbers.
Page 102: Parameter Setup In Connected Controller
3.4.2 Parameter Setup in Connected Controller After the axis number of a controller is set, move on to the setup of the parameters. The parameter settings necessary in connection to the RCON-NCN gateway unit are as described below. [Parameter Settings]...
Page 103 3.4 Controller Setting [How to set up the parameters.] Shown below is how to set up the parameters for PCON-CYB using the PC teaching software IA-OS. The way of operation is basically the same for other controllers. The Parameter settings can also be performed in the RC PS software, TB-02 and TB-03. Step Connect a PC communication cable to the RS232C...
Page 104 3.4 Controller Setting The parameter edit screen should come up. Change the parameters referring to the "parameter settings" described previously. * In the example (PCON-CYB) No. 16 SIO Baud Rate No. 17 Slave Transmitter Activation Min. Latency No. 25 Select PIO Patterns Above items were set.
Page 105: Setting Gateway Parameters
3.5 Setting Gateway Parameters 3.5 Setting Gateway Parameters The select the operation mode of the RCON system and to set various functions. The screen design differs slightly depending on the OS of the PC. 3.5.1 Communication Connection Between IA-OS and Gateway Unit [1] Connecting controller communication cable (1) As shown in the figure on the right, 3 parts supplied with IA-OSC (PC software)
Page 106 Turn on the power Caution  When starting up the RCON-NCN system, turn on the power to the connected controllers, and then turn on the power to the gateway unit. (2) Tilt the operation mode switch on the Operation mode switch front of the gateway unit to the "MANU"...
Page 107 3.5 Setting Gateway Parameters [3] IA-OS Startup (1) Double-click the IA-OS icon to start up the software. Double-click (2) Click in the Communication method selection Communication method selection screen screen Click (3) The Select communication port Select communication port screen screen will be displayed.
Page 108 3.5 Setting Gateway Parameters (4) Click in the Communication Communication establishment screen Establishment screen Click (5) Click in the Communication Establishment warning screen Communication Establishment warning screen Click (6) Make selections in the MANU Operation Mode Setup window and MANU Operation Mode Select screen click Select Example:...
Page 109 3.5 Setting Gateway Parameters (7) The IA-OS main screen opens. IA-OS main screen The status of the connected controller or driver should be shown. Caution  Showing no status in the main window in IA-OS represents that the communication is not established. In case of communication not established, check the communication cable connected to the controller to see the condition of insertion or if there is any breakage.
Page 110: Setting In Ia-Os And Gateway Unit
3.5 Setting Gateway Parameters 3.5.2 Setting in IA-OS and Gateway Unit In this section, mainly explains "2. Axis Control Setting". For details of "1. Communication Setting", refer to [5.2 Gateway Parameters]. Make settings related to axis connection. The settings are as follows. [1] Axis number / Unit configuration setting Sets the number of axes of the actuator to be controlled Select the number of axes to be connected (a number of final axis number + 1) in "Axis...
Page 111 3.5 Setting Gateway Parameters Select the status of axis use (setting of axis to use / to reserve) in "Axis Use Status". Click in "Axis Use Status" and "Unused Axis Setting" window shows up. (*) In the unused axis setting window, the number of checkboxes for the number of axes selected in the axis count setting should be shown.
Page 112 3.5 Setting Gateway Parameters Select "All-axis operation lump setting", and the operation mode should be applied to all the connected actuators. There is a pulldown list on the right side of the "All-axis operation lump setting" display. Select an operation mode to be used from the list. Select "Individual Setting", and an operation mode for each axis can be set up.
Page 113: Parameter Edit In Gateway
3.5 Setting Gateway Parameters 3.5.3 Parameter Edit in Gateway When it is a parameter that is to be set in a numerical value, select "Setting Value". The cursor on the setting value flashes. Input a number on the PC keyboard and press the Enter key.
Page 114 3.5 Setting Gateway Parameters Once the parameter setting change is finished, click the Transfer button. Once the confirmation window for transfer to the controller appears, click Once the transfer is completed, click Information screen should show up. In this screen, shows a list of controllers available for connection to the gateway unit and PIO patterns to be set.
Page 115 RCON-NCN Chapter Operation Basic Operation Methods ···································· 4-1 4.1.1 Power ON Sequence ············································· 4-2 Operation Function ············································· 4-3 4.2.1 Field network Operation Mode ································· 4-3 4.2.2 List of Functions by Operation Mode ························· 4-4 Position Table ··················································· 4-6 4.3.1 Position Table Configuration ···································· 4-6 4.3.2 Position Table Details ············································...
Page 116 4.4.6 Positioner 2 Mode Assignment ································ 4-43 4.4.7 Positioner 3 Mode Assignment ································ 4-44 4.4.8 Positioner 5 Mode Assignment ·································· 4-47 I/O Signals ······················································· 4-50 4.5.1 Timing of I/O Signals ············································· 4-50 4.5.2 Function of I/O Signals ·········································· 4-51 Timing of Basic Operation ···································· 4-68 4.6.1 Preparation for Operation ·······································...
Page 117: Basic Operation Methods
4.1 Basic Operation Methods 4.1 Basic Operation Methods This system should be controlled in the field network. There are various types of actuators including slider, rod, rotary and gripper types. The same operation control method is applicable unless particular descriptions are contained in this manual.
Page 118: Power On Sequence
Note 2 It should turn on when the operation mode switch in the RCON-NCN gateway is set to "AUTO" and also the communication with the controllers is established in normal condition.
Page 119: Operation Function
Field network than the Positioner 2 mode, and allows Present position communication Completed position No. monitoring of the present position Status signal Controller numerically with 0.1mm increments. * The present current should be "Command Current" in the RCON-NCN system. ME0456-1A...
Page 120: List Of Functions By Operation Mode
4.2 Operation Function 4.2.2 List of Functions by Operation Mode Direct Simple numerical Positioner 1 Positioner 2 Positioner 3 Positioner 5 direct control mode mode mode mode mode mode Number of positioning Unlimited Unlimited 768 points 768 points 256 points 16 points points Home return motion...
