IAI RCP6S User manual

RCM-P6GW(G)／RCM-P6HUB
Fieldbus Communication
First Step Guide Third Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to
this First Step Guide to ensure correct use.
This Instruction Manual is original.
 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.
Product Check
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts
No. Part Name Model Number Remarks
1 Controller Main Body Refer to each instruction manual of
an actuator. -
2 Gateway Unit Refer to “How to read the model
plate”, “How to read the model”. 1
Accessories
3 Hub Unit (Option) Refer to “How to read the model
plate”, “How to read the model”. - To be prepared separately
4 Drive Cutoff Connector (1) FKCN2.5/4-STF-5.0 (Ax0-7)
(Supplier : PHOENIX CONTACT) 1 Recommended cable size 1.25 to 0.5mm2 (AWG16 to 20)
5 Drive Cutoff Connector (2) FKCN2.5/4-STF-5.0 (Ax8-15)
(Supplier : PHOENIX CONTACT) 1 Recommended cable size
1.25 to 0.5mm2(AWG16 to 20)
6 System I/O Connector DFMC1.5/7-ST-3.5
(Supplier : PHOENIX CONTACT) 1
Recommended cable size
 Brake Release Input
1.25 to 0.5mm2 (AWG16 to 20)
 Other than above
1.25 to 0.3mm2 (AWG16 to 22)
7 Dummy Plug DP-5 1 For the safety category compliant type
(RCP-P6GWG)
8 DeviceNet Connector
(For DeviceNet Type)
MSTB2.5/5-STF-5.08 AU M
(Supplier : PHOENIX CONTACT) 1
Prepare a terminal resistance
separately if this controller is to be
allocated at the terminal.
9 CC-Link Connector
(For CC-Link Type)
MSTB2.5/5-STF-5.08 AU
(Supplier : PHOENIX CONTACT) 1
Terminal resistance
(1301/2W, 1101/2W)
enclosed one unit each
10 Safety Guide 1
11 First Step Guide 1
12 Instruction Manual (DVD) 1
* Select the cable thickness allowable for the current figured out in the <Calculation of 24V DC Power Capacity, Number of
Connectable Axes>.
Drive Cutoff Connector (1) (2) System I/O Connector Dummy Plug (DP-5)
DeviceNet Connector CC-Link Connector CC-Link Connector Enclosed Terminal Resistance
2. Teaching Tool (Please purchase separately)
A teaching tool such as PC software is necessary when performing the setup for position setting, parameter setting, etc. that
can only be done on the teaching tool. Please prepare either of the following teaching tools.
No. Part Name Model
1 PC Software (Includes RS232C exchange adapter + Peripheral communication cable) RCM-101-MW
2 PC Software (Includes USB exchange adapter + USB cable + Peripheral communication cable) RCM-101-USB
3 Touch Panel Teaching Pendant TB-01 (Standard/with dead-man switch attached on the left/with
dead-man switch attached on the right) TB-01/01D/01DR
4 Touch Panel Teaching Pendant TB-02 (Standard/with dead-man switch attached on the left) TB-02/02D
5 Touch Panel Teaching Pendant TB-03 TB-03
3. Instruction manuals related to this product, which are contained in the instruction manual (DVD).
4. How to read the model plate
5. How to read controller model code
Gateway Unit
RCM - P6GW - CC
CC : CC-Link Connection Type
DV : DeviceNet Connection Type
P6GW : Standard Type PR : PROFIBUS-DP Connection Type
P6GWG : Safety Categories Complied EP : EtherNet/IP Connection Type
EC : EtherCAT Connection Type
PRT : PROFINET-IO Connection Type
Hub Unit
RCM - P6HUB - DN
(Not Specified) : Fixed Screws Type
DN : Attachment DIN Rail Type
P6HUB : Standard Type
Basic Specifications
Built-in Controller
Specification Item Details of Specifications
Number of Controlled Axes 1-axis
Power-supply Voltage 24V DC±10%
Control Power Capacity 0.3A (Built-in Controller only)
High-thrust function is disabled 1.7A max.
28P, 35P,
42P, 56P High-thrust function is enabled Rated at 3.2A, 4.2A max.
Load Current
(Including current
consumption for
control)
Motor
Type
56SP, 60P 5.7A max.
Power Supply for Electromagnetic Brake
(for actuator equipped with brake)
24V DC±10% 0.15A
(Note) 0.7A is required for 0.2sec at brake release.
Heat Generation 5W (Motor type 28P, 35P, 42P, 56P)
19.2W (Motor type 56SP, 60P)
Rush Current (Note 1) 8.3A with in-rush current protection circuit (Motor type 28P, 35P, 42P, 56P)
10A with in-rush current protection circuit (Motor type 56SP, 60P)
Motor Control System Weak field-magnet vector control
Corresponding Encoder Battery-less absolute encoder Resolution 8192pulse/rev
Cable Length Between gateway unit and Hub: 10m max.
Between gateway unit and RCP6S actuator: 20m max.
