IAI RCON Instruction Manual

Sscnet iii/h specifications, r-unit

Hide thumbs Also See for RCON:

Instruction manual (838 pages)

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

page of 140

/ 140
Bookmarks

Quick Links

Download this manual

Instruction Manual

This instruction manual describes contents regarding mainly

RCON Motion system control function of about. For those not

described in this manual should refer to RCON System

Instruction Manual (ME0384).

Motion System

SSCNET III/H Specifications

First Edition

ME0428-1B

RCON Motion

System

Specifications for

Unit

Installation, Wiring,

Setting

Transient

Commands

About Parameters

About Driving

Troubleshooting

Warranty

Appendix

Chapter

Need help?

Do you have a question about the RCON and is the answer not in the manual?

Questions and answers

Summary of Contents for IAI RCON

Page 1 About Parameters Chapter About Driving Chapter Troubleshooting Chapter Warranty Chapter Appendix Chapter This instruction manual describes contents regarding mainly RCON Motion system control function of about. For those not described in this manual should refer to RCON System Instruction Manual (ME0384).
Page 3 ● 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 RCON Motion Network Manual Configuration RCON Motion Network Manual Configuration [1] Instruction Manual Control Product name Manual name number RCON-GW(G)/LC(G) First Step Guide ME0384 Gateway Unit RCON Motion First Step Guide ME0433 Gateway Unit First Step Guide RCON 24V Driver Unit...
Page 5 RCON Motion Network Manual Configuration [2] Quick Start Guide “Japanese Only” ME0428-1B...
Page 6 3.1.2 Noise Countermeasures and Mounting Method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-3 3.2 Wiring ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-5 3.2.1 Wiring of Gateway Unit Power Supply Connector ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-5 3.2.2 200V Power Supply Wiring to RCON Motion System ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-7 3.2.3 Actuator Connecting ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-9 3.2.4 Field Network Wiring ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-12...
Page 7 7.1 Caution in Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-1 7.1.1 Encoder Type ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-1 7.1.2 About Linear Spurious Absolute Type ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-2 7.1.3 About RCON-PC/PCF Standard Resolution Battery-less Absolute Type ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-2 7.1.4 Availability in Absolute Position Detection System ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-2 7.2 About Home-Return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-3 7.2.1 Home-Return Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
Page 8 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-2 9.6 Other items excluded from warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-2 Chapter 10 Appendix 10.1 Connectivity of of Sequencer and RCON Motion System ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-1 10.1.1 Necessary Devices and Software ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-1 10.1.2 How to Establish Connection ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-2 Revision History ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Post-1...
Page 9 Workflow Workflow Shown below is the flow of the work. Confirm that the software necessary for the RCON motion system setting is installed in the PC. Refer to [1.7 Instruction Manual of Each Software Described in Used Tools] Have the RCON motion system assembled and wired.
Page 10 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 11 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 12 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 13 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 14 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 15 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 16 1. The master unit RCON-GW/GWG applicable for motion should be described as “RCON motion unit”. 2. The system that the master unit is structured with the gateway unit applicable for motion (RCON- GW/GWG-SSN) should be described as “RCON motion system”.
Page 17 Precautions for Handling Precautions for Handling Make sure to follow the usage condition, environment and use 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 following item and use compatible tools for PC software and teaching pendant usable for this controller.
Page 18 Precautions for Handling External communication ports There are three types of communication ports including an option in the RCON motion gateway unit. · SIO port (RS-485 round connector) · USB port (USB mini-B connector) · Ethernet port (RJ-45 connector) * It is an option.