Page 121 4.2 Operation Function Note 1: The number of settable position data is 768 points at the maximum. Note 2: This function is limited to the AC servo motor specification (ACON, SCON). Note 3: It is a feature dedicated for the pulse motor type. Note 4: DD motor is 0.001 degree (0.01 degree for positioner 5 mode only).
Page 122: Positiontable
4.3 Position Table 4.3 Position Table 4.3.1 Position Table Configuration Each controller can operate in 6 types of modes, direct numerical control mode, simple direct mode, positioner 1 to 3 and 5 modes, depending on the gateway unit. Simple direct mode and positioner mode require the creation of a position table in advance, using a teaching tool, in order to perform positioning.
Page 123: Position Table Details
4.3 Position Table 4.3.2 Position Table Details (1) No. Displays the position data No. Caution  Do not use position No. 0 if the position has play.  Even if not at Position No. 0 at the first servo ON after power ON, the complete position number output will be 0 and the status will be the same as when positioning to Position No.
Page 124 4.3 Position Table (4) Acceleration/deceleration [G] Input the acceleration/deceleration rate at which the actuator is to travel. Use a value within the rated range. Take care, as it is possible to input a number larger that the catalog rated value. Take care, as it is possible to input a number larger that the catalog rated value.
Page 125 4.3 Position Table (5) Push [%] Select "positioning" or "push-motion operation". The factory default setting is 0. : Normal positioning operation Non-0: Displays the current limit value. Setting this will configure push-motion operation mode. Caution  Changing the push speed may result in a force different from the original push force. ...
Page 126 4.3 Position Table (7) Positioning width [mm] Handling of set value differs between "positioning" and "push-motion operation". [Positioning operation] Defines how far before the target position the positioning complete signal should turn ON. Even if the positioning complete turns ON, the actuator will continue to move to the target position.
Page 127 4.3 Position Table (8) Zone +/- [mm] Defines the region in which the zone output signal turns ON. This can be set individually for each target position. Only the zone setting of the position No. traveling is enabled, and the zone settings of other position No.
Page 128 4.3 Position Table (9) Acceleration/deceleration mode Defines acceleration/deceleration pattern characteristics. The factory default setting is 0. 0: Trapezoid pattern 1: S-motion 2: First-order delay filter [Trapezoid pattern] Acceleration and deceleration are configured in the "Acceleration" and "Deceleration" fields of the position table. Speed Acceleration Deceleration...
Page 129 4.3 Position Table Caution  In the following cases S-motion becomes disabled. (1) When a position command or direct numerical value command with S-motion is set during actuator operation. (2) When using a rotary actuator in index mode. (3) When set such that the acceleration time or deceleration time exceeds 2 seconds. (4) When parameter No.
Page 130 4.3 Position Table (10) Incremental Defines whether using absolute coordinate specifications or relative coordinate specifications. The factory default setting is 0. 0: Absolute coordinates specified 1: Relative coordinates specified Caution  When performing relative movement, do not output a travel command smaller than the minimum resolution value (actuator lead length / encoder resolution).
Page 131 4.3 Position Table Servo motor specification function only [Gain set] 6 parameters required for servo gain adjustment are collected together as 1 set. 4 kinds of sets can be registered, enabling the servo gain to be switched for each positioning operation. By using the PC software's offboard tuning function, it is possible to obtain a setting close to the optimum setting.
Page 132 4.3 Position Table Stepper motor specification function only (12) Stop mode The power saving mode during the standby after the positioning to the target position set in the "Position" box in the position number is complete should be set up. The setup should be made by selecting one from the contents below.
Page 133 4.3 Position Table Servo motor specification function only Not available with direct numerical control (13) Vibration damping No. Suppresses vibration (resonance) of the load attached to the actuator. Handles 3 types of vibrations. For each vibration, 4 parameters are established and treated as 1 set. The position table configures parameter sets that correspond to the position No.
Page 134 4.3 Position Table (14) Comments Up to 20 alphanumeric characters can be input. Input comments are saved to the controller. 4-18 ME0456-1A...
Page 135: Precautions For Rotary Type
4.3 Position Table 4.3.3 Precautions for Rotary Type (1) Homing direction Home position is the counter-clockwise moving end of the output shaft. The multi-rotation specification includes a reverse-rotation specification. For reverse-rotation specification, the homing direction is clockwise. Caution  If the homing direction is changed by changing the parameter after delivery, the homing direction will be reversed.
Page 136 4.3 Position Table (3) Angular velocity and acceleration/deceleration command Angular velocity [deg/s] is the command value for rotation angle. Acceleration/deceleration is specified as [G] in the program. Rated angular acceleration/deceleration: 0.3G = 2,940deg/s (4) Home return motion [330° rotation specification] Operation range (330 degrees) Home (1) When home return is commanded, the rotary part rotates in the CCW (counterclockwise)
Page 137 4.3 Position Table [Multi-rotation specification] Home (12) (Forward rotation side swivel end) (11) (Home side) Offset travel distance (10) Rotary axis Offset reference position (Center of (6), (7), (9) and (10)) (Home reverse side) Home sensor detection range (1) When home return is commanded, the rotary part rotates in the CCW (counterclockwise) direction as seen from the load side.
Page 138: Precautions For Gripper Type
4.3 Position Table 4.3.4 Precautions for Gripper Type (1) Finger part operation [Definition of position] Home is the position where the fingers are open. Position command is the travel distance from home position of this single finger to the closed side. Therefore, the maximum command value is 5mm for RCP2-GRS type, or 7mm for RCP2-GRM type.
Page 139 4.3 Position Table (2) Removing gripped workpieces This gripper is structured to maintain its gripping force by self-locking the workpiece even during servo OFF or controller power shut-off. When removal of a gripped workpiece is necessary during power shut-off, turn the opening/closing screw or remove the finger attachment on one side to remove the workpiece.