Serial Communication (SIO Port) RS485: 2CH (based on Modbus Protocol RTU/ASCII)
Based on ASCII is 1CH Speed: 9.6 to 230.4Kbps
External Interface
Fieldbus connection (Note) Connection of gateway unit is necessary
separately.
CC-Link, DeviceNet, PROFIBUS-DP, EtherCAT, EtherNet/IP, PROFINET-IO
Data Setting and Input PC software, Touch panel teaching
Data Retention Memory Saves position data and parameters to non-volatile memory
(There is no limitation in number of writing.)
LED Display SV (GR) / ALM (RD): Servo ON / Alarm generated and emergency stop
Insulation Resistance 500V DC 10M or more
Protection Function against Electric Shock Class I basic insulation
Cooling Method Natural air-cooling
Note 1 In-rush current will flow for approximately 1 to 5msec after the power is turned on (at 40  C).
The value of inrush current differs depending on the impedance of the power supply line.
Gateway Unit
Specification Item Details of Specifications
Number of Controlled Axes
16-axes max. (Four axes for gateway unit itself)
For those except for CC-Link which are used in the direct indication mode, the maximum
number of the axes should be eight (and two axes with the gateway unit itself).
Power-supply Voltage 24V DC ±10%
Control Power Capacity 0.6A (Gateway unit itself 0.3A+Fieldbus module 0.3A)
Motor Power Capacity Current consumption 51.2A
Cooling Method Natural air-cooling
Emergency-stop Input B contact input
Enable Input None
T.P. Enable Input Equipped
Enable Operation Servo OFF or shutdown (Select the parameter)
Backup Memory FRAM (256kbit), No limitation in number of writing
Calendar Function Equipped (Data retained for ten days after power cutoff)
Gateway Board
LED Display
SYS LED×1 (RUN/ALM), EMG LED×1, MODE LED×1 (AUTO/MANU),
T.ERR LED×1, C.ERR LED×1, Status LED lamp for each fieldbus module LED×2
Tool Connection T/P connector : RS485 1ch (based on Modbus protocol)
USB connector : USB 1ch
Electromagnetic Brake
Compulsory Release Feature
System I/O connector: External brake release signal input (24V DC)
* Used only when RCP6S connected directly to gateway. Invalid when hub connected.
Protection Function against
Electric Shock Class I basic insulation
Insulation Strength 500V DC 10M
Mass 250g
External Dimensions 35W×115H×123D
Hub Unit
Specification Item Details of Specifications
Number of Controlled Axes 4-axes max.
Power-supply Voltage 24V DC ±10%
Control Power Capacity 0.3A (Hub unit itself)
Motor Power Capacity Total connected axes MAX. 12.8A
Cooling Method Natural air-cooling
Emergency-stop Input None
Enable Input None
T.P. Enable Input None
Backup Memory None
LED Display System status LED×1 (RUN/ALM), Axis status LED×4 (RUN/ALM)
Tool Connection None
Electromagnetic Brake
Compulsory Release Feature Brake release switch×4
Protection Function against
Electric Shock Class I basic insulation
Insulation Strength 500V DC 10M
Mass 80g
External Dimensions 30W×115H×45D
Specification of Environment (Built-in Controller, Gateway Unit and Hub Unit in Common)
Specification Item Details of Specifications
Surrounding Air
Temperature 0 to 40C
Surrounding Humidity 85%RH or less (non-condensing)
Surrounding Environment Refer to Installation Environment
Surrounding Storage
Temperature -20 to 70C
Usage Altitude 85%RH or less (non-condensing)
Protection Class 1,000m or lower above sea level
Vibration Durability
Frequency 10 to 57Hz / Swing width: 0.075mm
Frequency 57 to 150Hz / Acceleration: 9.8m/s2
XYZ Each direction Sweep time: 10 min. Number of sweep: 10 times
Shock Resistance Dropping height 800mm 1 corner, 3 edges and 6 surfaces
Pollution Degree Pollution degree 2
Environment
Protection Class IP20
<The Calculation of 24V DC Power Capacity, Number of Connectable Axes>
To calculate the number of axes connectable to one unit of the gateway unit and the current amperage of 24V DC, figure
out (1) to (4) below and follow (5).
(1) The Calculation of Number of Connectable Axes, and Motor Current Consumption
Condition 1: Sum total of motor current consumption connectable to one unit of hub unit
Condition 2: Number of controlled axes connectable to corresponding 1 unit: 4-axes or less
* By adjusting the number of connected axes or motor type, select the connected axes so each hub unit satisfies the
formulas below.
