5.

How to read the model of the controller

Basic Specifications
z PCON PCON List of Specifications
PCON-C A- 56P WAI - N P-2-0- AB U -DN-** Item
Description
<Identification for IAI use only> PCON-CA/CB/CGB PCON-CFA/CFB/CGFB
<Series>

PCON-CA/CFA/CB/CFB,
* There is no identification in some cases. Number of controlled axes 1-axis
<Type> Power-supply Voltage 24V DC 10%
CA/CB : Standard Type <Type of Installation>
CFA/CFB : High-Thrust Actuator (Not Specified) : Screw Attachment Type RCP2 Motor 20P, 28P, 28SP MAX. 1A

ACON-CA/CB/CGB, DCON-CA/CB/CGB Connection Type DN : DIN Rail Mounting Type Load RCP3 Type 42P, 56P MAX. 2A
CGB : Sagety Categories Complied Type Capacity 60P, 86P Rated 4.2A / MAX. 6A
CGFB : High-Thrust Actuator <Applicable to Simplified Absolute Unit> (including
Connection Sagety Categories (Not Specified): Incremental control side RCP4 Motor 28P, 35P, 42P, High-thrust function
MAX.2.2A

First Step Guide Ninth Edition current RCP5 Type 56P is disabled
Complied Type / Battery-less Absolute
AB : Simple Absolute Type consumption) RCP6 High-thrust function Rated 3.5A /
(With the Absolute Battery)
(Note1) is enabled MAX. 4.2A
<Detail of Connected Axis>
[Motor Type] ABU : Simple Absolute Type 60P, 86P Rated 4.2A / MAX. 6A
Thank you for purchasing our product. 20P : 20 pulse motor, 20SP : 20 pulse motor (With the Absolute Battery Unit Power Supply for Electromagnetic Brake
Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to this (SEP-ABU)) 24V DC 10% 0.15A (MAX.)
28P : 28 pulse motor, 28SP : 28 pulse motor (for actuator equipped with brake)
First Step Guide to ensure correct use. This First Step Guide is original manual written by only this product. 35P : 35 pulse motor, 42P : 42 pulse motor ABUN : Simple Absolute Type Heat Generation RCP2, RCP3 5W 26.4W
42SP : 42 pulse motor, 56P : 56 pulse motor (With no Absolute Battery)
RCP4 to RCP6 3W
Warning : Operation of this equipment requires detailed installation and operation instructions which are 56SP : 56 pulse motor, 60P : 60 pulse motor
provided on the DVD Manual included in the box this device was packaged in. It should be retained <Power-supply Voltage> Rush Current (Note2) 8.3A 10A
86P : 86 pulse motor
with this device at all times. 0 : 24V DC Transient Power Cutoff Durability MAX. 500s
A hardcopy of the Manual can be requested by contacting your nearest IAI Sales Office listed at
[Encoder Type] Motor Control System Weak field-magnet vector control
the back cover of the Instruction Manual or on the First Step Guide. <I/O Cable Length>
WAI : Incremental / Battery-less Absolute Shared Corresponding RCP2 to RCP5 Incremental Encoder, Battery-less Absolute Encoder Resolution 800 pulse/rev
0 : Equipped with no cable
Using or copying all or part of this Instruction Manual without permission is prohibited. SA : Simple Absolute Encoder
2 : 2m (Standard) RCP6 Battery-less Encoder Resolution 8192 pulse/rev
The company names, names of products and trademarks of each company shown in the sentences are registered 3 : 3m
<I/O Type> Actuator Cable Length MAX. 20m
trademarks. 5 : 5m
NP : NPN Type (Sync. Type) (Standard), Serial Communication Interface RS485 : 1 channel (based on Modbus Protocol RTU/ASCII)
PN : PNP Type (Source Type), (SIO Port) Speed : 9.6 to 230.4Kbps
PLN : Pulse Train Control NPN Type (Sync. Type), Control available with serial communication in the modes other than the pulse
Product Check PLP : Pulse Train Control PNP Type (Source Type),
DV : DeviceNet Connection Type, CC : CC-Link Connection Type
train
External Interface PIO Type Signal I/O dedicated for 24V DC (selected from NPN/PNP) Input 16 points
PR : PROFIBUS-DP Connection Type, CN : CompoNet Connection Type
The standard configuration of this product is comprised of the following parts. max., output 16 points max.
PRT : PROFINET-IO Connection Type, EC : EtherCAT Connection Type
If you find any fault with the product you have received, or any missing parts, contact us or our distributor. EP : EtherNet/IP Connection Type, ML : MECHATROLINK-/ Connection Type
Cable length MAX. 10m
Fieldbus Type DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, MECHATROLINK,
1. Parts EtherCAT, EtherNet/IP, PROFINET-IO
No. Part Name Model Reference z ACON Data Setting and Input PC Software, Touch Panel Teaching, Teaching Pendant
Refer to How to read the model plate,
1 Controller Main Body
How to read the model of the controller
ACON-CA-30 I-NP-2-0-AB-DN-** Data Retention Memory Saves position data and parameters to non-volatile memory
<Identification for IAI use only> (There is no limitation in number of writing)
Accessories <Series> * There is no identification in some cases. Operation Mode Positioner Mode/Pulse Train Control Mode (selected by parameter setting)
2 I/O Flat Cable CB-PAC-PIO shows the cable length <Type> Number of Positions in Positioner Mode Standard 64 points, MAX. 512 points (PIO Specification)
Recommended cable size CA/CB : Standard Type <Type of Installation> (Note) Number of positions differs depending on the selection in PIO pattern
3 Power Connector FMC1.5/8-ST-3.5 (Supplier : PHOENIX CONTACT) AWG16 to 20 CGB : Safety Categories Complied Type (Not Specified) : Screw Attachment Type and fieldbus operation mode.
(1.25 to 0.5mm2) DN : DIN Rail Mounting Type
Pulse Train Input Pulse Frequency Differential System (Line Driver System) : MAX. 200kpps
If applicable for Simple <Detail of Connected Axis> Interface Cable length MAX. 10m
4 Absolute Battery (Option) AB-7 or SEP-ABU* [Motor Type] <Applicable to Simplified Absolute Unit>
Absolute Type Open Collector System : Not applicable.
2 : 2W AC servo motor AB : Simple Absolute Type
If applicable for Serial Absolute * If the host applies the open collector output, prepare AK-04 (option) separately
5 Serial Absolute Battery (Option) AB-5 5 : 5W AC servo motor (With the Absolute Battery)
Type (for ACON only) to convert to the differential type.
10 : 10W AC servo motor ABU : Simple Absolute Type
6 First Step Guide (With the Absolute Battery Unit Command Pulse 1/50 < A/B < 50/1
20S : 20W AC servo motor
7 Instruction Manual (DVD) 20 : 20W AC servo motor (SEP-ABU)) Multiplying Factor Setting Range of A and B (set to parameter) : 1 to 4096
8 Safety Guide 30 : 30W AC servo motor ABUN : Simple Absolute Type (Electrical Gear : A/B)
(With no Absolute Battery) Feedback Pulse Output None
2. Teaching Tool (to be purchased separately) [Encoder Type] LED Display SV (GN)/ALM (RD) : Servo ON/Alarm generated
A teaching tool such as PC software is necessary when performing the setup for position setting, parameter WAI : Incremental / Battery-less Absolute <Power-supply Voltage> (mounted on Front Panel) STS0 to 3 : Status display
setting, etc. that can only be done on the teaching tool. shared (CB only) 0 : 24V DC RDY (GN)/ALM (RD) : Absolute function in normal / absolute function error (for
Please prepare either of the following teaching tools. I : Incremental the simple absolute type)
<I/O Cable Length>
A : Absolute 1, 0 (GN) (RD) : Absolute function status display (for the simple absolute
No. Part Name Model 0 : Equipped with no cable
type)
PC Software 2 : 2m (Standard)
1 RCM-101-MW <I/O Type> Electromagnetic Brake Compulsory Switching NOM (standard)/BK RLS (compulsory release)
(with RCS232C converter adapter + external equipment communication cable) 3 : 3m
NP : NPN Type (Sync. Type) (Standard), Release Switch (mounted on Front Panel)
5 : 5m
PC Software PN : PNP Type (Source Type), Insulation Resistance
2 RCM-101-USB 500V DC 10M or more
(with USB converter adapter + USB cable + external equipment communication cable) PLN : Pulse Train Control NPN Type (Sync. Type),
PLP : Pulse Train Control PNP Type (Source Type), Protection Function against Electric Shock Class I basic insulation
3 Touch Panel Teaching TB-01
DV : DeviceNet Connection Type, CC : CC-Link Connection Type Weight Incremental Type Screw fixed type : 250g or less Screw fixed type : 270g or less
4 Touch Panel Teaching (with Deadman Switch Attached on the Left side) TB-01D (Note3) DIN rail fixed type : 285g or less DIN rail fixed type : 305g or less
PR : PROFIBUS-DP Connection Type, CN : CompoNet Connection Type
5 Touch Panel Teaching (with Deadman Switch Attached on the Right side) TB-01DR PRT : PROFINET-IO Connection Type, EC : EtherCAT Connection Type Simple Absolute Type Screw fixed type : 450g or less
EP : EtherNet/IP Connection Type (including 190g for battery) DIN rail fixed type : 485g or less
3. Instruction Manuals related to this product, which are contained in the Instruction Manual (DVD).
No. Name Manual No. Cooling Method Natural air-cooling Forced air-cooling
1 PCON-CA/CFA Controller Instruction Manual ME0289 z DCON Screw fixed type : 35W178.5H69.1D Screw fixed type : 35W190H69.1D
External dimensions
DIN rail fixed type : 35W185H77.6D DIN rail fixed type : 35W196.3H77.6D
2 PCON-CB/CFB Controller Instruction Manual ME0342 DCON-CA-3 I-NP-2-0-DN-** Environment Surrounding Air 0 to 40C
3 ACON-CA, DCON-CA Controller Instruction Manual ME0326 <Identification for IAI use only> Temperature
4 ACON-CB Series Contoroller, DCON-CB Series Contoroller Instruction Manual ME0343 <Series> * There is no identification in some cases. Surrounding Humidity 85%RH or less (non-condensing)
5 PC Software RCM-101-MW/ RCM-101-USB Instruction Manual ME0155 <Type> Surrounding [Refer to Installation Environment]
6 Touch Panel Teaching CON-PTA/PDA/PGA Instruction Manual ME0295 CA/CB : Standard Type <Type of Installation>
Environment
CGB : Safety Categories Complied Type (Not Specified) : Screw Attachment Type
7 Instruction Manual for the Serial Communication [for Modbus] ME0162 DN : DIN Rail Mounting Type Surrounding Storage -20 to 70C (Excluding battery)
8 CC-Link Instruction Manual ME0254 Temperature
<Detail of Connected Axis>
9 DeviceNet Instruction Manual ME0256 [Motor Type] <Power-supply Voltage> Usage Altitude 1000m or less
10 PROFIBUS-DP Instruction Manual ME0258 3 : 2.5W DC Brushless motor 0 : 24V DC Protection Class IP20
11 CompoNet Instruction Manual ME0220 <I/O Cable Length> Vibration Durability Frequency 10 to 57Hz / Swing width : 0.075mm
12 MECHATROLINK-/ Instruction Manual ME0221 [Encoder Type]
0 : Equipped with no cable Frequency 57 to 150Hz / Acceleration 9.8m/s2
I : Incremental XYZ directions Sweep time : 10 minutes Number of sweep : 10 times
13 EtherCAT Instruction Manual ME0273 2 : 2m (Standard)
3 : 3m
14 EtherNet/IP Instruction Manual ME0278 <I/O Type> Note1 Value increases in 0.3A for Fieldbus Type
5 : 5m
15 PROFINET-IO Instruction Manual ME0333 NP : NPN Type (Sync. Type) (Standard), Note2 In-rush current will flow for approximately 5msec after the power is turned ON (at 40C).
PN : PNP Type (Source Type), Note that the value of in-rush current differs depending on the impedance of the power supply line.
PLN : Pulse Train Control NPN Type (Sync. Type), Note3 Value increases in 30g for Fieldbus Type.
4. How to read the model plate PLP : Pulse Train Control PNP Type (Source Type),
DV : DeviceNet Connection Type, CC : CC-Link Connection Type
PR : PROFIBUS-DP Connection Type, CN : CompoNet Connection Type
Model Model PRT : PROFINET-IO Connection Type, EC : EtherCAT Connection Type
SER NO.
Input
*********
********* EP : EtherNet/IP Connection Type, ML : MECHATROLINK-/ Connection Type
DC24V A
Serial number Output
Actuator
*
0-24Vac,3ph,0-333Hz,
*A
IP20