Page 19 Also, SSCNET /H is not applicable for the torque control mode. Availability to Option Unit RCON Motion Gateway Unit does not support connection to the following option units. · EC connection unit (Model code: RCON-EC-4) · PIO unit (Model code: RCON-NP/PN-*) ·...
Page 20 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 ○ ○ ○ Intro-12 ME0428-1B...
Page 21 RCON - Motion Chapter RCON Motion System 1.1 Overviewꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-1 1.2 System Configuration ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-2 1.3 Unit List ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-3 1.4 Model Code ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-7 1.5 Specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-11 1.5.1 General Specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-11 1.6 Power Capacity ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-13 1.7 Used Tools ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1-14...
Page 22 1.1 Overview 1.1 Overview The RCON motion unit is a gateway unit that is capable of activating an actuator connected to a driver unit in the RCON motion system with the motion control commands from a motion controller that is the host device.
Page 23 RCP/RCA Model: RCON-ABU-A (for AC servo motor) Note1: The following 200V servo-motor actuators cannot be connected to the RCON-SC. 1) Motor types other than those from 60W to 750W (Except RS-30W Type) 2) Encoder types other than battery-less absolute or incremental type 3) For 3-Phase 200V ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
Page 24 1.3 Unit list 1.3 Unit List The units that configure the RCON motion system are listed below. (1) RCON motion unit, Terminal unit, Fan unit Terminal unit Type RCON Motion Unit (When Using Terminal Unit for 200V Only 24V Unit) Model RCON-GW(G)-＊...
Page 25 AC servo motor power supply unit unit Model RCON-ABU-A RCON-SC-1 RCON-PS2-3 code RCON-ABU-P External Max. Axes 1 axis －－ Quantity Enclosure RCON-FUH enclosed RCON-FU enclosed * The simple absolute unit is to be connected to the driver unit. ME0428-1B...
Page 26 * It is not applicable for connectivity with the SIO/PIO/SCON extension unit, PIO extension unit and EC connection unit. Supported version of driver unit The versions of driver units applicable for RCON Motion System are as shown below. Controller RCON motion compatible version...
Page 27 One unit to be installed for one unit of Fan unit for 200V driver RCON-FUH RCON-SC (enclosed in 200V driver unit) This manual explains the SSCNET III/H specifications in the RCON motion system. See [RCON MECHATROLINK-III (Control Number: ME0426)] for the MECHATROLINK-III connection specification, and [RCON EtherCAT...
Page 28 1.4 Model Code 1.4 Model Code RCON motion unit RCON －－－ Type Options Standard Type Safety Category Type Ethernet port installation specification Fan unit mounting (*: Specify the number of units, 1 to 4) Without terminal unit Field network...
Page 29 Number of axes Stepper motor 1-axis specification type 2-axis specification Compatible to stepper motor 56SP/60P/86P AC servo motor * Only 1-axis specification for RCON-PCF and type RCON-SC DC brushless motor type 200V AC servo motor type (3) 200V power supply unit –...
Page 30 1.4 Model Code (4) SCON extension unit RCON – (5) Simple absolute unit RCON – – Motor types Stepper motor type AC servo motor type ME0428-1B...
Page 31 24V driver units and when it consists of the 200V driver units. When the 200V driver units are to be used, make sure to use the terminal unit for 200V (RCON- GW-TRS) enclosed in the 200V power supply unit. The terminal unit for 24V...
Page 32 1.5 Specifications 1.5 Specifications 1.5.1 General Specifications The specifications regarding installation conditions are listed below. Item Specifications Ambient operating 0 to 55°C (0 to 40°C for Simple Absolute Unit and SCON-CB) temperature Ambient operating 5 to 85%RH (There should be no water condensation or freeze) humidity Ambient storage -20 to 70°C (0 to 40°C for Simple Absolute Unit)
Page 33 1.5 Specifications The specifications regarding control are listed below. Item Specifications Number of controlled 1 to 8-axis axes Motor/encoder cable: 20 m or less (10 m or less for RCD), Motor Cable for 200V Motor: 30m or less Cable length Encoder Cable for 200V Motor: 30m or less SCON connection cable: 3 m or less per cable, total length of 10 m or less Motion field network...
Page 34 1.6 Power Capacity [Power Capacity] The power capacity and the current limit value for RCON Motion Unit are the same as those for RCON Gateway Unit. For the power capacity of RCON Motion System, refer to the [RCON System Instruction Manual (ME0384) Specifications Section 2.3.3 Power supply capacity].
Page 35 1.7 Used Tools 1.7 Used Tools The applicable versions of the tools available for startup and operation of RCON Motion System are described as follows. The gateway parameter setting tool is enclosed to the PC software. Refer to the following instruction manuals for how to operate the PC software and teaching pendants.