Page 140: Address Configuration
4.4 Address Configuration 4.4 Address Configuration The RCON-NCN Gateway address configuration is the same for all driver units regardless of field network type. The addresses occupied by the network consist of eight words of the fixed domains, data domains that vary depending on the operation mode and number of axes. Each operation mode and occupied data region is as follows.
Page 141: Fixed Region Configuration
4.4 Address Configuration 4.4.1 Fixed Region Configuration PLC output ⇒ RCON RCON ⇒ PLC input High byte Low byte Word count High byte Low byte Word count Gateway control signal 0 Gateway status signal 0 Gateway control region Gateway control signal 1 Gateway status signal 1 Not available.
Page 142 4.4 Address Configuration PLC input Address CC-Link, DeviceNet PROFIBUS-DP, PROFINET-IO CC-Link IE EtherNet/IP, Field EtherCAT Relative Relative Relative － byte module RX 0* Gateway RUN LERC ERRT MOD ALMH ALML － SEMG Status signal 0 ALMC128 ALMC64 ALMC32 ALMC16 ALMC8 ALMC4 ALMC2 ALMC1 RX 1* Gateway LNK15 LNK14 LNK13 LNK12 LNK11 LNK10 LNK9 LNK8...
Page 143 4.4 Address Configuration I/O signal list Symbol Signal type Content name PLC control output is enabled when ON ("1") (PLC output is reflected on controller unit) and disabled when OFF ("0"). * It should be used only for control of driver units －...
Page 144 4.4 Address Configuration (2) Light malfunction maintenance output feature (Light malfunction maintenance signal) The light malfunction maintenance output feature is a feature that outputs light malfunction alarms output from each controller and maintenance warnings output the host PLC. A domain for 1W (word) in the status signal domains in the gateway monitoring domains should be assigned as the domain for light malfunction maintenance signal.
Page 145: Data Region Configuration
4.4 Address Configuration 4.4.2 Data Region Configuration (1) Direct numerical control mode data region configuration PLC output ⇒ each axis input Each axis output ⇒ PLC input High byte Low byte Word count High byte Low byte Word count Specified position data (L) Present position data (L)) Specified position data (H)) Present position data (H))
Page 146: Direct Numerical Control Mode Assignment
4.4 Address Configuration 4.4.3 Direct Numerical Control Mode Assignment Assigning the direct numerical control mode is as follows. Set the current limit value in push-motion, acceleration/deceleration and speed within the range of the applicable actuator specifications, and set the target position data within the software stroke range.
Page 147 4.4 Address Configuration PLC input = Axis status signal Address CC-Link, DeviceNet 1 word = 16 bits CC-Link IE b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Field (High byte) n + 0 n + 0 (Low byte) Present position data (signed integer)
Page 148 4.4 Address Configuration [I/O Signal List] Direct numerical control mode (ON = corresponding bit is "1", OFF = corresponding bit is "0") Signal Signal type Content Details name 32-bit signed integer (unit: 0.01mm; 0.001° for DD motor). Example) For +25.40mm, specify as 2540. ●...
Page 149 4.4 Address Configuration [I/O Signal List] Direct numerical control mode (ON = corresponding bit is "1", OFF = corresponding bit is "0") Signal Signal type Content Details name Set the current limit value in push-motion Pushing operation. (Unit %) current 16-bit The setting range is 0 to 200%, where 255 = －...
Page 150 4.4 Address Configuration [I/O Signal List] Direct numerical control mode (ON = corresponding bit is "1", OFF = corresponding bit is "0") Signal Signal type Content Details name Present position data is output in 32-bit signed integer (unit: 0.01mm and 0.001deg for DD motor). Present 32-bit Example) For +25.4mm, it will be 2540.
Page 151 4.4 Address Configuration [I/O Signal List] Direct numerical control mode (ON = corresponding bit is "1", OFF = corresponding bit is "0") Signal Signal type Content Details name Push-motion operation contactless PSFL 4.5.2 [16] [ON: push-motion operation completed contactless] Operation ready 4.5.2 [5] [ON: Operation ready (Servo ON)] Alarm...
Page 152: Simple Direct Mode Assignment
4.4 Address Configuration 4.4.4 Simple Direct Mode Assignment Assigning the simple direct mode is as follows. PLC output = Axis control signal Address CC-Link, DeviceNet 1 word = 16 bits CC-Link IE b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Field (High byte) n + 0...
Page 153 4.4 Address Configuration [I/O Signal List] Simple direct mode (ON = corresponding bit is "1", OFF = corresponding bit is "0") Signal type Signal name Content Details 32-bit signed integer (unit: 0.01mm; 0.001° for DD motor). Example) For +25.40mm, set as 2540. Position 32-bit ●...
Page 154 4.4 Address Configuration [I/O Signal List] Simple direct mode (ON = corresponding bit is "1", OFF = corresponding bit is "0") Signal type Signal name Content Details 32-bit signed integer (unit: 0.01mm; 0.001° for DD motor). Example) For +25.40mm, outputs as 2540. Present ●...
Page 155 4.4 Address Configuration [I/O Signal List] Simple direct mode (ON = corresponding bit is "1", OFF = corresponding bit is "0") Signal type Signal name Content Details Home return complete HEND [ON: Maintaining home after home return 4.5.2 [6] complete] Status Positioning complete signal...
Page 156: Positioner 1 Mode Assignment
4.4 Address Configuration 4.4.5 Positioner 1 Mode Assignment Assigning the positioner 1 mode is as follows. PLC output = Axis control signal Address CC-Link, DeviceNet 1 word = 16 bits CC-Link IE b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Field (High byte) n + 0...
Page 157 4.4 Address Configuration [I/O Signal List] Positioner 1/2 mode (ON = corresponding bit is "1", OFF = corresponding bit is "0") Signal type Signal name Content Details Command position b6-b0 PC** Specifies the command position No. in binary. 4.6.3 [2] Forced brake release BKRL 4.5.2 [13]...
Page 158 4.4 Address Configuration [I/O Signal List] Positioner 1/2 mode (ON = corresponding bit is "1", OFF = corresponding bit is "0") Signal type Signal name Content Details 32-bit signed integer (unit: 0.01mm; 0.001° for DD motor). Example) For +25.40 mm, outputs as 2540. Present 32-bit ●...
