IAI RCP6S User manual

Fieldbus Communication
Instruction Manual Fouth Edition
Hub Unit
RCM-P6HUB
Gateway Unit
RCM-P6GW (G)
RCP6
S
RCP6S Gateway Controllers
RCM-P6PC RCM-P6AC RCM-P6DC

Fieldbus Communication
RCP6
S
Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual describes all necessary information items to operate this product safely
such as the operation procedure, structure and maintenance procedure.
Before the operation, read this manual carefully and fully understand it to operate this product
safely.
The enclosed DVD in this product package includes the Instruction Manual for this product.
For the operation of this product, print out the necessary sections in the Instruction Manual or
display them using the personal computer.
After reading through this manual, keep this Instruction Manual at hand so that the operator of this
product can read it whenever necessary.
[Important]
• This Instruction Manual is original.
• The product cannot be operated in any way unless expressly specified in this Instruction
Manual. IAI shall assume no responsibility for the outcome of any operation not specified
herein.
• Information contained in this Instruction Manual is subject to change without notice for the
purpose of product improvement.
• If you have any question or comment regarding the content of this manual, please contact
the IAI sales office near you.
• Using or copying all or part of this Instruction Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.
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Fieldbus Communication
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Construction of Instruction Manual for Each Controller Model
and This Manual
This instruction manual is for the fields communication using RCP6S Gateway Unit, Hub Unit
and controllers for RCP6S Gateway.
For installation and how to attach conveyance objects, refer to instruction manual for each
actuator type.
RCP6S(W) RCP6S Gateway Controllers
Caution: In this manual shows the explanation of how to operate for when using the Fieldbus
communication.
Refer to provided separately for Serial Communication [Modbus] for operation in serial
communication.
* In this manual explanations “RCP6S GW” shows the “RCP6S Gateway”.
●Basic Specifications (Actuator type)
・Fieldbus Communication
RCP6S fieldbus communication (This manual) ME0349
・Serial Communication Serial communication [Modbus] ME0162
Slider type RCP6S(CR)-SA ME3749
Wide slider type RCP6S(CR)-WSA ME3750
Rod type RCP6S-RA ME3751
Wide rod type RCP6S-WRA ME3752
Radial cylinder type RCP6S-RRA ME3753
Table type RCP6S-TA ME3754
Dust proof/Splush proof
Rod type RCP6SW-RA ME3759
Dust proof/Splush proof
Wide rod type RCP6SW-WRA ME3760
Dust proof/Splush proof
Radial cylinder type RCP6SW-RRA ME3761
ÌExtention Device
・Gateway unit
RCP6S fieldbus communication (This manual) ME0349
・Hub unit RCP6S fieldbus communication (This manual) ME0349
・RCP6S Gateway Controllers RCP6S fieldbus communication (This manual) ME0349
・PLC connecting unit Serial communication [Modbus] ME0162
■Teaching Tool
・PC software PC software ME0155
・Teaching Pendant
TB-01 (Applicable for position controller) Touch panel teaching ME0324
TB-02 (Applicable for position controller) Touch panel teaching ME0355
TB-03 (Applicable for position controller) Touch panel teaching ME0376
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Fieldbus Communication
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Table of Overall Contents
Chapter 1 Specifications Check of Controller
In this chapter, explains the specifications, power capacity, model
codes, etc.
Chapter 6 Power-Saving Function
In this chapter, explains the feature to reduce the power consumption.
Chapter 7 Absolute Reset
In this chapter, explains the procedures for absolute reset.
Chapter 8 Parameter
In this chapter, explains how to set up or fine-tune the controller
settings.
Chapter 9 Troubleshooting
In this chapter, explains how to act in errors and contents of them.
Name for Each Parts and Their Functions
In this chapter, explains the name for each parts and their functions.
Chapter 5 Collision Detection Feature
In this chapter, explains the setup and tuning for collision
detection feature.
Chapter 2 Wiring
In this chapter, explains the basic wiring and connection to extension
devices such as the gateway unit. 43
175
181
185
227
12
21
173
Chapter 10 Appendix
In this chapter, explains the Safety Category, plus grounding and
maintenance. 249
Chapter 4 Vibration Suppress Control Function
In this chapter, explains about the vibration suppress control function
to reduce vibration caused by the actuator.