Page 36 1.7 Used Tools 1-15 ME0428-1B...
Page 37 RCON - Motion Chapter Specifications for Unit 2.1 RCON Motion Unit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-1 2.1.1 Overview ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-1 2.1.2 Model Code ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-2 2.1.3 Components ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-3 2.1.4 Part names/Functions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-4 2.1.5 External Dimensions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-14 2.2 Field Network Specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-15 2.2.1 Specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
Page 38 It is capable of connecting 8 axes at the maximum of SCON-CB via the driver unit (RCON- PC/PCF/AC/DC/SC) for ROCN System, SCON Extension Unit.
Page 39 2.1 RCON Motion Unit 2.1.2 Model Code RCON －－－ Type Options Standard Type Safety Category Compatible Type Ethernet port installation specification Fan unit mounting (*: Specify the number of units, 1 to 4) Without terminal unit ME0428-1B...
Page 40 2.1 RCON Motion Unit 2.1.3 Components The following table shows the product configuration for the standard specification. See the packing list for the details of the enclosed components. In the unlikely case that any model number errors or missing parts come to light, please contact your dealer or us.
Page 41 2.1 RCON Motion Unit 2.1.4 Part names/Functions Ethernet connector T RUN LED AUTO/MANU switch SYS LED SIO connector Field network connector USB connector STOP LED System I/O connector MODE LED C ERR LED Motor power connector STATUS 0 LED Control power connector...
Page 42 2.1 RCON Motion Unit [1] LED Display LED for indicating gateway unit status and field network status. Panel Display Status Description notation color Light ON Normal internal bus communication Green T RUN Blinking Waiting for initialization signal Orange Light ON...
Page 43 2.1 RCON Motion Unit [2] Ethernet Connector A connector for connecting to Ethernet. Equipped only when the Ethernet option is selected. Pin No. Signal name Description Transmit data + side Transmit data - side Receive data + side Not connected...
Page 44 2.1 RCON Motion Unit [4] SIO Connector A connector for connecting the teaching pendant to PC software. PC software can also be connected with a USB. Pin No. Signal name Description Teaching pendant/RS-485 differential signal for PC + TP_SD+ side...
Page 45 It is a connector to be connected to the PC software or gateway parameter setting tool. For use, it is necessary to install the USB connection driver for RCON. For how to install the driver, refer to [PC Software IA-OS First Step Guide (ME0391)].
Page 46 2.1 RCON Motion Unit [6] System I/O Connector External AUTO/MANU switching input, STOP input, PSA-24 serial communication line equipped. Note that the following pin No. are short-circuited at shipment. (Pins #1 and #6, pins #2 and #7, pins #3 and #8) Cable side connector name: DFMC1.5/5-ST-3.5 (Phoenix Contact)
Page 47 Strip length 15.0mm Rated temperature on isolation coating 60°C or more Caution ● Select a wire with thickness that tolerates the rated current total value obtained in [RCON System Instruction Manual (ME0384) Specifications Section 2.3.3 Power supply capacity]. 2-10 ME0428-1B...
Page 48 Strip length 10.0mm Rated temperature on isolation coating 60°C or more Caution ● Select a wire with thickness that tolerates the rated current total value obtained in [RCON System Instruction Manual (ME0384) Specifications Section 2.3.3 Power supply capacity]. 2-11 ME0428-1B...
Page 49 2.1 RCON Motion Unit [9] Field Network Connector A connector for connecting to field networks. Field network details are listed in "2.2 Field Network Specifications (page 2-15)". [10] Connectors connector for use between units. Two identical connectors are used. The connectors have a floating structure that absorbs connector misalignment due to housing mating or mounting misalignment between connectors.
Page 50 ● The terminal unit to be used should differ depending on the cases when the 200V driver unit is not connected and when it is. the terminal unit (RCON-GW-TR) shown in this page is a terminal unit for 24V that is to be used when the 200V driver unit is not to be connected.
Page 51 2.1 RCON Motion Unit 2.1.5 External Dimensions The external dimensions of the RCON motion unit is the same as those of the RCON gateway unit. Item Specifications External dimensions W 30mm  H 115mm  D 95mm Mass About 170g...
Page 52 * A optical fiber cable needs to be prepared by the user. 2.2.2 Part Names P1 (Port 1) Connect to top line of network (PLC side) P2 (Port 2) Connect to bottom line of network RCON-GW(G)-SSN Top view 2-15 ME0428-1B...