Page 159: Positioner 2 Mode Assignment
4.4 Address Configuration 4.4.6 Positioner 2 Mode Assignment Assigning the positioner 2 mode is as follows. PLC output = Axis control signal Address CC-Link, DeviceNet 1 word = 16 bits CC-Link IE b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Field (High byte) n + 0...
Page 160: Positioner 3 Mode Assignment
4.4 Address Configuration 4.4.7 Positioner 3 Mode Assignment Assigning the positioner 3 mode is as follows. PLC output = Axis control signal Address CC-Link, DeviceNet 1 word = 16 bits CC-Link IE Field b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 (High byte) n + 0 n + 0...
Page 161 4.4 Address Configuration [I/O Signal List] Positioner 3 mode (ON = corresponding bit is "1", OFF = corresponding bit is "0") Signal type Signal name Content Details Forced brake release BKRL 4.5.2 [13] [ON: forced brake, OFF: brake enabled] － Not available －...
Page 162 4.4 Address Configuration [I/O Signal List] Positioner 3 mode (ON = corresponding bit is "1", OFF = corresponding bit is "0") Signal type Signal name Content Details Emergency stop status EMGS 4.5.2 [2] [ON: Emergency stop status] Zone output monitor 1 [ON : Present position is within the setting ZONE1 range of zone 1,...
Page 163 4.4 Address Configuration 4.4.8 Positioner 5 Mode Assignment Assigning the positioner 5 mode is as follows. PLC output = Axis control signal Address CC-Link, DeviceNet 1 word = 16 bits CC-Link IE b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Field (High byte) n + 0...
Page 164 4.4 Address Configuration [I/O Signal List] Positioner 5 mode (ON = corresponding bit is "1", OFF = corresponding bit is "0") Signal type Signal name Content Details Command Specifies the command position No. in position b3-b0 PC** 4.6.3 [3] binary. Forced brake release BKRL 4.5.2 [13]...
Page 165 4.4 Address Configuration [I/O Signal List] Positioner 5 mode (ON = corresponding bit is "1", OFF = corresponding bit is "0") Signal type Signal name Content Details 16-bit signed integer (unit: 0.1mm; 0.01° for DD motor). Example) For +25.40 mm, outputs as 254. Present ●...
Page 166: I/O Signals
I/O station to the master station (Xt), refer to the [each type for the field network master units] or [PLC instruction manuals]. PLC sequence program Control signal Status signal RCON-NCN gateway Control signal Status signal Communication time Controller Control sigunal...
Page 167: Function Of I/O Signals
4.5 I/O Signals 4.5.2 Function of I/O Signals I/O signals are prepared for each axis No. ON means that the corresponding bit is "1" and OFF means the corresponding bit is "0". [1] Controller ready (CRDY) PLC input signal Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5...
Page 168 4.5 I/O Signals [4] Reset (RES) PLC output signal Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5 ○ : Y ○ ○ ○ ○ ○ ○ × : N The reset signal RES has two functions: it resets the alarm when an alarm is generated and suspends operation when it is in pause.
Page 169 4.5 I/O Signals [6] Home return (HOME) PLC output signal Home return complete (HEND) PLC input signal Positioning complete (PEND) PLC input signal Traveling (MOVE) PLC input signal Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5 ○...
Page 170 4.5 I/O Signals [7] Positioning start (CSTR) PLC output signal Traveling (MOVE) PLC input signal Positioning complete (PEND) PLC input signal Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5 ○ : Y ○ ○...
Page 171 4.5 I/O Signals · Value of target position register · Specified position No. target T1 ≥ 0 ms position (PLC → RCON) Turn OFF by turning PEND OFF. Start signal CSTR (PLC → RCON) ON when entering the positioning width Positioning complete signal range.
Page 172 4.5 I/O Signals [9] Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE2) PLC input signal Position zone (PZONE) PLC input signal Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5 ○ : Y △...
Page 173 4.5 I/O Signals (1) Zone signal (ZONE1, ZONE2) Turns ON in any range set in the parameter. Set the zone range in the following parameters. (1) ZONE1: Parameter No. 1 (zone boundary 1 + side), parameter No. 2 (zone boundary 1 - side) (2) ZONE2: Parameter No.
Page 174 4.5 I/O Signals (3) Set value and signal output range The zone output range varies depending on the difference between the set value on the + side and - side of the zone. (1) + side set value > - side set value: zone signal ON within the range of - side set value to + side set value, OFF when out of range (2) + side set value <...
Page 175 4.5 I/O Signals [10] + Jog (JOG+) PLC output signal - Jog (JOG -) PLC output signal Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5 ○ : Y ○ ○ ○ ○ × ○...
Page 176 4.5 I/O Signals (2) Inching (incremental) operation Inching operation is available when the JISL signal is ON. When the jog signal is turned ON once, it travels a fixed distance for the inching distance set in the parameter. When the JOG+ signal is ON, it moves in the home reverse direction, and when the JOG- signal is ON, it moves in the home direction.
Page 177 4.5 I/O Signals [11] Jog speed / inching distance switching (JVEL) PLC output signal Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5 ○ : Y ○ ○ ○ ○ × ○ × : N This is a parameter switching signal that specifies the speed and inching distance during jog and inching (incremental) operation.
Page 178 4.5 I/O Signals [12] Jog/inching switching (JISL) PLC output signal Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5 ○ : Y ○ ○ ○ ○ × ○ × : N It is a switching signal between jog operation and inching (incremental) operation. When JISL signal is OFF : Jog operation When JISL signal is ON : Inching operation If the JISL signal is switched to ON (inching) during jog operation, it decelerates and stops, and...
Page 179 4.5 I/O Signals [13] Forced brake release (BKRL) PLC output signal Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5 ○ : Y ○ ○ ○ ○ ○ ○ × : N While the forced brake release signal BKRL is ON, the brake will be released. For an actuator with brake, the brake is automatically controlled by servo ON/OFF.