● Sum total of motor current consumption for hub unit= Motor current consumption of 1st axis
+ Motor current consumption of 2nd axes (if connected)
+ Motor current consumption of 3rd axes (if connected)
+ Motor current consumption of 4th axes (if connected) ≤ 12.8A ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1)
● Sum total of motor current consumption = Motor current consumption of hub unit 1st unit
+ Motor current consumption of hub unit 2nd units (if connected)
+ Motor current consumption of hub unit 3rd units (if connected)
+ Motor current consumption of hub unit 4th units (if connected) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2)
(2) Control Power Current Consumption:
0.3A × Number of actuator + 0.6A (Gateway unit) + 0.3A × Number of hub unit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3)
(3) Rush Current: 8.3A (RCP6S Motor type 28P, 35P, 42P, 56P and RCM-P6PC) /
10A (RCP6S Motor type 56SP, 60P, RCM-P6AC and RCM-P6DC) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4)
(4) Current Consumption of Brake Release Power (RCP6 and RCP6S): Number of actuators with brake × 0.07A ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5)
* When servo is on, it should be 0.5sec or less, after that retaining of released status should be 0.1A/axis.
When using the control power source and the motor power source in common, calculate with the number of
brake-equipped actuators × 0.1A.
(5) Selection of Power Supply: Usually, the rated current is to be approximately 1.2 times higher than the total of Control Power
2) + 3) + 5) above considering approximately 30% of margin to the load current.
However, considering the inrush currents 4), even though it is a short time, select a power supply with “sufficient peak load capacity.
Inrush current of 4) from occurring at the same time by having the timing of emergency stop release (turning the motor
power on) and timing to turn the servo on shifted (Note 1) from each other and so on. Huge current flow of the same time
may cause a transient voltage drop.
Be careful especially when selecting a power source equipped with remote sensing.
Note 1 The timing to turn the servo on can be tuned in Parameter No. 165 “Latency after Shutdown Release”.
(Note) Ensure motor and control power supplies reference the same potential when using multiple power supplies.
No. Part Name Model
1 Instruction Manual for the RCP6S Fieldbus Communication ME0349
2 Instruction Manual for the Serial Communication [for Modbus] ME0162
3 Instruction Manual for the RCP6 (S) (CR) Slider Type and Wide Slider Type ME3749 and ME3750
4 Instruction Manual for the RCP6 (S) Rod Type and Wide Rod Type ME3751 and ME3752
5 Instruction Manual for the RCP6 (S) Radial Cylinder Type and Table Type ME3753 and ME3754
6 Instruction Manual for the RCP6 (S) W Rod, Wide Rod and Radial Cylinder Dust proof/Splash proof Type ME3759 to ME3761
7 PC Software RCM-101-MW/RCM-101-USB Instruction Manual ME0155
8 Touch Panel Teaching TB-01 Applicable for Position Controller Instruction Manual ME0324
9
Touch Panel Teaching TB-02/TB-03 Applicable for Position Controller/ELECYLINDER Instruction
Manual
ME0355/ME0376
Model RCM-P6GW-CC
SER NO. 12345678 00
Input DC24V, 44.6A
Output DC24V, 44A
Applicable Fieldbus
(DeviceNet, CC-Link, PROFIBUS-DP,
EtherNet/IP, EtherCAT, PROFINET-IO)
Gateway Unit Model code
Serial number Hub
Unit
Model code
Serial number
Warning: Operation of this equipment requires detailed installation and operation instructions which are
provided on the DVD Manual included in the box this device was packaged in. It should be retained
with this device at all times.
A copy of the DVD Manual can be requested by contacting your nearest IAI Sales Office listed at
the back cover of the Instruction Manual or on the First Ste
p
Guide. Model RCM-P6HUB-DN
SER NO. 12345678 00
Input DC24V, max 11A
Output DC24V, max 10.7A
RCP6
S
3B

14
115
4.5
105
10
2.1
φ5
514.5
45
10
φ5
105
5
4.5
2.1
30
123 12.5
12.5
5
4
115
105
(6.5)
6.5
6.5
35 2
35.4 (35mm DINﾚｰﾙ幅)
DINﾚｰﾙ中心から66.5
(Reference) Selection of Power Supply Protection Circuit Breaker
It is recommended that the power supply protection is conducted on the primary side (AC power side) of the 24V DC power
supply unit. When selecting the protection breaker, consider the rated cutoff current of the circuit breaker so a cutoff is surely
performed even in the case of inrush current of 24V DC power supply unit or a short-circuit of the power supply.
• Rated Breaking Current > Short-circuit Current = Primary Power Supply Capacity / Power Voltage
• (Reference) In-rush Current of IAI Power Supply Unit PS241 = 50 to 60A, 3msec
● DeviceNet Interface
Item Specification
DeviceNet2.0
Group 2 dedicated server
Communication Protocol
Network-powered insulation node
Baud Rate Automatically follows the master
Communication System Master-slave system (Polling)
Number of Occupied Channels Max. 72CH (Input, Output)
Number of Occupied Nodes 1 Node
Baud Rate Max. Network
Length
Total Branch
Line Length
Max. Branch
Line Length
500kbps 100m 39m
250kbps 250m 78m
Communication Cable Length
(Note 1)
125kbps 500m 156m
6m
Communications Cable Use the dedicated cable.