*****
CAUTION: Connect the wiring correctly and
properly, use IAI specified cables
or min 60C Cu wire.
ACON, DCON List of Specifications DIN rail fixed type
Description External Dimensions (All Types Except for PCON-CFA/CFB/CGFB) 78.4
Item
ACON-CA/CB/CGB DCON-CA/CB/CGB 77.6
Screw fixed type
Number of controlled axes 1-axis 8.5
Power-supply Voltage 24V DC 10% Incremental Type Simplified Absolute Type Serial Absolute Type Side View
35
(Option) (Option)

(7)
Load Series Motor Type Max. Power
Rated MAX.(Note5) Rated MAX. 84.8
Capacity Consumption
(It does not 35 5 35 5 35 5 Refer to
RCA, 2W 0.8A 4.6A Basic Specification
including RCA2,

35.4(Width of 35mm DIN rail)

control side 5W 1.0A 6.4A

115 from DIN rail center

RCL
current 10W (RCL) 1.3A 6.4A
consumption)
(Note1) 10W (RCA/ RCA2) 1.3A 2.5A 4.4A
20W 1.3A 2.5A 4.4A
20W (Model: 20S) 1.7A 3.4A 5.1A
30W 1.3A 2.2A 4.4A
RCD 3W 0.7A 1.5A

190
Power Supply for Electromagnetic Brake
24V DC 10% 0.15A (MAX.)

170.5
178.5

170.5
178.5
(for actuator equipped with brake)

170.5
178.5
4
Heat Generation 8.4W 4W
Rush Current (Note2) 10A
Transient Power Cutoff Durability MAX. 500s
Motor Control System Sinusoidal Waveform (AC) Drive Rectangular Waveform (DC) Drive
Corresponding Encoder Incremental Encoder Incremental Encoder
Serial Absolute Encoder
Battery-less Aboslute Encoder
Corresponding RCA Incremental Type 800pulse/rev
Encoder Serial Absolute Type 16384pulse/rev
Resolution
RCA2 RCA2_*** N 1048pulse/rev 5 5 5
Other than 800pulse/rev (40.5) (34.5)

(5)
RCA2_*** N (58) (52)
RCA Battery-less 16384pulse/rev
/RCA2 Absolute Type DIN rail fixed type
Installation Environment
RCL RA1, RA4, SA1, SA4 715pulse/rev Incremental Type Simplified Absolute Type Serial Absolute Type Side View
RA2, RA5, SA2, SA5 855pulse/rev (Option) (Option) This product is capable for use in the environment of pollution degree 2*1 or equivalent.
93.6
RA3, RA6, SA3, SA6 1145pulse/rev *1 Pollution Degree 2: Environment that may cause non-conductive pollution or transient conductive
Refer to
Basic Specification pollution by frost (IEC60664-1)
RCD 400pulse/rev 35 35 35
8.5 1. Installation Environment
Actuator Cable Length MAX. 20m

35.4 (Width of 35mm DIN rail)

Do not use this product in the following environment
Serial Communication Interface RS485 : 1 CH (based on Modbus Protocol RTU/ASCII) Speed : 9.6 to 230.4Kbps Location where the surrounding air temperature exceeds the range of 0 to 40C

104 from DIN rail center

(SIO Port) Control available with serial communication in the modes other than the pulse train Location where condensation occurs due to abrupt temperature changes
External Interface PIO Type Signal I/O dedicated for 24V DC (selected from NPN/PNP) Input 16 points max., Location where relative humidity exceeds 85%RH
output 16 points max. Cable length MAX. 10m Location exposed to corrosive gases or combustible gases
Fieldbus Type DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, MECHATROLINK, EtherCAT, Location exposed to significant amount of dust, salt or iron powder
EtherNet/IP, PROFINET-IO Location subject to direct vibration or impact
Location exposed to direct sunlight
Data Setting and Input PC Software, Touch Panel Teaching, Teaching Pendant
Location where the product may come in contact with water, oil or chemical droplets
Data Retention Memory Saves position data and parameters to non-volatile memory Environment that blocks the air vent [Refer to Installation and Noise Elimination]
(There is no limitation to the number of times data may be written.)
When using the product in any of the locations specified below, provide a sufficient shield.
Operation Mode Positioner Mode/Pulse Train Control Mode (selected by parameter setting)

178.5

178.5

178.5
Location subject to electrostatic noise

185

185

185
Number of Positions in Positioner Mode Standard 64 points, MAX. 512 points (PIO Type) 4 Location where high electrical or magnetic field is present
(Note) Number of positions differs depending on the selection in PIO pattern. Location with the mains or power lines passing nearby
Pulse Train Input Pulse Frequency Differential System (Line Driver System) : MAX. 200kpps
Interface Cable length MAX. 10m 2. Storage and Preservation Environment
(Note4)
Open Collector System : Not applicable. Storage and preservation environment follows the installation environment. Especially in a long-term storage, consider
* If the host applies the open collector output, prepare AK-04 (option) separately to to avoid condensation of surrounding air.
convert to the differential type. Unless specially specified, moisture absorbency protection is not included in the package when the machine is
delivered. In the case that the machine is to be preserved in an environment where dew condensation is anticipated,
Command Pulse Multiplying 1/50 < A/B < 50/1
take the condensation preventive measures from outside of the entire package, or directly after opening the package.
Factor (Electrical Gear : A/B) Setting Range of A and B (set to parameter) : 1 to 4096
Feedback Pulse Output None
LED Display
(mounted on Front Panel)
SV (GN)/ALM (RD) : Servo ON/Alarm generated
STS0 to 3 : Status display M3 M3 M3 Installation and Noise Elimination
RDY (GN)/ALM (RD) : Absolute function in normal / absolute function error (for the simple (for FG cable (for FG cable (for FG cable
(5)