Page 53 PLC PLC not connected, or power turned off  × Communication alarm is generated Orange * For RCON Motion system, this lights turns on when any of the ○ axes is connected alarm. ☆ Error in network initialization Orange In normal condition (no alarm generated), ...
Page 54 2.3.4 Simple Absolute Unit Refer to RCON System instruction manual (ME0384) [Specification Section Chapter 9, Simple Absolute Unit]. Supported version of driver unit The versions of driver units applicable for RCON Motion System are as shown below. Controller RCON motion compatible version RCON-PC/PCF...
Page 55 3.1.2 Noise Countermeasures and Mounting Method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-3 3.2 Wiring ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-5 3.2.1 Wiring of LC Unit Power Supply Connector ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-5 3.2.2 200V Power Supply Wiring to RCON Motion System ꞏꞏꞏꞏꞏ 3-7 3.2.3 Actuator Connecting ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-9 3.2.4 Field Network Wiring ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3-12 3.3 Setting ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
Page 56 3. Installation, Wiring, Setting In this chapter, states the guideline of installation, wiring and procedures for setting. For details, refer to [RCON System Instruction Manual (ME0384)]. ME0428-1B...
Page 57 3.1 Installation 3.1.1 Installation and Mounting Consider the size of the control panel, placement of the RCON motion system, cooling and the like when designing and manufacturing so that the ambient temperature is 0 to 55°C. (If it has no fan unit, there is derating.) When installing a simple absolute unit or SCON on the same control panel, design and manufacture so that the ambient temperature is 0 to 40°C.
Page 58 3.1 Installation 3.1.2 Noise Countermeasures and Mounting Method (1) Grounding for noise countermeasures (frame ground) [24V DC] Connect the ground wire to the FG terminal block of the main Controller body. Push in the square hole with a screwdriver or the like to connect. Annealed copper wire: 1.6 mm Controller diameter...
Page 59 3.1 Installation (3) Noise sources and noise prevention For the same power supply path and power supply device in the same device, take measures against Anti-noise noise. Countermeasure examples for noise sources are Relay shown below. coil 1) AC solenoid valve / magnetic switch / relay [Measure] Install an anti-noise device in parallel Relay coil with the coil.
Page 60 (4) Remove the screwdriver. Connect the "24V" of MP (motor power connector) to the +24V terminal of the RCON motion unit 24V DC power supply. Motor power connector Connect the "0V" of MP (motor power connector) to the 0V terminal of the 24V DC power supply.
Page 61 3.2 Wiring [Electric wire diameter used for RCON motion gateway unit 24V power supply wiring] For the wires to be connected to the power connector, use the following compatible wire. Compatible wire Signal name Content Compatible wire Motor drive power supply...
Page 62 Join the power supply connector and connect wires to each terminal in order to supply motor power to the 200V driver unit. See the figure below and the following wiring diagram and have the processes in Insert the power supply connector to the 200V power supply unit (RCON-PS2). 200V Power Supply Unit RCON-PS2...
Page 63 * Use cables with their rated temperature on the isolation sheath at 60°C or higher. The controller current consumption varies depending on the controller model and the motor type of the actuator to be connected. Refer to [RCON System instruction manual Specification Section Chapter 2, 2.3 Specifications/ Power supply capacity]. Caution ●...
Page 64 3.2 Wiring 3.2.3 Actuator Connecting [Checking actuator and driver unit model numbers] Before connecting the actuator, make sure that the combination with the driver unit is correct. Connectable actuator models are listed on the model number sticker on the bottom front of the driver unit.
Page 65 Depending on the actuator model, conversion cable CB-CAN-AJ002 and connector conversion unit RCM-CV-APCS may be required to connect the driver unit and the simple absolute unit. ● Connecting RCP/RCA Series and RCON motion system other than the above RCON Motion System Connection cable...
Page 66 3.2 Wiring ● Connection between 200V AC Servo-motor Actuator and 200V Driver Unit 200V Driver Unit RCON-SC RCON Motion System Insert till end Actuator side Encoder cable Encoder cable CB-***-P(L)A*** Actuator Actuator side Motor cable Encoder cable CB-***-MA*** Insert till end...
Page 67 3.2 Wiring 3.2.4 Field Network Wiring In this manual, introduces an example of establishing connection of RCON Motion System to SSCNET III/H Motion Unit installed to the sequencer supplied by Mitsubishi Electric. [Connecting the PLC and two RCON motion systems]...
Page 68 3.3 Setting 3.3 Setting The user parameters necessary to be established in order to have SSCNET III/H communication are as shown below. Parameter settings related to the SSCNET III/H network should be established in the gateway parameter setting tool and the driver unit parameter settings should be established in the RC PC software.