167
Chapter 11 Warranty
In this chapter, explains about the warranty. 269
Chapter 3 Operation
In this chapter, explains the comparison of operation patterns and
details of each operation such as positioning and pressing operations. 75
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Table of Contents
Safety Guide ············································································································ 1
Precautions in Operation ···························································································· 8
International Standards Compliances············································································11
Name for Each Parts and Their Functions····································································· 12
Actuator Axes········································································································· 18
Chapter 1 Specifications Check ..............................................................................21
1.1 Product Check.............................................................................................................. 21
1.1.1 Parts......................................................................................................................... 21
1.1.2 Teaching Tool........................................................................................................... 23
1.1.3 Instruction Manuals Related to This Product, which are Contained in the
Instruction Manual (DVD)........................................................................................ 24
1.1.4 How to Read the Model Nameplate......................................................................... 25
1.1.5 How to Read the Model ........................................................................................... 26
1.2 List of Basic Specifications........................................................................................... 27
1.2.1 Specification of Built-in Controller............................................................................ 27
1.2.2 Specification of Gateway Unit.................................................................................. 28
1.2.3 Specification of Hub Unit ......................................................................................... 28
1.2.4 Specification of RCP6S Gateway Controllers.......................................................... 29
1.2.5 Specification of Environment (Built-in Controller/Gateway Unit/Hub Unit/
RCP6S Gateway Controller in Common)................................................................ 31
1.3 The Calculation of Number of Connectable Axes and Power Capacity....................... 32
1.4 Specifications for Each Fieldbus .................................................................................. 33
1.4.1 Specifications of DeviceNet Interface ...................................................................... 33
1.4.2 Specifications of CC-Link Interface.......................................................................... 33
1.4.3 Specifications of PROFIBUS-DP Interface .............................................................. 34
1.4.4 Specifications of EtherNet/IP Interface .................................................................... 34
1.4.5 Specifications of EtherCAT Interface ....................................................................... 34
1.4.6 Specifications of PROFINET-IO Interface ............................................................... 35
1.5 External Dimensions .................................................................................................... 36
1.5.1 Gateway Unit ........................................................................................................... 36
1.5.2 Hub Unit................................................................................................................... 37
1.5.3 RCP6S Gateway Controller..................................................................................... 38
1.6 Installation and Storage Environment .......................................................................... 39
1.7 Noise Elimination and Mounting Method ..................................................................... 40
Chapter 2 Wiring......................................................................................................43
2.1 Wiring Diagram (Connection of Construction Devices)................................................ 45
2.2 Circuit Diagram............................................................................................................. 46
2.3 Wiring Method (Gateway Unit)..................................................................................... 57
2.3.1 Wiring to Power Input Connector............................................................................. 57
2.3.2 Wiring Layout of System I/O Connector .................................................................. 59
2.3.3 Wiring of Drive-source Cutoff Connector................................................................. 60
2.3.4 Connection with the Actuator/Hub ........................................................................... 61
2.3.5 Connection of Teaching Tool (SIO Connector, USB Connector) ............................. 62
2.3.6 Wiring of Fieldbus Connector .................................................................................. 64
2.4 Wiring Method (Hub Unit)............................................................................................. 69
2.4.1 Connection with the Gateway Unit .......................................................................... 69
2.4.2 Connection with the Actuator................................................................................... 70
2.4.3 Brake Release Switch.............................................................................................. 70
2.5 Wiring Method (RCP6S Gateway Controllers)............................................................. 71
2.5.1 Connection with the Gateway Unit/Hub Unit ........................................................... 71
2.5.2 Connection with the Actuator/ Connector Conversion Unit ..................................... 72
2.5.3 Connection of Teaching Tool.................................................................................... 73
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Chapter 3 Operation................................................................................................ 75
3.1 Basic Operation............................................................................................................ 75