(5)

(5)
absolute type) attachment) attachment) attachment)
1. Noise Elimination Grounding (Frame Ground)
1, 0 (GN) (RD) : Absolute function status display (for the simple absolute type) (58) (52)
Screw fixed type DIN rail fixed type
Electromagnetic Brake Compulsory Switching NOM (standard)/BK RLS (compulsory release)
Release Switch (mounted on Front Panel)
Insulation Resistance 500V DC 10M or more External Dimensions (PCON-CFA/CFB/CGFB Type) Controller
Other
equipment
Protection Function against Electric Shock Class I basic insulation Connect the ground line
Screw fixed type Connect the ground cable
Weight (Note3) Incremental Type Screw fixed type : 230g or less together to the main unit using the tapped hole for
84.8
(Other than DIN rail fixed type : 265g or less using the fixing screw. FG connection on the main unit.
Field Simple Absolute Type Battery (AB-7) : 190g or less
35 69.1
Copper wire:
Network Absolute Battery Case (SEP-ABU): Connect a ground wire with a Controller
Other Other
(7)

equipment equipment
Type) 140g or less diameter of 1.6mm (2mm2) or larger. M3 5 nickeled pan head
machine screw
Serial Absolute Type Battery (AB-5) : 20g (enclosure dedicated for
Cooling Method Natural air-cooling Earth Terminal DIN rail fixed type)
Grounding resistance 100 or less Do not share the ground wire with or connect
Screw fixed type : 35W178.5H69.6D Screw fixed type : 35W190H69.6D (Class D grounding) to other equipment. Ground each controller.
External dimensions
DIN rail fixed type : 35W185H78.1D DIN rail fixed type : 35W196.3H78.1D
Environment Surrounding Air Temperature 0 to 40C
Surrounding Humidity 85%RH or less (non-condensing)
2. Precautions regarding wiring method Surge absorber
1) Wire is to be twisted for the 24V DC power supply.
Surrounding Environment [Refer to Installation Environment]
2) Separate the signal and encoder lines from the power
Surrounding Storage -20 to 70C (Excluding battery)
Temperature
supply and power lines. R
190