Page 69 (2) Select and click RCON (Motion) SelectGwType screen from SelectGwType screen. Select Click (3) Clicking will open the Parameter Configuration Tool for IAI Gateway Unit main screen. SelectGwType screen Parameter Configuration Tool for IAI Gateway Unit main screen Click 3-14...
Page 70 3.3 Setting Import the parameters. (1) Click on the Parameter Parameter Configuration Tool for IAI Gateway Unit Configuration Tool for IAI Gateway main screen Unit main screen. Click (2) When the Confirm screen appears, Confirm screen click Click (3) When the Information screen...
Page 71 RCON motion system. Confirmation regarding the settings necessary for communication with the gateway and drivers in the RCON motion system should be held. In here, click [Yes (Y)] to proceed for the parameter settings.
Page 72 3.3 Setting Reflect the edited parameters. Click on the Parameter Parameter Configuration Tool for IAI Gateway Unit Configuration Tool for IAI Gateway main screen Unit main screen. Click (2) When the Confirm screen Confirm screen appears, click Click Information screen...
Page 73 Set the address for SSCNET III/H communication. The address set the number of driver axes occupied in the RCON motion system. In here, set the first value of the occupied address. (*) Example of using several units of RCON Motion System: If the number of driver axes in the 1st unit is "6"...
Page 74 3.3 Setting ● Setting at Delivery : 0 (The default is set to “0” as the number of axes is unclear) [4] Reservation Setting This is to be set up in order to secure an axis number or when the axis control is not to be conducted.
Page 75 [1] Selection of Controller Open the gateway parameter setting tool. Select “RCON (Motion)” and the screen for RCON motion system should open. [2] Main Screen Initial Display Read in parameters in the main screen (initial state) for “RCON (Motion)” selected.
Page 76 3.3 Setting [3] Main Screen (After Parameters Read in) Main screen after reading parameters (SSCNET III/H) Data of “Configuration setting” should be displayed. [4] File Menu There is no difference from RCON Motion System for the file menu. 3-21 ME0428-1B...
Page 77 3.3 Setting [5] Setting Menu [5]-1 Special Parameters Images of each tab in the special parameter screen are shown in the following. (4 images) [GW Parameter] [GW Parameter 2] 3-22 ME0428-1B...
Page 78 3.3 Setting [GW Parameter 3] mode Select] [5]-2 Time setting There is no difference from RCON Motion System in the time setting screen. 3-23 ME0428-1B...
Page 79 3.3 Setting [6] Monitor menu There is no difference to the monitor menu from tha3-24t in the RCON system except that the I/O data menu should not be displayed. [6]-1 Diagnostic information There is no difference from RCON Motion System in the diagnostic information screen.
Page 80 3.3 Setting 3.3.4 Driver Unit Parameter Settings Launch the PC software (RCM-101-*) and establish the communication in order to set up parameters. For details of how to operate, refer to [RCM-101-MW/RCM-101-USB Instruction Manual (ME0155)]. Use the PC software or teaching pendant described in [1.7 Used Tools] in order to set up the parameters for a driver unit.
Page 81 : Electronic Gear Numerator = 1, Electronic Gear Denominator = 1 * Make sure to write the changed data to the controller after a change is made to a parameter and reboot (Reboot the power) the RCON motion system. 3-26...
Page 82 3.3 Setting 3-27 ME0428-1B...
Page 83 RCON - Motion Chapter SSCNET III/H Basic Communication Flow 4.1 Caution ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-1 4.2 How to Make Connection ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-3 4.3 Optional Data Monitor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-4 4.3.1 Registration Monitor Data List ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4-4...
Page 84 IAI controller for the absolute type. The soft limit values at the startup will be the values of the software stroke limit positive side and negative side in the IAI controller parameters. If the feedback position is out of the soft limit range, [Software Stroke Limit Excess] of a RCON driver alarm will generate.
Page 85 HEND bits in RCON motion system, “Mechanical Home-Return” when turning the power on can be skipped. (6) If the IAI controller is in a condition of the coordinate not determined, it is necessary to have the home-return operation conducted and determine the feedback position.
Page 86 3) Please create a new project. 4) Please open the system setting screen, and establish the setting for the information of the connected axes (= select “Driver for IAI Electric Actuator (IAI)” from Servo Amplifier Series in Servo Amplifier Information).