Connector (Note 2) MSTB2.5/5-GF-5.08 AU (Manufactured by PHOENIX CONTACT or equivalent)
Consumption Current of
Communication Power Supply 60mA
Communication Power Supply 24V DC (Supplied from DeviceNet)
Note 1 For T branch communication, refer to the Instruction Manuals for the master unit and programmable logic controller
(PLC) to be mounted.
Note 2 The cable-side connector is a standard accessory.
● CC-Link Interface
Item Specification
Communication Protocol CC-Link ver1.10 or ver2.00
Station Type Remote device station (MAX. four stations occupied)
Baud Rate 10M/5M/2.5M/625k/156kbps
Communication System Broadcast polling system
Number of Occupied Stations Max. 63stations
Baud Rate (bps) 10M 5M 2.5M 625k 156k
Communication Cable Length
(Note 1) Total Cable Length (m) 100 160 400 900 1200
Communications Cable Apply the dedicated cable
Connector (Note 2) MSTB2.5/5-GF-5.08 AU (Manufactured by PHOENIX CONTACT or equivalent)
Note 1 For T branch communication, refer to the Instruction Manuals for the master unit and PLC to be mounted.
Note 2 The cable-side connector is a standard accessory.
● PROFIBUS-DP Interface
Item Specification
Communication Protocol PROFIBUS-DP
Baud Rate Automatically follows the master
Communication System Hybrid System (Master-slave system or token passing system)
Occupied Area Max. 144bytes (Input, Output)
Number of Occupied Stations Max. 32stations/segment 126stations are available by the repeater
MAX. Total Network Baud Rate Cable Type
100m 3,000/6,000/12,000kbps
200m 1,500kbps
400m 500kbps
1000m 187.5kbps
Communication Cable Length
1200m 9.6/19.2/93.75kbps
Type A cable
Communications Cable Equipped with shield twist pair cable AWG18
Connector (Note 1) 9-pin female D-sub connector
Transmission Path Format Bus/Tree/Star
Note 1 Please prepare a 9-pin male D-sub connector for the cable-end connector.
● EtherNet/IP Interface
Item Specification
Communication Protocol IEC61158 (IEEE802.3)
Baud Rate 10BASE-T/100BASE-T (Autonegotiation setting is recommended)
Communication Cable Length Follows EtherNet/IP specifications
(Distance between hub and each node: 100m max.)
Number of Connection Follows master unit
Available Node Addresses for
Setting 0.0.0.0 to 255.255.255.255
Communications Cable
(Please prepare separately)
Category 5e or more
(Double shielded cable braided with aluminum foil recommended)
Connector RJ45 connector × 1pc
● EtherCAT Interface
Item Specification
Communication Protocol IEC61158 type 12
Physical Layer 100Base-TX (IEEE802.3)
Baud Rate Automatically follows the master
Communication Cable Length Follows EtherCAT® specifications (Distance between each node: 100m max.)
Slave Type I/O slave
Available Node Addresses for
Setting 0 to 65535
Communications Cable
(Please prepare separately)
Category 5e or more
(Double shielded cable braided with aluminum foil recommended)
Connector RJ45 connector × 2pcs (Input × 1, Output × 1)
Connect Daisy chain only
● PROFINET-IO Interface
Item Specification
Communication Protocol IEC61158 (IEEE802.3), IEC61784
Baud Rate 100Mbps
Communication Cable Length Distance between each segment: 100m Max.
Number of Connection Follows master unit
Available Node Addresses for
Setting 0.0.0.0 to 255.255.255.255
Communications Cable
(Please prepare separately)
Category 5 or more
(Double shielded cable braided with aluminum foil recommended)
Connector RJ45 connector × 1pc
GSDML File Version Ver. 2.3
External Dimensions
Gateway Unit (Attachment Screws and Attachment DIN Rail Type)
Hub Unit Fixed Screws Type
Hub Unit Attachment DIN Rail Type
Installation Environment
This product is capable for use in the environment of pollution degree 2*1 or equivalent.
*1 Pollution Degree 2: Environment that may cause non-conductive pollution or transient conductive pollution by frost
(IEC60664-1).
1. Installation Environment
Do not use this product in the following environment.
 Location where the surrounding air temperature exceeds the range of 0 to 40C
 Location where condensation occurs due to abrupt temperature changes
 Location where relative humidity exceeds 85%RH
 Location exposed to corrosive gases or combustible gases
 Location exposed to significant amount of dust, salt or iron powder
 Location subject to direct vibration or impact
 Location exposed to direct sunlight
 Location where the product may come in contact with water, oil or chemical droplets
 Environment that blocks the air vent [Refer to Noise Elimination and Mounting Method]
When using the product in any of the locations specified below, provide a sufficient shield.
 Location subject to electrostatic noise
 Location where high electrical or magnetic field is present
 Location with the mains or power lines passing nearby
2. Storage and Preservation Environment
 Storage and preservation environment follows the installation environment. Especially in a long-term storage,
consider to avoid condensation of surrounding air.