Usage Altitude 1000m or less 3. Noise Sources and Elimination Relay C

coil
Protection Class IP20 Carry out noise elimination measures for power devices on
Vibration Durability Frequency 10 to 57Hz / Swing width : 0.075mm the same power path and in the same equipment.
Frequency 57 to 150Hz / Acceleration 9.8m/s2 The following are examples of measures to eliminate noise
XYZ directions Sweep time : 10 minutes Number of sweep : 10 times sources.
1) AC solenoid valves, magnet switches and relays Relay coil
Note1 Control power capacity is 0.3A. +24V 0V
Note2 In-rush current will flow for approximately 5msec after the power is turned on (at 40C). [Measure] Install a Surge absorber parallel with the coil.
Note that the value of in-rush current differs depending on the impedance of the power supply line. 2) DC solenoid valves, magnet switches and relays
Note3 Add the weight of the battery (case) for Simple Absolute Type and Serial Absolute Type. [Measure] Install a diode parallel with the coil. Use a DC
Note4 Serial absolute type is not applicable for the pulse train control mode. relay with a built-in diode. + -
Note5 The current reaches the maximum at the excitation phase detection of the motor conducted when the servo is turned on +24V 0V
for the first time after the power is supplied. (TYP 1 to 2 second, MAX. 10 second)
4. Heat Radiation and Installation Note 1 Applicable Connection Cable Model Codes : Cable Length Example) 030 = 3m
Design and Build the system considering the size of the controller box, location of the controller and Model Name Cable Reference I/O Signal
cooling factors to keep the ambient temperature around the controller below 40C RCP2 CB-PSEP-MPA Robot cable from 0.5 to 20m
Explanation of I/O Signal Functions
CB-APSEP-MPA Robot cable from 0.5 to 20m
RCP3 Abbreviated
CB-APSEP-MPA-LC Standard cable from 0.5 to 20m Category Signal Name Contents of Functions
Code
RCP4 (Other than GR* Type) CB-CA-MPA-RB Robot cable from 0.5 to 20m CSTR PTP Strobe (Start Signal) Starts moving toward the position set in Command Position No.
MIN. 100mm
RCD (Applicable Controller PC1 to PC256 Command Position No. To input position No. desired to move (binary input).
Symbol : D3) CB-CA-MPA Standard cable from 0.5 to 20m Brake Compulsory
BKRL To release the brake compulsorily.
RCP4 (GR Type), RCP5 Release
CB-CAN-MPA Standard cable from 0.5 to 20m
RCD (Applicable Controller Operation Mode can be changed over when MODE Switch on the controller
Operation Mode
Symbol : D5) CB-CAN-MPA-RB Robot cable from 0.5 to 20m RMOD is on AUTO.
Changeover
(The setting is AUTO when signal is OFF, and MANU when ON.)
CB-CFA-MPA Standard cable for CFA type from 0.5 to 20m When this signal is turned OFF while in move, the actuator decelerates
High-Thrust
CB-CFA-MPA-RB Robot cable for CFA type from 0.5 to 20m *STP Pause and then stops. The remaining movement is in a hold while the actuator is
stopped and will resume when the signal turns back ON.
CB-ASEP-MPA
MIN. 100mm RCA, RCL (Incremental Type) Robot cable from 0.5 to 20m Turn the signal ON to reset the alarm. Also, when it is turned ON in the
CB-ASEP2-MPA RES Reset pause mode (*STP is turned OFF), the remaining movement amount can
Ensure enough space
RCA (Serial Absolute Type) be cancelled.
for wiring. CB-APSEP-MPA Robot cable from 0.5 to 20m
RCA2 The servo remains ON while this signal is ON, or OFF while this signal is
SON Servo ON
OFF.
The controller will perform home return operation when this signal is
HOME Home Return
turned ON.
MIN. MIN. MIN. MIN.
Power Supply and Emergency Stop Circuit The operating mode will change to the teaching mode when this signal is
30mm 30mm 30mm 30mm
MODE Teaching Mode turned ON. The mode will not be switched over unless CSTR, JOG+ and
MIN. 50mm This shows the circuit example when the emergency stop switch in the teaching pendant is enabled on the Input JOG are all OFF and the actuator operation is stopped.
emergency stop circuit to be built up by the client. JISL Jog/Inching Changeover
Jog Operation can be performed with JOG+ and JOG while this signal is
In the example below, uses PCON-CA. It is the same in case of except for PCON-CA. OFF. Inching Operation is performed with JOG+ and JOG when it is ON.
Jog Operation is performed to positive direction by detecting ON edge of
24V 0V JOG+ signal and to negative direction by JOG signal while JISL signal is
JOG+
Emergency-stop Jog OFF. The actuator will decelerate and stop if OFF edge is detected while in
JOG
Connection Diagram Emergency
Switch on the
Teaching Pendant
each Jog Operation.
Inching Operation is performed while JISL signal is ON.
Stop Reset Emergency PCON-CA Write the current position to the indicated position if indicating the written
Switch Stop Switch PWRT Current Position Writing position and turn this signal ON for more than 26ms during the Teaching
PLC (Please prepare separately) Power Supply SIO Connector
Connector Mode.
Teaching Pendant S1
The actuator moves to the commanded position with this signal ON during
Touch Panel Teaching Controller Status (Note 1) ST0 to ST6 Start Signal
CR1 S2 the electromagnetic valve mode.
(to be purchased separately) Display LED
Turning it continuously input for more than 16ms compulsorily stops the
CR2 (Note 2) CSTP Compulsory Stop
actuator.
MPI
Motor Power Supply Puts torque limitation to the motor with the signal on and the value set to
MPO TL Torque Limit Select
the parameter.
Power Source I/O Control
DCLR Deviation Counter Clear This is the signal to clear up the differential counter.
(24V DC Control 0V
24V Datum Position Applies torque limit to the motor with the signal ON and the value set to the
Please prepare separately) Power RSTR
AK -04
Supply Movement Command parameter No.167
Turns ON in the positioning band range after actuator operation. The INP
Way to lay out wirings differs EMG- PEND/INP Position Completion signal will turn OFF if the position deviation exceeds the in-position range.
Emergency Stop Control Circuit