Page 180 4.5 I/O Signals [14] Push-motion specification (PUSH) PLC output signal Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5 ○ : Y ○ × × × × × × : N Executing a travel command after turning this signal ON will activate push-motion operation. When this signal is OFF, normal positioning operation will be performed.
Page 181 4.5 I/O Signals [15] Push direction specification (DIR) PLC output signal Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5 ○ : Y ○ × × × × × × : N Specifies the direction of push-motion. When this signal is turned OFF, push-motion is performed toward the value obtained by subtracting the positioning width from the target position.
Page 182 4.5 I/O Signals [18] Incremental specification (INC) PLC output signal Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5 ○ : Y ○ × × × × × × : N When this signal is ON, if a travel command is executed, it will travel by the value input in the target position register of the PLC with the present position as a reference.
Page 183 4.5 I/O Signals [20] Load output judgment status (LOAD) PLC input signal Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5 ○ : Y × ○ ○ ○ × × × : N (1) Pressing operation commanded torque level detection signal It turns on when the actuator gets in the pressing operation range and also in the position zone range, and the pressing current exceeds the current value set in "Threshold"...
Page 184: Timing Of Basic Operation
iming of Basic Operation 4.6 Timing of Basic Operation 4.6.1 Preparation for Operation The procedure from turning on the RCON system to the home return command is as follows. (1) Turn on the power supply for controller and gateway units. (2) Turn ON the STOP signal input to cancel the drive shutoff status and set to conductive status.
Page 185 4.6 Timing of Basic Operation Note 1: In the RCON-NCN system, the power supply to the gateway should be turned on after the power is supplied to controllers. When the power is turned ON, the RCON-NCN system starts up. When field network communication between the gateway unit and host device is established, the gateway status signal 0 "RUN"...
Page 186: Home Return Motion
iming of Basic Operation 4.6.2 Home Return Motion When an actuator to be used is the incremental type, the mechanical coordinates will be lost if the power supply to the controllers is shut off. Therefore, it is necessary to have the home-return operation conducted when the power is turned on in order to establish the mechanical coordinates.
Page 187 4.6 Timing of Basic Operation Refer to [4.5.2 Function of I/O signals [6] Home return (HOME), Home return complete (HEND), Positioning complete (PEND), Traveling (MOVE)] for the behavior of the home-return operation in each actuator. Caution Pay attention to the following things when performing the home-return operation. ...
Page 188: Positioning Operation
Basic Operation 4.6.3 Positioning Operation Here explains the positioning operation in the RCON-NCN system. [1] Operation in direct numerical control mode Specify the data in the PLC position data specification register, positioning width register, speed register, acceleration/deceleration register and push-motion current limit value register.
Page 189 4.6 Timing of Basic Operation Target position data setting (PLC→RCON) Positioning width data (PLC→RCON) Speed data (PLC→RCON) Acceleration/Decel eration data (PLC→RCON) (Note 1) or more (Note 1) or more Positioning start CSTR (PLC→RCON) Tpdf (Note 2) Tpdf (Note 2) Positioning complete PEND (RCON→PLC) Present position...
Page 190 iming of Basic Operation [2] Simple direct mode/positioner 1 operation Set the target position data to PLC position data specification register (in simple direct mode) or register the target position to the position table (in positioner 1 mode), and register other data such as speed, acceleration/deceleration, positioning width and push-motion force in the position table for operation.
Page 191 4.6 Timing of Basic Operation Target position data setting (PLC→RCON) Command position No. (PLC→RCON) (Note 1) or more (Note 1) or more Positioning start CSTR (PLC→RCON) (Note 2) (Note 2) Tpdf Tpdf Positioning complete PEND (RCON→PLC) Present position (RCON→PLC) ≦1Mt ≦1Mt ≦1Mt Traveling...
Page 192 iming of Basic Operation [3] Operation in positioner 2, 3, and 5 modes Register the target position, speed, acceleration/deceleration, positioning width, push-motion and the like to the RCON position table.  Operation example (positioning operation) <Preparation> Using the gateway parameter configuration tool, set the axis number to be used in the positioner 2, 3 or 5 mode.
Page 193 4.6 Timing of Basic Operation Command position No (PLC→RCON) or more (Note 1) Positioning start CSTR (PLC→RCON) (Note 2) Tpdf Positioning complete PEND (RCON→PLC) (In positioner 5 mode) Present position (RCON→PLC) ≦1Mt ≦1Mt Traveling MOVE (RCON→PLC) Completed position No. (RCON→PLC) Positioning width Actuator travel...
Page 194: Push-Motion Operation
Basic Operation 4.6.4 Push-motion Operation Here explains the pressing operation in the RCON-NCN system. (1) Basic operation After moving to the set target position as shown below, advance at the set push speed with push motion by the positioning width set as the maximum travel amount.
Page 195 4.6 Timing of Basic Operation [Operation in direct numerical control mode] Specify the data in the PLC position data specification register, positioning width register, speed register, acceleration/deceleration register and push-motion current limit value register.  Operation example (push-motion operation) <Preparation> Using the gateway parameter configuration tool, set the axis number to be used in the direct numerical control mode.
Page 196 iming of Basic Operation Target position data setting (PLC→RCON) Positioning width data / push width data (PLC→RCON) Speed data (PLC→RCON) Acceleration/Decel eration data (PLC→RCON) Push-motion current limit value (PLC→RCON) Push-motion specification PUSH (PLC→RCON) Specified push direction (PLC→RCON) Positioning start (13) CSTR (PLC→RCON) (10)
Page 197 4.6 Timing of Basic Operation ● Push mode specification • For positioner 1 to 3 and 5 mode and simple direct mode, set a numerical value to something other than 0 in the "Push" column of the position table. (Pushing current limit value) •...
Page 198 iming of Basic Operation (2) For push-motion contactless Even if it travels the distance set for positioning width, positioning complete signal PEND will not be output if it has not pushed the workpiece (the current of the motor has not reached the current limit value at the time of pushing).