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 stored in an environment where dew condensation is anticipated, take
the condensation preventive measures from outside of the entire package, or directly after opening the package.
Installation and Noise Elimination
1. Noise Elimination Grounding (Frame Ground)
2. Precautions regarding wiring method
1) Wire is to be twisted for the 24V DC power supply.
2) Separate the signal and encoder lines from the power supply and power
lines.
3. Noise Sources and Elimination
Carry out noise elimination measures for electrical devices on the same
power path and in the same equipment.
The following are examples of measures to eliminate noise sources.
1) AC solenoid valves, magnet switches and relays
[Measure] Install a Surge absorber parallel with the coil.
2) DC solenoid valves, magnet switches and relays
[Measure] Mount the windings and diodes in parallel. Select a diode
built-in type for the DC relay.
4. Cooling Factors and Installation
Design and Build the system considering the size of the controller box, location of the controller and cooling factors to keep
the surrounding temperature around the controller below 40C.
Pay a special attention to the battery unit since the performance of it would drop both in the low and high temperatures.
Keep it in an environment in the room temperature as much as possible. (Approximately 20C is the recommended
temperature.)
35.4 (Width of 35mm DIN rail)
66.5 from DIN rail center
35.4 (Width of 35mm DIN rail)
55 from DIN rail center
Surge absorber
Relay
coil
Relay coil
R
C
+24V 0V
+24V 0V
+-
Do not share the ground wire with or connect
to other equipment. Ground wach unit.
Earth Terminal
Grounding resistance at 100 or less (Class D grounding)
Copper wire: Connect a ground
wire with a diameter of 1.6 mm
(2mm2: AWG 14) or larger.
Connect the ground line to the FG
terminal block on the controller
unit.
Put a tool such as a screwdriver
into the square slot and connect
the line.
Gateway
Unit

Target Position
Target Position No.
Control Signal
PLC
Current Position
Completed Position No.
Status Signal
Gateway
Unit
+24V
RCP6S
Actuator
Hub Unit
Communication with Fieldbus
Target Position
Positioning Width
Speed
Acceleration/Deceleration
Push %
Control Signal
PLC
Current Position
Current Value
(Command Value)
Current Speed
(Command Value)
Alarm Code
Status Signal
+24V
RCP6S
Actuator
Gateway
Unit
Hub Unit
Communication with Fieldbus
Teaching Pendant
(to be purchased separately)
PC software
3) RCP6S connecting cable
CB-RCP6S-PWBIO□□□
(Enclosed in Actuator)
System I/O Connector
(Top Surface)
Axis Power Supply Connector
Axis Control Connector
(Bottom Surface)
Control Power Supply Connector
Motor Power Supply Connector
Drive Cutoff Connector
SIO Connector
1) Connection
Cable between
GW and Hub
CB-RCP6S-RLY□□□
(Prepare separately)
(to be purchased separately)
Fieldbus
Connecting
Dummy Plug
DP-5 (Note1)
Host System (master unit)
PLC etc.…Please prepare separately)
Gateway
Unit
Emergency Stop Circuit
Drive Cutoff Circuit
Control/Drive
Power Supply
(24V DC
…Please prepare
separately)
It is also available to
connecting with miniUSB.
Hub Unit (MAX. 4 units)
RCP6S Actuator
(MAX. 16 units)
RCP6S Connector
Hub Power Supply
Connector
Hub Control Connector
Current Position
Gateway Unit
Hub Unit
Operation Mode Selected
This controller are available to select from 6 types of operation modes.
The settings are to be established with Gateway Parameter Setting Tool.
Operation
Mode Contents Overview
Simple Direct
Mode
The target position can be indicated
directly by inputting a value. Also,
monitoring of the current position is
available in 0.01mm unit.
Those other than the target position are
to be indicated in the position table, and
the setting can be done for 768 points at
maximum.
Positioner 1
Mode
The 768 points of position data can be
registered at the maximum and is able
to stop at the registered positions. Also,
monitoring of the current position is
available in 0.01mm unit.
Direct Indication
Mode
The target position, speed
acceleration/deceleration and pressing
current limit can be indicated with
inputting a number.
As well as monitoring of the current
position in 0.01mm unit, monitoring of
current speed and command current is
also available.
* For those except for CC-Link, the
maximum number of the connectable
axes should be eight axes when a hub
unit is used and two when not used.
Positioner 2
Mode
This is the operation mode of the
position data of 768 points at maximum
set in the position table. The monitoring
of the current position is not available
This mode is that the transferred data is
reduced from Positioner 1 Mode.
Operation
Mode Contents Overview
Positioner 3
Mode
This is the operation mode of the
position data of 256 points at maximum
set in the position table. The
monitoring of the current position is not
available
This is the mode to control with the
minimized number of signals to
perform the positioning operation by
reducing the amount of sent and
received data from Positioner 2 Mode.
Positioner 5
Mode
This is the operation mode of the
position data of 16 points at maximum
set in the position table.
It is a mode that enabled to monitor the
current position in 0.1mm unit by
number of position table from
Positioner 2 Mode.