depending on the specifications of PEND and INP can be switched over by the parameter.
the host when pulse train control The position No. reached after the positioning completion, is output (binary
BKLS PM1 to PM256 Completion Position No.
mode (for PLN and PLP types only). Brake Release Power Supply output).
Brake Forced
[Refer to Pulse Train Mode Turns ON when home-return operation is complete. It will be kept ON
Release Switch HEND Home Return Completion
Operation described later.] (Note) Supply 24V when connecting actuator unless the home position is lost.
equipped with brake and release brake
ZONE1 Turns ON if the current actuator position is within the range set to the
compulsorily Zone
ZONE2 parameter.
CR1 (Note 3) Turns ON when the current actuator position gets into the range set to the
Actuator position data during the move towards the position. Even though it can be
PZONE Position Zone
used together with ZONE1, PZONE will become only available for
operation by the set position number.
Note 1 : The safety categories complied type (CGB Type, etc.) is not equipped with the relay to have the controller
Outputs the operation mode status. It turns ON when the controller is ON
Absolute automatically identify that a teaching tool was plugged in and switch the wiring layout. Those other than the safety RMDS Operation Mode Output
PC Software Manual Mode.
Battery Unit categories complied type do the automatic identification and have S1 and S2 short-circuited.
(to be purchased Emergency Stop Circuit Note 2 : When the motor driving source is cut off externally for a compliance with the safety category, connect a contact Turns ON when controller in normal condition, and OFF when alarm is
[Refer to *ALM Alarm
separately) such as a contactor to the wires between MPI and MPO. Also, the ratings for the emergency stop signal that turns generated.
instruction
ON/OFF at the contact CR1 are 24V DC and 10mA or less. The detail of the alarm is output with binary code when an alarm more than
manual for each ALM1 to 8 Alarm Code
Note 3 : For CR1, select the one with coil current 0.1A or less. the operation cancel level is issued.
model]
Control/Driving Power Supply Turns ON while the actuator is moving (including home return and
Caution If supplying power with using a 24V DC, having it turned ON/OFF, keep the 0V connected and have the MOVE While in Operation
(24V DC pressing operations).
+24V supplied/cut (cut one side only).
Please prepare separately) SV Servo ON Turns ON when the servo is ON.
Turns ON when the controller emergency stop is cancelled, and OFF
*EMGS Emergency Stop Output
Connection to RCP2 (High-Thrust), RCA and RCL Series [Reference] Example for operating an actuator by using the standard type (CA or CB Type) with optimum during the emergency stop (regardless of alarms).
wiring layout MODES Teaching Mode Output
Turns ON when it turns to the Teaching Mode by MODE signal input. It is
PCON (Note) In this example, the emergency stop switch on the teaching pendant would not work. OFF in the normal mode.
ACON Output It is OFF during the teaching mode and turns ON when the writing by
Connection WEND Writing Complete
Cable(Note1) Emergency-stop PWRT Signal is complete. It turns OFF when PWRT Signal turns OFF.
Motor/ Switch on the Turns ON when moving to the target position is complete in
Encoder Connector PE0 to PE6 Current Position Number
Teaching Pendant Electromagnetic Valve Mode.
Turns ON when the current actuator position is within the range of
positioning band () of the target position. It is output even before the
Power Supply SIO Connector LS0 to LS2 Limit Switch Output
Connector movement command and the servo is OFF if the home-return operation is
S1 completed.
Connection to RCP3, RCP4, RCP5, RCP6 and RCA2 Series Outputs when a message level alarm is generated.
Wiring Condected S2 *ALML Light Error Output
(Parameter setting necessary)
at Delivery
Output is made when the current exceeded the value set in Threshold for
PCON (Note)
certain time within the range of Zone+ and Zone- in the position
ACON Connection MPI Motor Power Supply Load Output Judgment data during the pressing operation.
LOAD (Note1)
Cable(Note1) 24V DC MPO Signal (Note) Setting to be established in Parameter No. 50
Motor/ Power Supply It is used for judgments such as to determine if press-fitting process is
Encoder Connector
24V Control
completed normally.
24V
Power Turns ON when the motor current has exceeded the value set in
0V 0V
Supply Threshold in the position table in such cases as the slider (or rod) hitting
TRQS(Note1) Torque Level Output
an obstacle while in pressing operation, and turns OFF when current goes
EMG- Emergency Stop Control Circuit below the value
Connection to RCD Series It turns on when the battery is in the normal voltage range for the serial
Emergency BKLS absolute type actuator.
Brake Release Power Supply *BALM Absolute battery voltage
-stop Switch It is on all the time for the incremental type actuator.
DCON (ACON only) drop alarm
It can be set to turn off when a message level alarm is generated by the
(Note) Supply 24V when connecting actuator setting in Parameter No. 151.
Connection
equipped with brake and release brake
Cable(Note1)
compulsorily TLR Torque Limit Restricted Turns ON when torque reaches the limit while in torque restriction.
Motor/
Datum Position Turns ON when movement to the datum position set in Parameter No.167
Encoder Connector REND
Movement Command is finished.
Signal with * expresses the signal of active low. It is ON when the power is applied to the controller, and turns OFF when the
signal is output.
(Note 1) It is a signal dedicated for High-Thrust Actuator (CFA Type). Use this as a reference output for other actuators.
 Signal Assignment for Each Mode NPN Specification PNP Specification
The signal assignment of I/O flat cable by the PIO pattern is as shown below. Follow the following table to connect the external
equipment (such as PLC).
Starting Procedures