3.1.1 Basic Operation Methods ........................................................................................ 75
3.1.2 Relation between Axis Number and PLC Address Domain
(Left-Justification Feature) ...................................................................................... 78
3.2 Initial Setting................................................................................................................. 80
3.2.1 Operation Mode Setting (Setting in Gateway Parameter Setting Tool) ................... 80
3.2.2 Parameter Settings (Setting on RC PC Software)................................................... 87
3.3 Setting of Position Data................................................................................................ 88
3.4 Fieldbus Type Address Map......................................................................................... 95
3.4.1 PLC Address Construction by Each Operation Mode ............................................. 95
3.4.2 Gateway Control Signals (Common for All Operation Modes) ................................ 97
3.4.3 Control Signals for Simple Direct Mode................................................................. 100
3.4.4 Control Signals for Positioner 1 Mode ................................................................... 105
3.4.5 Control Signals for Direct Indication Mode ............................................................ 110
3.4.6 Control Signals for Positioner 2 Mode ................................................................... 117
3.4.7 Control Signals for Positioner 3 Mode ................................................................... 121
3.4.8 Control Signals for Positioner 5 Mode ................................................................... 124
3.5 Input and Output Signal Process for Fieldbus ........................................................... 128
3.6 Power Supply ............................................................................................................. 129
3.6.1 Battery-less absolute ............................................................................................. 129
3.6.2 Incremental ............................................................................................................ 130
3.7 Control and Functions of Input and Output Signals of Modes ................................... 131
3.7.1 Input and Output Signal Functions ........................................................................ 131
3.7.2 Operation for Positioner 1/Simple Direct Modes ................................................... 145
3.7.3 Operation for Direct Indication Mode..................................................................... 146
3.7.4 Operation for Positioner 2, Positioner 3 and Positioner 5 Modes ......................... 147
3.8 About Gateway Parameter Setting Tool ..................................................................... 148
3.8.1 Startup of Tool ........................................................................................................ 148
3.8.2 Explanation of Each Menu..................................................................................... 149
3.8.3 Description of Functions ........................................................................................ 151
3.8.4 Operation Mode Setting......................................................................................... 158
3.8.5 Fieldbus I/O Domain Left-Justification Setting ...................................................... 159
3.9 Fieldbus Status LEDs................................................................................................. 160
3.9.1 DeviceNet .............................................................................................................. 160
3.9.2 CC-Link.................................................................................................................. 161
3.9.3 PROFIBUS-DP ...................................................................................................... 162
3.9.4 EtherNet/IP ............................................................................................................ 163
3.9.5 EtherCAT ............................................................................................................... 164
3.9.6 PROFINET-IO........................................................................................................ 165
Chapter 4 Vibration Suppress Control Function ....................................................167
4.1 Setting Procedure ...................................................................................................... 169
4.2 Settings of Parameters for Vibration Suppress Control ............................................. 170
4.3 Setting of Position Data.............................................................................................. 171
Chapter 5 Collision Detection Feature...................................................................173
5.1 Collision Detection Judgement................................................................................... 173
5.2 Settings ...................................................................................................................... 174
5.3 Adjustment ................................................................................................................. 174
Chapter 6 Power-saving Function .........................................................................175
6.1 Automatic Servo-off and Full Servo Functions........................................................... 175
6.1.1 Setting of periods taken until automatic servo OFF .............................................. 176
6.1.2 Set of power-saving mode..................................................................................... 176
6.1.3 Status of positioning complete signal in selection of automatic servo OFF .......... 177
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6.2 Selecting Automatic Current Reduction Feature........................................................ 178
6.2.1 Process When Feature is Active............................................................................ 179
6.2.2 Caution .................................................................................................................. 179
Chapter 7 Absolute Reset .....................................................................................181
7.1 Absolute Reset................................................................................................................ 181
Chapter 8 Parameter.............................................................................................185