Page 87 4.3 Optional Data Monitor 4.3 Optional Data Monitor It is available to read out the IAI controller status in the monitor feature of the SSCNET III/H master. The following shows the data available for monitoring. Refer to the [Instruction manual of the SSCNET III/H...
Page 88 4.3 Optional Data Monitor [2] Alarm Information Address Contents Bytes Unit Symbol Remarks －－ Reserved It makes a returns of the alarm 00C0 / warning number with higher 00C2 Alarm / Warning Number －－ priority alarm in the driver alarm / warning Number currently being occurred It makes a feedback of a detail...
Page 89 4.3 Optional Data Monitor [3] Stepper Motor Driver Control Feedback Monitor Address Contents Bytes Unit Symbol Remarks 7000 External Encoder Count L －－ Not used (fixed to 0) 7002 External Encoder Count H bit0 : LSP bit1 : LSN bit2 : ORG bit3 : NEAR External Input Signal Status...
Page 90 4.3 Optional Data Monitor [4] Stepper Motor Driver Operation Alarm Information Address Contents Bytes Unit Symbol Remarks Reserved －－ It makes a feedback of the 70C0 alarm number with higher 70C2 Control Alarm Number －－ priority in the driver alarms currently being occurred It makes a feedback of a detail number of the driver alarm...
Page 91 4.3 Optional Data Monitor [5] Optional Monitors Address Contents Bytes Unit Symbol Remarks 7800 Target position (TPOS) pulse Received Command Position 7802 7804 Command Position of Internal Command position (CPOS) pluse Periods 7806 7808 Feedback position (APOS) pluse 780A 780C Position deviation (PERR) pluse CPOS –...
Page 92 4.3 Optional Data Monitor ME0428-1B...
Page 93 RCON - Motion Chapter Transient Commands 5.1 Network Object ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5-1 5.2 Information Object ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5-2...
Page 94 5.1 Network Object 5.1 Network Object [1] ID01 Network Object (Response Data Readout) Transient ID Contents Remarks Feeds back the setting values in 0104 Registration Monitor 1 Readout Registration Monitor 1 Feeds back the setting values in 0105 Registration Monitor 2 Readout Registration Monitor 2 Feeds back the setting values in 0106...
Page 95 5.2 Information Object 5.2 Information Object [1] ID03 Information Object (Response Data Readout) Transient ID Contents Remarks Offset 0000 : Vendor ID (0x000A : IAI) 0301 Vendor Name 0002 : Model code (0x2001:RCON) 0004, 0006 : 0 Offset Servomotor /...
Page 96 Cancels the driver alarm Clears the driver alarm occurrence history 0382 Alarm History Clear Command (As RCON does not retains the history, it should be the same as the alarm reset command) 0386 Control Alarm Reset Command Cancels the operation alarm...
Page 97 5.2 Information Object [3] ID04 Information Object (Response Data Readout) Transient ID Contents Remarks 0401 Synchronizing Position Feedback Feeds back the current feedback position [Pulse] 0403 Velocity Feedback Feeds back the current feedback velocity [0.01r/min] 0405 Current Feedback Feeds back the current electric command [0.1%] One-Turn Position of Absolute 0406 Feeds back...
Page 98 5.2 Information Object ME0428-1B...
Page 99 RCON - Motion Chapter About Parameters 6.1 Controller Parameters ············································· 6-1 6.1.1 Gateway Parameter (Special parameter) ····················· 6-2 6.1.2 Driver Unit Parameter List ········································ 6-8...
Page 100 6.1 Controller Parameters 6.1 Controller Parameters It is the data to operate a controller applicable for SSCNET III/H. Set the parameters considering the system and applications. When a change is required to the parameters, make sure to back up the data before the change so the settings can be returned anytime.
Page 101 6.1 Controller Parameters 6.1.1 Gateway Parameter (Special parameter) [1] Special parameter list Shown below is the special parameter list. Default initial Relevant Name Unit Input range value setting page Unit velocity 0: [1.0mm/s] mm/s 0: [1.0mm/s] (Only Direct Indication Mode) 1: [0.1mm/s] Internal communication retry count 0 to 6...
Page 102 ● Turn on MON Signal in the gateway control signals after the link with the PLC is established. Turn MON Signal on otherwise the control from PLC should not be available for those other than the EC connection units. MON signal OFF RCON Actuator Gateway unit Driver unit...
Page 103 6.1 Controller Parameters Calendar function Name Unit Input range Default initial value setting 0: invalid Calendar function 1: valid − 1: valid Selects whether to set an alarm or not when the time setting disappears. Delay time of driver reclosing [ms] Name Unit Input range...
Page 104 6.1 Controller Parameters (7) Enable SW Name Unit Input range Default initial value setting 0: invalid Enable SW 0: invalid − 1: valid Switchover of enabled/disabled of the enable when a touch panel teaching pendant is connected should be performed. Set it to disabled when using a teaching pendant with no enable switch or the enable feature is not to be used.