Wiring Diagram
Note 1 For RCM-P6GWG, in case a teaching tool is not connected to SIO connector, have the enclosed dummy plug
plugged (DP-5) in the connector.
Connection Cable
1. Connection to RCP6S Gateway Unit and Hub Unit
2. Connection to RCP6S Gateway Unit and RCP6S
3. Connection to RCP6S Hub unit and RCP6S
* Extension Cable is utilize these holes if necessary.
□□□ in the cable model code should be the cable length. e.g.) 030=3m, -RB should be included in the model code when it is the
robot cable.
The maximum length should be 10m between the gateway and hub unit.
The maximum length should be 20m from the gateway unit to RCP6S regardless of a hub unit is used or not used.
1, 3, 5 and 10m are prepared in standard for 1)
1, 3, and 5m are prepared in standard for 2) and 4)
Power Supply and Emergency Stop Circuit
The following diagram shows an example of how the emergency stop switch for the teaching pendant may be included in the
emergency stop circuit you may construct.
RCP6S Actuator or RCP6S
Gateway Controllers
Built in Drive Cutoff Circuit
(MAX.16 units)
Teaching Tool
Operation
Stop Switch
System I/O
Connector
SIO
Connector
Teaching
Tool Connection
Detection Circuit
(Contact opens
when connected)
Dedicated
Operation
Stop
Circuit
Wiring
Conducted
at Delivery
Operation Stop
Detection Times
Hub Unit
Gateway Unit
24V DC
Power Supply Motor Power Supply
Control Power Supply
Example for shutting off motor power supply externally at emergency stop input.
RCP6S
Gateway Unit
Emergency Stop
Detection Circuit
System I/O
Connector SIO Connector
Axis Control
Connector
(C)
Axis Power
Supply Connector
(M)
(MAX. 16 units)
Control Power Supply Connector
Motor Power Supply Connector Use a hub unit if necessary.
Four units at the maximum of RCP6S
actuators and/or RCP6S Gateway
controllers can be connected to
one unit of the hub unit.
In case a hub unit is not to be
connected, connect an actuator
or a controller for RCP6S GW to
the axis control connector (C).
(Note 1)
(Note 3)
(Note 2)
(Note 2)
(Note 2)
(Note 2)
(Note 2)
(Note 4)
Drive Cutoff Connector
Emergency
Stop
Release
Switch
Emergency
Stop Switch
Emergency Stop Switch
on the Teaching Pendunt
Hub
Unit 1
Hub
Unit 4
Hub
Unit 3
Hub
Unit 2
RCP6S Actuator or
RCP6S Gateway
Controllers
Note 1 RCM-P6GW : When there is nothing plugged in the SIO connector, S1 and S2 are short-circuited inside the controller.
RCM-P6GWG : When there is nothing plugged in the SIO connector, S1 and S2 are not short-circuited.
To make them short-circuited, have the enclosed dummy plug DP-5 plugged in the SIO connector.
Note 2 When the motor power must be disconnected externally for safety category compliance, apply a safety rated relay
between MPI-AXIS  and MPO-AXIS  .
Note 3 The rating for the emergency stop signal (EMG-) to turn ON/OFF at contact CR1 is 24V DC and 10mA or less.
Note 4 For CR1, select the one with coil current 0.1A or less.
(Note) When supplying the power by turning ON/OFF the 24V DC, keep the 0V being connected and have the +24V
supplied/disconnected (cut one side only).
RCP6S Actuator
4) RCP6S Extension Cable*
CB-RCP6S-PWBIO□□□-JY1
3) RCP6S Connection Cable
CB-RCP6S-PWBIO□□□
Gateway Unit
Axis Power Supply
Connector
Axis Control Connector
Hub Unit
RCP6S Connector
RCP6S Actuator
4) RCP6S Extension Cable*
CB-RCP6S-PWBIO□□□-JY1
3) RCP6S Connection Cable
CB-RCP6S-PWBIO□□□
Hub Unit
Hub Power Supply
Connector
Hub Control
Connector
1) GW-hub Connection Cable
CB-RCP6S-RLY□□□
2) GW-hub Extension Cable*
CB-RCP6S-RLY□□□-JY1
Gateway Unit
Axis Power Supply
Connector
Axis Control Connector
10mm
or more
10mm
or more
10mm
or more
100mm or more
100mm or more
100mm or more
100mm or more
10mm or more
10mm or more
10mm
or more
10mm
or more
10mm
or more
Caution: Make sure to turn the power to the gateway unit OFF when inserting or removing the connector that
connects the PC software or gateway unit to the controller.
Inserting or removing the connector while the power is turned ON causes a gateway unit failure.
It is available that RCP6S Gateway controller is
connected instead of connecting a RCP6S actuator
and connects an actuator of RCP2 to 6, RCA2 or
RCD.
Refer to the Instruction Manual and First Step Guide of the
RCP6S Gateway Controllers for details.