8.1 Parameter List............................................................................................................ 186
8.2 Detail Explanation of Parameters............................................................................... 191
8.3 Servo Adjustment ....................................................................................................... 224
8.3.1 Adjustment of Pulse Motor and Servo Motor......................................................... 224
8.3.2 Adjustment of Brushless DC Electric Motor .......................................................... 226
Chapter 9 Troubleshooting ....................................................................................227
9.1 Action to Be Taken upon Occurrence of Problem ...................................................... 227
9.2 Fault Diagnosis .......................................................................................................... 228
9.2.1 Impossible Operation of Controller ........................................................................ 228
9.2.2 Positioning and Speed of Poor Precision (incorrect operation)............................. 230
9.2.3 Generation of Noise and/or Vibration .................................................................... 231
9.2.4 Impossible Communication ................................................................................... 231
9.3 Gateway Alarm ........................................................................................................... 232
9.3.1 Gateway Alarm Codes ........................................................................................... 232
9.3.2 Connection Unit Control Power Voltage Drop Alarm ............................................. 234
9.4 Driver Alarm................................................................................................................ 235
9.4.1 Alarm Level............................................................................................................ 235
9.4.2 Simple Alarm Code ................................................................................................ 235
9.4.3 Alarm Codes for Driver Board ............................................................................... 237
Chapter 10 Appendix...............................................................................................249
10.1 Conformity to Safety Category................................................................................... 249
10.2 When Connecting Power with Plus Grounding.......................................................... 263
10.3 Maintenance............................................................................................................... 264
10.3.1 Consumed Parts .................................................................................................... 264
10.3.2 Maintenance Information ....................................................................................... 264
10.4 List of Connectable Actuators .................................................................................... 265
Chapter 11 Warranty ...............................................................................................269
11.1 Warranty Period ......................................................................................................... 269
11.2 Scope of the Warranty................................................................................................ 269
11.3 Honoring the Warranty ............................................................................................... 269
11.4 Limited Liability........................................................................................................... 269
11.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and
Applications ................................................................................................................ 270
11.6 Other Items Excluded from Warranty......................................................................... 270
Change History .............................................................................................................271
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ME0349-4B

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ÌStarting ProceduresÌ
Step 1 Confirm All The Necessary Things are Prepared (Contact us or our sales agency in case of any missing)
Refer to the section “1.1 Product Check” in this manual for more detail.
☆Actuator (RCP6S-**) and Connection Cable
* To operate this actuator, it is necessary gateway unit or
PLC connecting unit.
Check also enclosed parts in parallel. [Refer to Section 1.1.1]
☆
CD-ROM (Enclosed in RCM-101-□□) ☆DVD Instruction Manual
(The following software is included) (includes the following instruction manuals)
・RC PC software [Refer to Instruction Manuals related to this product, which are
・Gateway parameter provided on the 1.1.3 DVD.]
setting tool 1) RCP6S Instruction Manual (This manual)
2) RC PC Software Instruction Manual (ME0155)
☆For Gateway Unit (extension): 3) Touch Panel Teaching Instruction Manual (ME0324)
Field Network Setting File 4) RCP6S(CR), RCP6SW Instruction Manual for Each Type
File (e.g. EDS File) 5) Serial Communication [Modbus] Instruction Manual (ME0162)
6) Instruction manual of each actuator
Download it in homepage
(http://www.iai-robot.co.jp/)
Step 2 Check How to Operate
The operation modes and control methods will defer depending on the type you have purchased.
☆ Operation by Fieldbus Connection ☆ Operation by Serial Communication
(Utilize these holes if necessary)
The host controller drives the actuator by the fieldbus
communication through the gateway unit
Make operation with serial communication (Modbus)
In the direct numerical mode except for when
connection with CC-Link, the maximum
connectable number of axes should be eight axes.
When conducting the serial communication control,
refer to Serial Communication [for Modbus]
Instruction Manual provided separately.
connecting unit
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Step 3 Installation
x External Dimensions * As they differ for each specifications and type. Refer to the each instruction manual.
x Noise Elimination Grounding
(Frame Ground)
x Heat Radiation and Installation
Keep the ambient temperature of the controller at 40°C or less.
Step 4 Wiring Refer to Chapter 2 “Wiring”
[Fieldbus Control] Refer to Sections 2.1
[Serial Communication Control] When conducting the serial communication control with using the PLC connection unit,
refer to Serial Communication [for Modbus] Instruction Manual provided separately.