Selection in Parameter No. 25 (PIO Pattern) Pin No. Pin No.
0 1 2 3 4 5 6
When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to
Pulse train the procedure below. PC stated in this section means PC software.
Category PIO Functions Electro- Electro- Pulse train
control mode No
Positioning Teaching 256-point 512-point magnetic magnetic control mode Check of Packed Items
Contact us or our distributor.
(For Are there all the delivered items?
mode mode mode mode valve mode valve mode (For
Battery-less
1 2 Incremental ) Yes
Absolute
Installation and Wiring Point Check Item
Number of Load Load
64 points 64 points 256 points 512 points 7 points 3 points Perform the installation of and wiring for the Is frame ground (FG) connected?
Positioning Points actuator and controller. Has the noise countermeasure been taken?
Home Return
Pin { { { { { { {
Signal Yes
No.
Input Jog Signal {
Power Supply and Alarm Check
Teaching Signal
Connect a teaching tool such as PC, turn the
(Current Position { Check Item No Connect the teaching tool
operation mode setting switch to MANU side and Is the Controller Status such as PC to confirm the
Writing)
I/O Cable turn the power ON for unit. Display LED turned OFF? content of alarm and have
Brake Release { { { { { { {
Signal during Model : CB-PAC-PIO Select [Teaching Mode 1 Safety Speed Activated /
PIO Operation Invalid] in the teaching tool such as
an appropriate treatment.
{ { (Enter the cable length (L) in Example. 020 = 2m)
Yes
Operation PC.
Output Zone Signal { (Note1) (Note1) { { { { L Have the settings and checks suitable for the used
Position Zone mode selected from Positioner Mode and Pulse
{ { { { {
Signal Train Control Mode below.
1A 24V P24 BK-4
[In the case of Positioner Mode]
2A 24V P24 No treatment B 20A 20B PIO Pattern Settings
3A PP PP conducted
Set the used PIO pattern to Parameter No.25.
4A /PP /PP BR-3
5A IN0 PC1 PC1 PC1 PC1 ST0 ST0 SON SON BK-2
ST1 Safety Speed Setting
6A IN1 PC2 PC2 PC2 PC2 ST1 RES RES Set the Parameter No.35 if necessary.
(JOG+) No treatment
A
1A 1B
conducted The safety speed is set to 100mm/s at the delivery.
7A IN2 PC4 PC4 PC4 PC4 ST2 ST2 (Note2) HOME HOME Half Pitch MIL Socket
HIF6-40D-1.27R (Hirose Electric)
BR-1 If an alarm is generated,
8A IN3 PC8 PC8 PC8 PC8 ST3 TL TL Servo ON Check Item connect the PC or teaching
9A IN4 PC16 PC16 PC16 PC16 ST4 CSTP CSTP Turn the servo ON with the operation on the
10A IN5 PC32 PC32 PC32 PC32 ST5 DCLR DCLR
Flat Cable (20-core) 2 Is the Controller Status Display No pendant and check the
teaching tool such as PC. LED turned ON in green [SV]? content of the alarm to have
11A IN6 MODE PC64 PC64 ST6 BKRL BKRL No. Signal Name Cable Color Wiring No. Signal Name Cable Color Wiring the right treatment.
12A IN7 JISL PC128 P128 RMOD RMOD Caution
Input 1A 24V BR-1 1B OUT0 BR-3 Please perform this process with the actuator away from the mechanical end or
13A IN8 JOG+ PC256 RSTR
14A IN9 BKRL BKRL BKRL BKRL BKRL
2A 24V RD-1 2B OUT1 RD-3 interfering subjects as much as possible. Yes
JOG
3A PP OR-1 3B OUT2 OR-3 Put the actuator away if it interferes with surroundings. It may generate an alarm
15A IN10 RMOD RMOD RMOD RMOD RMOD RMOD if the actuator hit the mechanical end or interfering subjects when the servo is
16A IN11 HOME HOME HOME HOME HOME 4A /PP YW-1 4B OUT3 YW-3 turned ON.
17A IN12 *STP *STP *STP *STP *STP 5A IN0 GN-1 5B OUT4 GN-3 The slider may get slightly dropped by self-weight if servo ON and OFF is
CSTR/PW repeatedly performed at the same position. Be careful not to pinch the hand or
18A IN13 CSTR
RT
CSTR CSTR 6A IN1 BL-1 6B OUT5 BL-3 damage the work.
19A IN14 RES RES RES RES RES RES 7A IN2 PL-1 7B OUT6 PL-3
20A IN15 SON SON SON SON SON SON 8A IN3 GY-1 8B OUT7 GY-3
PM1 PM1 PM1 PM1 Safety Circuit Check
1B OUT0 PE0 LS0 PWR PWR 9A IN4 WT-1 Flat Cable A 9B OUT8 WT-3 Flat Cable B Does the emergency stop circuit (drive cutoff circuit) work properly and No
(ALM1) (ALM1) (ALM1) (ALM1) Check the emergency stop circuit.
PM2 PM2 PM2 PM2 LS1 10A IN5 BK-1 (Insulation-Displacement 10B OUT9 BK-3 (Insulation-Displacement turn the servo OFF?
2B OUT1 PE1 SV SV Connectors) Connectors)
(ALM2) (ALM2) (ALM2) (ALM2) (TRQS) 11A IN6 BR-2 11B OUT10 BR-4 Yes
PM4 PM4 PM4 PM4 12A IN7 RD-2 AWG28 12B OUT11 RD-4 AWG28
3B OUT2 PE2 LS2 (Note2) INP INP Target Position Setting
(ALM4) (ALM4) (ALM4) (ALM4)
13A IN8 OR-2 13B OUT12 OR-4 Set the target position in Position Box in each position table.
PM8 PM8 PM8 PM8
4B OUT3 PE3 HEND HEND 14A IN9 YW-2 14B OUT13 YW-4 Perform a home-return operation first when Direct Teaching is to be performed. When moving the actuator manually, set
(ALM8) (ALM8) (ALM8) (ALM8) the Brake Release Switch to BK RLS side for the brake equipped type. Put the switch back after the setting is complete.
5B OUT4 PM16 PM16 PM16 PM16 PE4 TLR TLR 15A IN10 GN-2 15B OUT14 GN-4
6B OUT5 PM32 PM32 PM32 PM32 PE5 *ALM *ALM Warning Be careful not to pinch fingers or damage the work with the dropped actuator when releasing the brake
16A IN11 BL-2 16B OUT15 BL-4 in vertical orientation.
7B OUT6 MOVE MOVE PM64 PM64 PE6 *EMGS *EMGS
8B OUT7 ZONE1 MODES PM128 PM128 ZONE1 ZONE1 RMDS RMDS 17A IN12 PL-2 17B NP PL-4
Output 18A IN13 GY-2 18B /NP GY-4
PZONE/ PZONE/ PZONE/ PZONE/ PZONE/
9B OUT8 PM256 ALM1 ALM1 Test Run Adjustment 1 Check if there is any problem with the
ZONE2 ZONE1 ZONE1 ZONE2 ZONE2 19A IN14 WT-2 19B 0V WT-4 Check the operation without mounting a Check Item
10B OUT9 RMDS RMDS RMDS RMDS RMDS RMDS ALM2 ALM2 No installation of the actuator and the condition
20A IN15 BK-2 20B 0V BK-4 work and set the safety speed invalid on Any vibration or of the actuator use exceeds the ranges of the
11B OUT10 HEND HEND HEND HEND HEND HEND ALM4 ALM4 the teaching tool such as PC, and then abnormal noise? rated values.
PEND/
Operation in Pulse Train Control Mode
check the operation with a work mounted. Adjust the servo if necessary.
12B OUT11 PEND PEND PEND PEND ALM8 ALM8
WEND
Yes
13B
14B
OUT12
OUT13
SV
*EMGS
SV
*EMGS
SV
*EMGS
SV
*EMGS
SV
*EMGS
SV
*EMGS
*ALML