Page 199 4.6 Timing of Basic Operation (4) If push direction is set incorrectly If the push direction is set incorrectly, be careful as it will be displaced by "positioning width × 2" as shown below. Speed Intended operation Actual operation Travel distance Positioning Positioning width Positioning width...
Page 200 iming of Basic Operation (6) When SEP is set as push mode The 24V type controller (PCON/ACON/DCON-CYB/PLB/POB) is capable to change the (Note 1) pressing method to SEP type by setting Parameter No. 181 to "1". (Note 2) [Push Mode (Parameter No. 181)] Name Unit Input range...
Page 201 4.6 Timing of Basic Operation PCON function only (7) Pressing operation commanded torque level detection It is a signal dedicated for the high-thrust actuator that possesses the stepper motor specification (PCON-CFB/CGFB Type). It should be used as a reference for output when it is used for an actuator other than the motor specification high-thrust type.
Page 202: Pausing
4.6 Timing of Basic Operation 4.6.5 Pausing Deceleration to a stop occurs when the pause command signal STP is set to "1" (ON) during actuator operation and the remaining travel distance is suspended. If the STP signal is set to "0" (OFF) again, movement over the remaining travel distance is resumed.
Page 203: Speed Changes While Traveling
4.6 Timing of Basic Operation 4.6.6 Speed Changes While Traveling Multiple speed control is possible with one operation. While traveling, you can slow down or speed up from a given point. However, position data is required every time the speed changes. Position 1 Position 2 Position 1...
Page 204 4.6 Timing of Basic Operation Caution  When the positioning start signal CSTR is set to "1" (ON), positioning complete signal PEND changes to "0" (OFF) and the moving signal MOVE changes to "1" (ON). Set the start signal CSTR to "1" (ON); after confirming that the PEND signal is "0" (OFF), set the CSTR signal back to "0"...
Page 205: Operation At Different Acceleration/Deceleration Speeds
4.6 Timing of Basic Operation 4.6.7 Operation at Different Acceleration/Deceleration Speeds Multiple Acceleration/deceleration control is possible with one operation. While traveling, you can slow down or speed up from a given point. However, it is necessary to have the position data every time the velocity is changed.
Page 206: Operation By Specifying Relative Coordinates
4.6 Timing of Basic Operation 4.6.8 Operation by Specifying Relative Coordinates Relative coordinates for the target position of the position table can also be specified, allowing use for equidistant positioning operations. (1) Example for operation in positioner 1 to 3 and 5 mode Here is an example for positioning with 50mm pitch starting from position No.
Page 207 4.6 Timing of Basic Operation Command position Position 1 Position 2 Positioning start (CSTR) Positioning complete (PEND) Completed position Position 1 Position 2 Position 2 Traveling (MOVE) Zone signal (PZONE) Actuator travel Time Distance from home *T1: Make a pitch considering the scan time of the host controller. [Description of operation] (1) Positioning to position 1 (100.00mm) is carried out (2) When positioning to position 1 is completed, positioning complete signal PEND changes to...
Page 208 4.6 Timing of Basic Operation (2) Precautions for positioning operation When selecting and inputting position No. of the relative coordinates during positioning operation and performing start input, it travels to the first position plus the amount of relative travel. (If the amount of relative travel is negative, it moves to the position subtracted from the first position.) Example) If start input of position 2 is performed during travel to position 1, it will go to a position 40mm from home.
Page 209 4.6 Timing of Basic Operation (3) Precautions for push-motion operation When selecting and inputting position No. (pushing designation) of the relative coordinates while traveling in push mode, it travels to the input position plus the relative travel amount. Therefore, the end point position is not fixed. Example) If start input of position 2 is performed during travel to position 1 in push mode, it will go to a position 10mm from the input position.
Page 210: Shortcut Control Of Multi-Rotation Specification Rotary Actuator
4.6 Timing of Basic Operation 4.6.9 Shortcut Control of Multi-rotation Specification Rotary Actuator (1) Setting shortcut selection Shortcut selection can be set to enabled/disabled in parameter No. 80 "Rotary axis shortcut select". When shortcut selection is enabled, it is also possible to operate only in the same direction.
Page 211 4.6 Timing of Basic Operation (2) Infinite rotation control When shortcut selection is enabled for continuous operation in the same direction, it is possible to perform continuous rotation in the same manner as a motor. Proceed as follows to perform continuous operation.
Page 212 4.6 Timing of Basic Operation 4-96 ME0456-1A...
Page 213 RCON-NCN Chapter Parameter Parameter Overview ············································ 5-1 Gateway Parameter ············································· 5-2 5.2.1 Configuration of Gateway Parameters ························ 5-2 5.2.2 Network Setting ····················································· 5-3 5.2.3 Special Parameter List ············································ 5-10 5.2.4 Details of Special Parameters ··································· 5-11 Setup Parameters on Controller ····························· 5-14...
Page 214: Parameter Overview
5.1 Parameter Overview Parameters are the data to set up considering the system and application There are two types of parameters as shown below in the RCON-NCN system. ● Gateway parameter: A parameter to set gateway unit. A parameters related to network configuration and gateway unit processing.
Page 215: Gateway Parameter
5.2 Gateway Parameter 5.2 Gateway Parameter 5.2.1 Configuration of Gateway Parameters There are two types as follows in the gateway parameters. [1] Network setting "Communication setting", "Axis control settings" and "Occupation size information (Master Registration Information)" should be displayed. Establish the setting in accordance with the master depending on the connected network type. [2] Special parameters Sets parameters related to gateway unit processing.
Page 216: Network Setting
5.2 Gateway Parameter 5.2.2 Network Setting Here, explains the content in the network setting screen. [1] Communication setting Axis control settings [3] Occupied size information (Master Registration Information) [1] Communication setting The content of display should differ depending on the used driver or network. Establish the setting in accordance with the master.
Page 217 5.2 Gateway Parameter [CC-Link IE Field] Item Initial setting Settable Range Network type CC-Link IE Field Not Available for Change Network No. 1 to 239 Station number 1 to 120 Setting Not Necessary Baudrate Auto (Fixed at 1Gbps) MAC address (*1) Specific to Product Setting Not Available...