Host Controller
Fieldbus
Teaching Tool
Hub Unit2
Hub Unit 0
Hub Unit 1
Gateway
Unit
USB
Connection
Axis No.11
Axis No.10
Axis No.9 Axis No.8
Axis No.7
Axis No.6
Axis No.5
Axis No.4
Axis No.3
Axis No.2
Axis No.1
Axis No.0
PC
Example for Basic Wiring
Axis No.12
Controller
for
Gateway
Controller for Gateway
Connector
Conversion
Unit
Controller
for
Gateway
Note When an actuator is to connected to the controller for RCP6S Gateway, make sure to connect an
actuator of the model code stated on the controller front panel. Operation will not be performed
correctly if an actuator not indicated is connected.
“Refer to “1.6 Installation and Stora
g
e Environment” and “1.7 Noise Prevention and Installation”
Earth Terminal
(Grounding resistance at 100Ω or less)
Connect the ground
line together to the
main unit using the FG
terminal.
Push hard in the square hole with a slotted
screwdriver to open the ground wire inlet.
Copper Wire :
Connect to an ground cable
with diameter 1.6mm
(2mm2) or more.
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Step 5 Operate Unit
How you should look in the instruction manuals will differ depending on the operation modes and control methods you
choose.
Establish the settings for your control format needs.
●
For Fieldbus Communication Control 3.1. Basic Operation ⇒ 3.2 Initial Setting ⇒ 3.3 Setting of Position Data
●
For Serial Communication Control Provided Separately [Modbus] Instruction Manual
Caution Set it away from the mechanical end or peripherals as much as possible when turning the servo
ON. Move it apart when it interferes with peripherals. It may generate an alarm if it hits to the
mechanical end or peripherals when the servo is turned on. Also, in case the actuator is installed
in vertical orientation, turning ON and OFF the servo at the same spot may cause a slight drop
by the self-gravity. Pay attention not to pinch your finger or damage a work piece.
Caution There is a brake release switch mounted on the front panel of the hub unit. Also, there is the
brake release input in the system connector of the gateway unit.
When the actuator is to be installed in the vertical mount, it may drop with its self-weight when
the brake gets compulsorily released. Pay attention not to pinch your finger or damage the
workpiece.
Caution The controller is equipped with a safety velocity function to make the operation in low speed
compulsorily. It is recommended to have this function activated in the first operation.
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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.
No. Operation
Description Description
1 Model
Selection
● This product has not been planned and designed for the application
where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect
human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
● Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
● Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
● For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving
part may drop when the power is turned OFF and may cause an
accident such as an injury or damage on the work piece.
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No. Operation
Description Description
2 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 and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
● Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the
instructions in the instruction manual for each model.
● Do not step or sit on the package.
● Do not put any heavy thing that can deform the package, on it.
● When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
● When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
● Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
● Do not get on the load that is hung on a crane.
● Do not leave a load hung up with a crane.
● Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
● The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention
of condensation.
● Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
● Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
● Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
● When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
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No. Operation
Description Description
4 Installation
and Start
(2) Cable Wiring
● 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. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
● Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
● When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
● Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
● Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so
may cause the product to malfunction or cause fire.
(3) Grounding
● The grounding operation should be performed to prevent an electric
shock or electrostatic charge, enhance the noise-resistance ability and
control the unnecessary electromagnetic radiation.
● For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair
cable with wire thickness 0.5mm2 (AWG20 or equivalent) or more for
grounding work. For security grounding, it is necessary to select an
appropriate wire thickness suitable for the load. Perform wiring that
satisfies the specifications (electrical equipment technical standards).
● Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100Ω or below).
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No. Operation
Description Description
4 Installation
and Start
(4) Safety Measures
● 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.
● When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection fence)
so that nobody can enter the area within the robot’s movable range.
When the robot under operation is touched, it may result in death or
serious injury.
● Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
● Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
● Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
● When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!”
etc. Sudden power input may cause an electric shock or injury.
● Take the measure so that the work part is not dropped in power failure or
emergency stop.
● Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
● Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or fire.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching ● 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.