DeviceNet Type
Refer to the instruction manuals for each fieldbus master unit and mounted PLC for the details.
Connector Name DeviceNet Connector
Cable Side MSTB2.5/5-STF-5.08 AU M Enclosed in standard
package
Manufactured by PHOENIX
CONTACT
Controller Side MSTB2.5/5-GF-5.08 AU
Pin No. Signal Name
(Color) Description Applicable cable diameter
1 V- (BK) Power Supply Cable Negative Side
2 CAN L (BL) Communication Data Low Side
3 Shield (None) Shield
4 CAN H (WT) Communication Data High Side
5 V+ (RD) Power Supply Cable Positive Side
Dedicated cable for
DeviceNet
Slave Devices
RCP6S GW-DeviceNet Type
V+
Drain
(Shield)
CAN_H
CAN_L
V-
RD
WT
BL
BK
RD
WT
BL
BK
V+
Drain
(Shield)
CAN_H
CAN_L
Class D grounding
(Formerly Class-III grounding: Grounding resistance at 100Ωor less)
V+
Drain
(Shield)
CAN_H
CAN_L
V-
RD
WT
BL
BK
Communication power needs to be
supplied by an external device.
Terminal Resistance is required
to be mounted on the terminal.
V-
Terminal Resistance
121Ω
Master Unit
Terminal Resistance
121Ω
24V
Power Supply
CC-Link Type
Refer to the instruction manuals for each fieldbus master unit and mounted PLC for the details.
Connector Name CC-Link Connector
Cable Side MSTB2.5/5-STF-5.08 AU Enclosed in standard
package
Manufactured by PHOENIX
CONTACT
Controller Side MSTB2.5/5-GF-5.08 AU
Pin No. Signal Name
(Color) Description Applicable cable diameter
1 DA (BL) Communication Line A
2 DB (WT) Communication Line B
3 DG (YW) Digital GND
4
SLD Connect the shield of the shielded cable
(Connect the FG of the 5 pins and controller
FG internally)
5
FG Frame Ground
(Connect the SLD of the 4 pins and
controller FG internally)
Dedicated cable for CC-Link
Slave Devices
RCP6S GW
-CC-Link
Type
SLD and FG are internally connected.
Terminal Resistance is required
to be mounted on the terminal.
The terminal resistor differs depending on the type
of the dedicated cable for CC-Link.
• Cable FANC-SBH···130Ω1/2W
(High Performance Cable
dedicated for CC-Link)
• Cable FANC-SB······110Ω1/2W
(CC-Link Dedicated Cable)
Master Unit Terminal
Resistance
Terminal
Resistance
Class D grounding
(Formerly Class-III grounding:
Grounding resistance at 100Ωor less)
PROFIBUS-DP Type
Refer to the instruction manuals for each fieldbus master unit and mounted PLC for the details.
Connector Name PROFIBUS-DP Connector
Cable Side 9-pin D-sub Connector (Male) Please prepare separately
Controller Side 9-pin D-sub Connector (Female)
Pin No. Signal Name Description Applicable cable diameter
1 NC Disconnected
2 NC Disconnected
3 B-Line Communication Line B (RS485)
4 RTS Request for Sending
5 GND Signal GND (Insulation)
6 +5V +5V Output (Insulation)
7 NC Disconnected
8 A-Line Communication Line A (RS485)
9 NC Disconnected
PROFIBUS-DP Dedicated Cable
(Type A : EN5017)
RCP6S GW -PROFIBUS Type
Slave Devices
Master Unit
Terminal Resistance is required
to be mounted on the terminal.
Class D grounding
(Formerly Class-III grounding: Grounding resistance at 100Ωor less)
EtherNet/IP Type
Refer to the instruction manuals for fieldbus master unit and mounted PLC for the details.
Connector Name EtherNet/IP Connector
Cable Side 8P8C Modular Plug Please prepare separately
Controller Side 8P8C Modular Jack
Pin No. Signal Name Description Applicable cable diameter
1 TD+ Data sending +
2 TD- Data sending -
3 RD+ Data receiving +
4 – Disconnected
5 – Disconnected
6 RD- Data receiving -
7 – Disconnected
8 – Disconnected
For Ethernet cable, use a straight
STP cable that possesses the
performance of Category 5e or
more.
EtherCAT Type
Refer to the instruction manuals for fieldbus master unit and mounted PLC for the details.
Connector Name EtherCAT Connector
Cable Side 8P8C Modular Plug Please prepare separately
Controller Side 8P8C Modular Jack
Pin No. Signal Name Description Applicable cable diameter
1 TD+ Data sending +
2 TD- Data sending -
3 RD+ Data receiving +
4 – Disconnected
5 – Disconnected
6 RD- Data receiving -
7 – Disconnected
8 – Disconnected
For Ethernet cable, use a straight
STP cable that possesses the
performance of Category 5e or
more.
PROFINET-IO Type
Refer to the instruction manuals for fieldbus master unit and mounted PLC for the details.