Page 218 5.2 Gateway Parameter [EtherCAT] Item Initial setting Settable Range Network type EtherCAT Not Available for Change Address 0 to 65,535 Setting Not Necessary Baudrate Auto (Fixed at 100Mbps) [EtherNet/IP] Item Initial setting Settable Range Network type EtherNet/IP Not Available for Change IP address 192.168.0.1 0.0.0.0 to 255.255.255.255...
Page 219 5.2 Gateway Parameter [PROFIBUS-DP] Item Initial setting Settable Range Network type PROFIBUS-DP Not Available for Change Address 0 to 125 Setting Not Necessary Baudrate Auto (Follows automatically to master setting) [PROFINET IO] Item Initial setting Settable Range Network type PROFINET IO Not Available for Change Setting Not Necessary Baudrate...
Page 220 5.2 Gateway Parameter [2] Axis control settings (1) Axis number / Unit configuration setting (2) Operation mode setting (1) Axis number / Unit configuration setting For operation related to setup, refer to [3.5.2 Setting in IA-OS and Gateway Unit].  Number of axes setting Set up the number of units of the controller connected to the gateway unit.
Page 221 5.2 Gateway Parameter [3] Occupied size information (Master registration information) The occupation information should vary depending on the number of connected controller and the operation mode setting in each controller. Described below is some examples of occupation information in each network type. [CC-Link] [CC-Link IE Field] [DeviceNet]...
Page 222 5.2 Gateway Parameter [EtherNet/IP] [PROFIBUS-DP] [PROFINET IO] ME0456-1A...
Page 223: Special Parameter List
5.2 Gateway Parameter 5.2.3 Special Parameter List Shown below is the special parameter list. Default initial Relevant Name Unit Input range value setting page 0: invalid 0: invalid Latch in ERR_T/C － 5.2.4 (1) 1: valid 0: invalid 0: valid −...
Page 224: Details Of Special Parameters
1: valid Whether to continue an error even in a status that is capable of recovering after ERR_T (communication error between RCON-NCN gateway and connected controllers) or ERR_C (field network communication error) has occurred. If ERR_T and ERR_C occurs while the parameter is enabled, the status of ERR_T and ERR_C would not be canceled even after the communication line gets recovered.
Page 225 5.2 Gateway Parameter (5) MON signal Name Unit Input range Default initial value setting MON signal − 0: valid, 1: invalid 0: valid MON Signal should be switched over between enable and disable. Select whether to use MON signal to control enable/disable of the PLC → gateway unit commands.
Page 226 5.2 Gateway Parameter (7) WORD swap in W-WORD data Name Unit Input range Default initial value setting WORD swap in W-WORD data − 0: invalid, 1: valid 0: invalid Sets whether the W word size data is to be swapped in word size. W Swaps the upper and lower levels of word-sized send / receive data on a word-by-word basis.
Page 227: Setup Parameters On Controller
5.3 Setup Parameters on Controller 5.3 Setup Parameters on Controller The list of parameters on a controller to be set when connected to the RCON-NCN system is as shown below. For details related to other parameters, refer to [instruction manual for each controller].
Page 228 The time to return the response (sending data) to the host side after receiving a command (received data) should be set during the SIO communication. It is necessary to set it to 2 [ms] when it is to be used in the RCON-NCN system. [3] PIO Pattern select (Parameter No. 25)
Page 229 5.3 Setup Parameters on Controller [5] Network type (Parameter No. 87) Name Unit Input range Default factory setting － Network parameters 0: None 0 (valid) This parameter is exclusively used for the controller of field network specification. (Note) It is necessary to set it to "0 (No Network)" when a field network type controller is to be connected to the gateway unit.
Page 230 5.3 Setup Parameters on Controller 5-17 ME0456-1A...
Page 231: Chapter 6 Troubleshooting
RCON-NCN Chapter Troubleshooting Troubleshooting ·················································· 6-1 About Gateway Alarm ··········································· 6-2 6.2.1 Gateway Alarm Level ·············································· 6-2 6.2.2 Causes and Countermeasures of Individual Alarms ······· 6-3 Controller Alarm ·················································· 6-5 6.3.1 Alarm Levels ························································· 6-5 6.3.2 Simple Alarm Codes ··············································· 6-6...
Page 232: Troubleshooting
If a problem occurs, check the following points first in order to ensure quick recovery and prevent recurrence of the problem. (1) Check the status LED (SYS LED/ALM LED) of each RCON-NCN system device Check the LED status on the gateway unit and controller.
Page 233: About Gateway Alarm
 If the same error occurs again after clearing the alarm, the cause of the alarm has not been resolved.  If a controller or actuator is found malfunctioned, consider to repair or replace it. You will be able to apply for a repair in the IAI homepage. https://www.iai-robot.co.jp/support/repair/index.html ME0456-1A...
Page 234: Causes And Countermeasures Of Individual Alarms
Countermeasure: Check field network settings (node address, communication speed, etc.), wiring, etc. Dependent axis Cause: It is a communication error between the RCON-NCN (860) communication error gateway and a controller. Communication failure with driver (ERR-T) unit connecting actuator axes.
Page 235 Cause: 1) Abnormal reset detected in gateway board interior CPU. (8FA) 2) A communication line on one unit of a 24V DC power supply unit supplied by IAI (model code: PSA-24) is connected to multiple gateway units. Countermeasure: 1) Reboot the power.
Page 236: Controller Alarm
6.3 Controller Alarm 6.3 Controller Alarm Here explains the alarms generated in a controller connected to the RCON-NCN system. * When an alarm is generated, operation of an actuator should basically be stopped and the servo should turn off. 6.3.1 Alarm Levels Alarms are classified into 3 levels depending on the content of the error.
Page 237: Simple Alarm Codes
6.3 Controller Alarm 6.3.2 Simple Alarm Codes When an alarm is generated, the simple alarm code is read by the complete position register (PM8 to PM1) in each mode: simple direct, positioner 1, positioner 2, and positioner 5. : ON : OFF ...