● Perform the teaching operation from outside the safety protection fence,
if possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
● When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
● When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
● Place a sign “Under Operation” at the position easy to see.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
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No. Operation
Description Description
6 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.
● After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic
operation.
● When the check operation is to be performed inside the safety
protection fence, perform the check operation using the previously
specified work procedure like the teaching operation.
● Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
● Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
● Check before starting the automatic operation or rebooting after
operation stop that there is nobody in the safety protection fence.
● Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no
alarm indication.
● Make sure to operate automatic operation start from outside of the
safety protection fence.
● In the case that there is any abnormal heating, smoke, offensive smell,
or abnormal noise in the product, immediately stop the machine and
turn OFF the power switch. Failure to do so may result in a fire or
damage to the product.
● When a power failure occurs, turn OFF the power switch. Failure to do
so may cause an injury or damage to the product, due to a sudden
motion of the product in the recovery operation from the power failure.
ME0349-4B

Fieldbus Communication
6
RC
P
6
S
No. Operation
Description Description
8 Maintenance
and
Inspection
● 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.
● Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
● When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
● When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
● When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
● Place a sign “Under Operation” at the position easy to see.
● For the grease for the guide or ball screw, use appropriate grease
according to the Instruction Manual for each model.
● Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
● The slider or rod may get misaligned OFF the stop position if the servo
is turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
● Pay attention not to lose the cover or untightened screws, and make
sure to put the product back to the original condition after maintenance
and inspection works.
Use in incomplete condition may cause damage to the product or an
injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
● Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal ● When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
● When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
● Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other ● Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing
so may affect the performance of your medical device.
● See Overseas Specifications Compliance Manual to check whether
complies if necessary.
● For the handling of actuators and controllers, follow the dedicated
instruction manual of each unit to ensure the safety.
ME0349-4B

Fieldbus Communication
7
RCP6
S
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
Danger
This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious
injury. Danger
Warning
This indicates a potentially hazardous situation which, if the
product is not handled correctly, could result in death or serious
injury. Warning
Caution
This indicates a potentially hazardous situation which, if the
product is not handled correctly, may result in minor injury or
property damage. Caution
Notice This indicates lower possibility for the injury, but should be kept to
use this product properly. Notice
ME0349-4B

Fieldbus Communication
8
RCP6
S
■Precautions in Operation■
1. 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.
2. Use an appropriate teaching tool.
Use the PC Software or an appropriate teaching pendant to interface with this controller.
[Refer to 1.1.2 Teaching Tool]
3. Backup the data to secure for breakdown.
A non-volatile memory is used as the backup memory for this controller. All the registered
position data and parameters are written into this memory and backed-up at the same time.
Therefore, you will not usually lose the data even if the power is shut down. However, make
sure to save the latest data so a quick recovery action can be taken in case when the controller
is broken and needs to be replaced with another one.
How to Save Data
(1) Save the data to non-volatile memory with using the PC software
(2) Hard-copy the information of position tables and parameters on paper
4. Initial setting the operation
To make this controller flexibly applied in various situations, it is made applicable for six types
of communication standards, possesses six types of fieldbus operation modes for control
method.
The setup can be performed in the initial setting. [Refer to Chapter 3.2 Initial Setting and
Chapter 8 Parameter]
Set the operation mode and operation pattern setting to the logic that suits your use after the
power is turned ON.
5. Clock setting in calendar function
There may be a case in the first time to supply the power after delivery that Gateway Alarm
Code 84A “Real Time Clock Vibration Stop Detected” is generated. In the case this happens,
set the current time with a teaching tool.
If the battery is fully charged, the clock data is retained for approximately 10 days after the
power is turned OFF.
Even though the time setting is conducted before the product is shipped, the battery is not fully
charged. Therefore, there may be a case that the clock data is lost even if the days described
above have not passed.
6. Note that there are some frictions and/or torsions in through-hole of rotary
actuator when it is used
When using rotary actuator with a through hole in the center of the revolution and using the
hole to put cables through, have a treatment to prevent wear from rubbing or wire break due to
the cables getting twisted.
Take particular note on actuators of 360°rotation specification because they can be rotated
infinitely in a single direction.
ME0349-4B