*ALML
REND (function for PLN and PLP Types only) Caution To ensure safety, it is recommended that safety
speed be enabled during initial movements.
15B OUT14 *ALM *ALM *ALM *ALM *ALM *ALM ZONE1 ZONE1
LOAD/TRQS LOAD/TRQS LOAD/TRQS LOAD/TRQS
Pulse Train Input and Output Interface Test Run Adjustment 2
*ALML *BALM/ 1) Set the operation mode setting switch to AUTO.
16B OUT15 (Note3) *ALML
/*BALM
*ALML *ALML *ALML
*ALML
ZONE2 ZONE2 Category Abbreviated Code Signal Name Contents of Functions 2) Output the operation command from PLC to the controller and check the system operation.
/*BALM /*BALM /*BALM /*BALM Inputs the command pulse train.
17B NP NP PP, /PP
Input Command Pulse Input Input pulse frequency differs depending on the type. [In the case of Pulse Train Control Mode (for PLN and PLP types only)]
18B /NP /NP NP, /NP [Refer to Basic Specifications] PIO Pattern Settings
19B 0V N
Set the used 6 Pulse train control mode or 7 Pulse train control mode for Battery-less Absolute to Parameter No.25.
20B 0V N When Host Unit is Differential System
(Note) * in codes above shows the signal of the active low. (Although the example shows PCON, it is the same for ACON and DCON.) Set the Electronic Gear Check Item
PM1 to PM8 indicate the alarm binary code output signal when an alarm is generated. [Refer to the Instruction Manual PCON [Refer to Instruction Manual] Is the minimum unit of operation set to the value bigger than the
Host Unit
for the details] Set the electronic gear ratio based on the minimum resolution of the encoder?
PIO Connector
(Note 1) The setting can be changed over to PZONE if set in the parameter setting. Positioning Unit amount of actuator operation per pulse in Is the fraction of the electronic gear ratio reduced to its lowest terms?
(Note 2) It is invalid before home-return operation. 3A Parameters No.65 and 66.
PP
(Note 3) *BALM is dedicated for ACON. Pulse Command 4A
/PP
Yes
(Line Driver: 17B
PIO Input and Output Interface 26C31 or equiv.)
18B
NP
Pulse Train Input Output Mode Setting [Refer to Instruction Manual]
Input section Output section /NP Set the command pulse train input status for the parameter No.63 and No.64.
Put Operation Mode Setting Switch to AUTO side when the setting is complete.
Input voltage 24V DC10% Load voltage 24V DC
Specification