Page 238 6.3 Controller Alarm : ON : OFF   ALM8 ALM4 ALM2 ALM1 Binary Contents: ( ) indicates alarm code (PM8) (PM4) (PM2) (PM1) Code Deviation counter in homing incomplete status overflow (0D5) Deviation overflow (0D8)     ...
Page 239: Alarm Code List
6.3 Controller Alarm 6.3.3 Alarm Code List Here describes the symbols in the alarm code list showing the types of the applicable controllers. P: PCON (Stepper motor) RCP Series A: ACON (24V AC Servo motor) RCA Series and RCL Series D: DCON (DC brush-less motor) RCD Series S: SCON (200V AC Servo motor)
Page 240 6.3 Controller Alarm PCON ACON DCON SCON Alarm Alarm name CFB/ code CGFB PIO Feature assignment ● ● ● error Parameter data error ● ● ● ● ● ● ● ● Position data error ● ● ● ● ● ● ●...
Page 241 6.3 Controller Alarm PCON ACON DCON SCON Alarm Alarm name CFB/ code CGFB I/O 24V power supply error ● Excessive motor power ● ● ● ● ● supply voltage Motor power supply voltage ● Drive source error ● ● ● ●...
Page 242 6.3 Controller Alarm PCON ACON DCON SCON Alarm Alarm name CFB/ code CGFB Non-volatile memory data ● ● ● ● ● ● ● ● destruction CPU error ● ● ● ● ● ● ● ● FPGA error ● Logic error ●...
Page 243: Maintenance And Inspection
RCON-NCN Chapter Maintenance and Inspection Periodic Inspection ·············································· 7-1 7.1.1 Caution in Regular Inspection ··································· 7-1 7.1.2 Periodic Inspection Items ········································· 7-2 Preventive Maintenance Function ··························· 7-4 7.2.1 Maintenance Information ········································· 7-4 Predictive Maintenance Function ···························· 7-7 7.3.1 Fan Rotation Speed Monitoring ································· 7-7...
Page 244: Periodic Inspection
7.1 Periodic Inspection 7.1 Periodic Inspection In order to use the RCON-NCN system functions in the best possible condition, it is necessary to perform daily or periodic inspections. Refer to [an instruction manual] for each actuator for the maintenance for actuator.
Page 245: Periodic Inspection Items
7.1 Periodic Inspection 7.1.2 Periodic Inspection Items The RCON-NCN systems contain electronic components that may degrade due to the operating environment and require periodic inspection. It is standard to conduct periodic inspection once every 6 months to one year, but the interval should be shortened in accordance with operating environment.
Page 246 7.1 Periodic Inspection Inspection Inspection details Judgment criteria Countermeasures items Wiring connectors loose? (Motor encoder cable, field network cable, stop circuit, connection cable No looseness Insert until the lock engages. between SCON extension unit and Connection SCON, cable between status simple absolute unit and driver unit, etc.) No visual...
Page 247: Preventive Maintenance Function
7.2 Preventive Maintenance Function 7.2.1 Maintenance Information In the RCON-NCN system, it is available to record the count of an actuator move and drive distance on each controller. The following data should be integrated and recorded to the driver unit.
Page 248 7.2 Preventive Maintenance Function [Maintenance Information Setting in Teaching Tool] Maintenance information can be checked and set with the following procedures. • TB-02/TB-03 Monitor → Maintenance • TB-02/TB-03 Information → Maintenance Information • PC software Monitor (M) → Maintenance Information (I) → Axis selection As a reference, shown below is how to operate using a teaching pendant TB-02.
Page 249 7.2 Preventive Maintenance Function ● Basic Operation in Maintenance Information Screen Using TB-02 To set the target value, touch the Edit of the relevant item. The set value will blink and Ten Key screen will open. Enter the value with the Ten Key pad and touch the ENT .
Page 250: Predictive Maintenance Function
The revolution count of a fan in a controller equipped with a fan (PCON-CFB/CGFB, SCON- CB/CGB (400W or more) connected to the RCON-NCN system is monitored. A message level alarm is generated (alarm 04C "Fan rotation speed drop") when the fan rotation speed decreases 30%.
Page 251: Overload Warning
7.3 Predictive Maintenance Function 7.3.2 Overload Warning Using this function enables monitoring of motor temperature changes caused by dried-up grease or wear and tear on parts. A warning is output when the preset value is exceeded. This enables detection of abnormalities before a breakdown or a malfunction occurs. [For Driver Unit] Load Alarm Occurred...
Page 252 7.3 Predictive Maintenance Function [Overload load level ratio (Parameter No.143)] Name Unit Input range Default initial value setting Overload load level ratio 50 to 100 Outputs alarm 048 "overload warning" (message level) when motor temperature exceeds the ratio set in this parameter if motor temperature under rated operation is set as 100%. No judgment will be made when set as 100%.
Page 253: Warranty
RCON-NCN Chapter Warranty 8.1 Warranty Period ···················································· 8-1 8.2 Scope of the Warranty ············································ 8-1 8.3 Honoring the Warranty ············································ 8-2 8.4 Limited Liability ······················································ 8-2 8.5 Conformance with Applicable Standards/Regulations, etc., and Application Conditions ································ 8-2 8.6 Other Items Excluded from Warranty ·························· 8-3...
Page 254: Warranty Period
Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or malfunction in question pertains to our product as delivered by IAI or our authorized dealer.
Page 255: Honoring The Warranty
(4) Equipment used to handle cultural assets, art or other irreplaceable items (3) Contact IAI in advance if our product is to be used in any condition or environment that differs from that specified in the catalog or instruction manual.
Page 256: Other Items Excluded From Warranty
8 Warranty 8.6 Other Items Excluded from Warranty The price of the product delivered to you does not include expenses associated with programming, the dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during the warranty period: (1) Guidance for mounting/adjustment and witnessing of test operation (2) Maintenance and inspection...
Page 257: Revision History
Revision history Revision history Revision date Revised content 2021.11 First Edition Post-1 ME0456-1A...

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