Page 105 6.1 Controller Parameters (9) Double-word data swapping Name Unit Input range Default initial value setting 0: invalid Double-word data swapping 0: invalid 1: valid Sets whether the Double-word size data is to be swapped in word size. Swaps the upper and lower levels of word-sized send / receive data on a word-by-word basis. Set according to the master to be connected as necessary.
Page 106 6.1 Controller Parameters (11) Gateway subnet mask Name Unit Input range Default initial value setting 0.0.0.0 to Gateway subnet mask 255.255.255.0 − 255.255.255.255 Set numbers to identify the network address and host address in the IP address. Set the same numbers as those for the master unit and other slaves (on the same network). The subnet mask should be 255.255.255.0.
Page 107 The following parameters are available for each actuator. Parameters should be set and confirmed for each axis number. Also, the unused parameters are not mentioned in the list. Each parameters for details refer to [RCON System Instruction Manual (ME0384) Specifications Section Chapter 7, Parameter]. Compatible motor...
Page 108 6.1 Controller Parameters Compatible motor Unit Default initial type (Note 3) Name Input range (Note 1) value setting PC AC DC SC RC In accordance Creep sensor input －〇〇 0 to 2 with actuator polarity (Note 2) In accordance Homing offset 0 to 9,999.99 with actuator...
Page 109 6.1 Controller Parameters Compatible motor Unit Default initial type (Note 3) Name Input range (Note 1) value setting PC AC DC SC RC Depending on Encoder voltage －〇〇 0 to 3 encoder cable level length Electromagnetic In accordance 0: Disabled, －...
Page 110 6.1 Controller Parameters Compatible motor Unit Default initial type (Note 3) Name Input range (Note 1) value setting PC AC DC SC RC In accordance －〇〇〇 Servo gain number 2 0 to 2,500 with actuator (Note 2) In accordance Position feed forward －...
Page 111 Note 3 PC: Stepper motor specification, AC: AC servo motor specification, DC: DC brush-less motor specification, SC: 200V AC servo motor specification, RC: RCON connection specification SCON-CB Note 4 When using the simple absolute unit, change the parameter No.83 to "1" and perform absolute reset before use.
Page 112 6.1 Controller Parameters 6-13 ME0428-1B...
Page 113 7.1 Caution in Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-1 7.1.1 Encoder Type ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-1 7.1.2 About Linear Spurious Absolute Type ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-2 7.1.3 About RCON-PC/PCF Standard Resolution Battery-less Absolute Type ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-2 7.1.4 Availability in Absolute Position Detection System ꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-2 7.2 About Home-Return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7-3 7.2.1 Home-Return Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
Page 114 HEND bits in RCON Motion System, the “mechanical home-return operation” at the startup can be skipped. To check if the feedback position in RCON Motion System is confirmed, call out the general input signal (1) of 0x7008 to the registration monitor and check in bit5: HEND.
Page 115 7.1.4 Availability in Absolute Position Detection System The encoders described in [7.1.1 Encoder Type] should be supported in RCON Motion System. No matter what type of an encoder is connected, it treats as a virtual ABS encoder with 32 bits per round to the absolute position detection system of the SSCNET III/H master, and absorbs the differences in processes for various of encoder types.
Page 116 As a user operation, execute “mechanical home-return operation” from the SSCNET III/H master during the servo is on in RCON motion system, and the actuator starts to perform the home-return operation. “Driver Home-Return System” should be selected as the home-return system.
Page 117 7.2 About Home-Return 7.2.2 Operation Alarms at Start of Home-Return Operation If the operation alarm below occurred at the start of the home-return operation, check the parameters of the external input signal on SSCNET III/H controller. Below shows an example of when using the motion CPU as the master. ◆10h.01h : STP turned ON during operation startup ⇒STOP Signal : Establish the parameter settings as described below to turn OFF the assigned bit device...
Page 118 7.2 About Home-Return 7.2.3 Caution Regarding Home-Return Operation ● In order to judge if the coordinates on the RCON side is confirmed already at the power booting in such type as the absolute encoder type, refer to [7.1.1 Encoder Type].
Page 119 It should be enabled from the startup of the RCON motion system for the absolute type. The soft limiting values at the startup of the RCON motion system should be the values on the software stroke limit positive side and the software stroke limit negative side.