Peak load electric

Input current 5mA 1 circuit 50mA/1 point Servo ON

Check Item
current Input servo ON signal Is the Controller Status Display
No Confirm the content of alarm on the teaching
LED turned ON in green [SV]? tool such as PC to have an appropriate treatment.
from PLC.
MAX. 2mA/1 point (PCON)
ON voltage MIN. 18V DC Yes
ON/OFF voltage Leak Current MAX. 1mA/1 point Note1 : Use the same power source (0V) for the host open collector output, AK-04.
OFF voltage MAX. 6V DC
(ACON, DCON) When Host Unit is Open Collector System [AK-04 (option) is required] Safety Circuit Check

External
Controller Controller (Although the example shows PCON, it is the same for ACON and DCON.) Check that the emergency stop circuit (or motor
drive-power cutoff circuit) operates normally to turn
Power Supply P24 Pulse Converter
P24 OFF the servo.
Internal

Source

24V DC
Power

AK-04
Internal

Source
Power

680 Yes
NPN

Output
Load Host Unit 24V (to be purchased separately) PCON
5.6K 15 Terminal
Positioning Unit DC 0V PIO Connector Test Run Adjustment 1 Check Item
Input External [Operation Mode MANU] No Check if there is any problem in the way
Terminal 1 24V PP 1 3A Is there any risk of
Power Supply
PP Check with a teaching tool such as the of actuator mount.
N 24V DC
2 0V /PP 2 interfering with peripheral
24V 4A PC software with no work being loaded,
/PP equipment?
3 PP NP 3 17B and check the operation range with JOG
NP
Pulse 4 NP /NP 4 operation with the work being loaded.
Controller 18B
Controller Command /NP Yes
Input
P24
Internal

Source

Terminal 5.6K
Power

19B
Internal

External
Source

0V No Check the electronic gear ratio setting.

Power

Test Run Adjustment 2 Can the positioning

PNP

Power Supply
680 24V DC
20B
Output 0V [Operation Mode AUTO] operation be performed Confirm the command pulse train input
15 Terminal Load
External N 0V Output the pulse train from PLC normally? mode setting.
0V
Power Supply to the controller and check the
24V DC N Yes
system operation.
Note1 : 1) Use the same power source (0V) for the host open collector output, AK-04. Confirm that there is no problem in the
Is it in condition without No actuator installation, the actuator operation
2) Have the cables as short as possible between the host unit and AK-04. any vibration and condition demands a voltage more than rated
abnormal noise? voltage, and appropriate pulse trains are input.
Yes

Test Run Adjustment 3

Check the system operation conducted by PLC.
 Action to Take When Error Occurred
Shown below are the alarms that you may often see after power up. Have an appropriate treatment following
the instructions below.
Please refer to the Instruction Manual for other alarms.
Error Code Error Description Cause and Treatment
It indicates the calendar function has stopped and the current
Real Time Clock
069 time data has lost.
Operation Stop Detection
Have the clock settings again from the teaching tool.
The detection of excitation is conducted when the servo is turned
ON for the first time after the power is supplied. The status is that
the detection did not complete even after a certain time (set in
Parameter No.29) was passed.
1) Connection error or wire breakage of motor/encoder cables
0B8 Excitement Detection Error
2) Brake is not released (when equipped with a brake).
3) Load to the motor is high due to external force.
4) Power was turned on while touching to the mechanical end.
5) The slide resistance of the actuator itself is large.
Those described above can be considered.
This error code appears when the right signal was not received
from the encoder side to the controller command. Check if any
wire breakage on a connector and the condition of wire
0E5 Encoder Receive Error connections. If no error is generated under the condition that the
power to all the peripheral equipment is shut and operate only
this controller and the actuator, noise can be considered as the
cause of the problem.
It is the condition that the encoder signal is not properly
A- and B-Phases detected.
0E8
Breakage Error Check if any wire breakage on a connector and the condition of
wire connections.
This error code appears when the absolute encoder PCB cannot
detect the position information properly. The voltage for the
Absolute Encoder Error absolute data battery is dropped. Check the battery alarm output
0EE
Detection 2 on PIO, and if it is off, replace the battery. Perform Absolute
Reset after the replacement.
Check the encoder cable connection.
It shows the operation command was generated in the condition
Servo OFF While in
20A that the servo is OFF.
Operation
Resume the operation after turning the servo ON.

Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
website: www.iai-robot.co.jp/

Technical Support available in USA, Europe and China

Head Office: 2690 W. 237th Street, Torrance, CA 90505

TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 110 East State Parkway, Schaumburg, IL 60173
TEL(847) 908-1400 FAX (847) 908-1399
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com

Ober der Rth 4, D-65824 Schwalbach am Taunus, Germany

TEL 06196-88950 FAX 06196-889524

SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
website: www.iai-robot.com

825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand
TEL +66-2-361-4458 FAX +66-2-361-4456
Manual No.: ME0288-9C