Page 120 Because the stop mode is a conductivity on the limit value in the indicated area should be used only in the servo mode during operation. (If the parameter in RCON-PC/PCF driver unit is set to the full servo mode, it can be the servo mode also during operation)
Page 121 RCON - Motion Chapter Troubleshooting 8.1 Troubleshooting ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-1 8.1.1 Action to Be Taken upon Occurrence of Problem ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-1 8.2 About Alarms ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-2 8.2.1 Driver Alarmꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-2 8.2.2 Operation Alarm ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-3 8.2.3 Simple Alarm Code ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-4...
Page 122 (11) Analyze the cause (12) Countermeasures Note 1 As RCON is equipped with the calendar function, it is available to check the date and time of an alarm occurrence. Set the date and time such from teaching tool as a IA-OS or Gateway Parameter Setting Tool at the first time when the controller power is turned on.
Page 123 Applicable bit in operation alarm status AL00 to ALFF will turn *4 Refer to [RCON System instruction manual (ME0384) Maintenance Section Chapter 2, Troubleshooting] for details of the alarm codes from 80h to 8Fh.
Page 124 (RSTS7.OP = ON) Operation was started while excitation is off (RSTS1.SSON = OFF) (XCMD7.ST = ON). The excitation was turned off during operation (RSTS7.OP = ON) (XCMD1.CSON = OFF). There is no condition applicable to generate in RCON motion system. ME0428-1B...
Page 125 The list of Simple Alarm Code is as shown below. Codes in brackets ( ) at the end of each alarm name show an alarm code in RCON Motion System. Refer to [RCON System instruction manual (ME0384) Maintenance Section Chapter 2, Troubleshooting] for the alarm codes in RCON Motion System.
Page 126 8.2 About Alarms Contents RCON- RCON- RCON- RCON- SCON- Output Numbers in the brackets ( ) show the alarm codes CB-RC Electromagnetic brake not released error（0A5） × × × × ○ Dynamic brake not released error（0A6） × × × ×...
Page 127 RCON - Motion Chapter Warranty Warranty period ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-1 Scope of the warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-1 Honoring the warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-1 Limited liability ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-2 Conformance with applicable standards/regulations, etc., and application conditions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-2 Other items excluded from warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9-2...
Page 128 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 129 ● 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 130 9. Warranty ME0428-1B...
Page 131 RCON - Motion Chapter Appendix 10.1 Connectivity of Sequencer and RCON Motion System ꞏ 10-1 10.1.1 Necessary Devices and Software ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-1 10.1.2 How to Establish Connection ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-2...
Page 132 10.1 Connectivity of Sequencer and RCON Motion System 10.1 Connectivity of Sequencer and RCON Motion System Here shows the procedures to establish communication between the sequencer supplied by Mitsubishi Electric and RCON Motion System. 10.1.1 Necessary Devices and Software It is necessary to prepare following devices and software.
Page 133 10.1 Connectivity of Sequencer and RCON Motion System 10.1.2 How to Establish Connection * For information how to use the latest setting software, contact Mitsubishi Electric Corporation. (1) After starting up GX-WORKS2, start up the simple motion unit setting tool.
Page 134 (3) Click on the Step 2 System Setting button in the assistant window. In the window for connection of SSCNET III/H controller and each servo amplifier, register for the number of axes connected to RCON. Double-click on a figure of each servo amplifier and the setting window opens.
Page 135 10.1 Connectivity of Sequencer and RCON Motion System (5) Click on Step 4 Home Return button in the parameter setting. Confirm that Pr.43: Home-Return System in the home-return basic parameters is set to “8: Driver Home-Return System” for all the axes.
Page 136 10.1 Connectivity of Sequencer and RCON Motion System (7) Double-click on Positioning Data in Project Window → axis number to have setting to open the positioning data input window. Establish the settings for each item such as operation pattern, control system and acceleration/deceleration time.
Page 137 2022.10 Edition 1B · Precautions for Handling Description added regarding point connection of option unit is not supported · 1.3 Description of driver unit versions applicable for RCON Motion System in Unit List · 2.1.4 Descriptions revised in cross-head ·...

This manual is also suitable for:

Rcon-gw Rcon-lc Rcon-gwg Rcon-lcg Rcon-gw-tr Rcon-gw-trs ... Show all