Connector Name PROFINET-IO Connector
Cable Side 8P8C Modular Plug Please prepare separately
Controller Side 8P8C Modular Jack
Pin No. Signal Name Description Applicable cable diameter
1 TD+ Data sending +
2 TD- Data sending -
3 RD+ Data receiving +
4 – Disconnected
5 – Disconnected
6 RD- Data receiving -
7 – Disconnected
8 – Disconnected
For Ethernet cable, use a straight
STP cable that possesses the
performance of Category 5 or
more.
1
2
3
4
5
Front View of
Connector on
Controller side
Shield
BL (CAN L)
RD (V+)
WT (CAN H)
BK (V-)
1
2
3
4
5
Front View of
Connector on
Controller side
WT (DB)
BL (DA)
Shield (SLD)
YW (DG)
5 1
9 6
Cable
Shield
Red B line (Positive side)
Green A line (Negative side)
1
6
95
Front View of
Connector on
Controller side
Master Unit
Switching Hub
Slave Devices
Ethernet Straight Cable, Category 5e or more
Double shielded cable braided with aluminum foil
recommended
RCP6S GW-Unit
EtherNet/IP Type
Master Unit Slave Devices
Ethernet Straight Cable
Category 5e or more
Double shielded cable braided with aluminum foil
recommended
(Note) Terminal resistance is not required
RCP6S GW-Unit
EtherCAT Type
Master Unit
Switching Hub
Slave Devices
Ethernet Straight Cable, Category 5 or more
Double shielded cable braided with aluminum foil
recommended
RCP6S GW-Unit
PROFINET-IO Type
1
8
Front View of
Connector on
Controller side
Front View of
Connector on
Controller side
8
1
IN
OUT
IN
OUT
IN
OUT
1
8
Front View of
Connector on
Controller side
8
1

Status Indicator LED
LED1：SYS
LED2：AUTO
LED3：EMG
LED4：T. ERR
LED5：C. ERR
Starting Procedures
When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to
the procedure below. “PC” stated in this section means “PC software”.
Status Indicator LED
Built-in Controller
Gateway Unit
Hub Unit
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL [phone] FAX [phone]
website: www.iai-robot.co.jp/
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL [phone] FAX [phone]
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL [phone] FAX [phone]
website: www.iai-robot.com
Technical Support available in USA, Europe and China
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL [phone] FAX [phone]
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TEL[phone] FAX [phone]
TEL [phone] FAX [phone]
website: www.intelligentactuator.com
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
825 PhairojKijja Tower 7th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand
TEL [phone] FAX [phone]
website:www.iai-gmbh.de
website:www.iai-robot.co.th
Symbol LED Display Color and Operation Status
LED1 SYS
System Status
Ready (Green Illuminating),
Alarm (Red Illuminating)
LED2 AUTO
Operation Mode (AUTO/MANU) Status
Automatic Operation (AUTO) Mode
(Green Illuminating)
LED3 EMG Emergency Stop (EMG) Status
Emergency Stop (EMG) (Red Illuminating)
LED4 T. ERR Bus Communication Error inside Controller
T. ERR (Orange Illuminating)
LED5 C. ERR Fieldbus Network Communication Error
C. ERR (Orange Illuminating)
Symbol LED Display Color and Operation Status
LED1 AX3 STS
LED2 AX2 STS
LED3 AX1 STS
LED4 AX0 STS
Axis No.0 to 3 Status
Servo OFF (OFF)
Servo ON (Green Illuminating)
Automatic Servo OFF (Green Flashing)
Alarm, Emergency Stop (Red Illuminating)
Communication Error (Red Flashing)
LED5 SYS
Hub Unit System Status
Ready (Green Illuminating)
Standby for Communication Establishment
(Green Flashing)
Control/Motor Power Voltage Drop
(Red Illuminating)
↓ Yes
No →
Check of Packed Items
Are all the delivered items present? Contact your local IAI distributor.
Installation and Wiring
1) Install actuators, gateway unit, hub unit and RCP6S Gateway Controller (if necessary).
2) Do the wirings to the actuator built-in controller, gateway unit, hub unit and RCP6S Gateway Controller (if it is installed).
Important Check Item
• Is frame ground (FG) connected? • Has the noise countermeasure been taken?
↓
Power Supply and Alarm Check
Connect the PC software, set the operation mode setting switch to “MANU” side and turn the power ON.
Select [Teaching Mode 1 Safety Speed Activated / Prohibit PIO Startup] in the PC software.
↓
↓ Yes
No →
Check Item
1) Is SYS in the status display LED lamps on the gateway unit turned ON in
green?
2) Is SYS in the status display LED lamps on the hub unit turned ON in green?
3) Are all the status display LED lamps for each built-in controller and RCP6S
Gateway Controller turned OFF?
If an alarm is generated (LED:
Red Illuminating), check the
details of the alarm in the PC
software to have a
counteraction.
↓
Initial Setting
Have the fieldbus and operation mode setting conducted with the gateway parameter setting tool.
Servo ON
Turn the servo ON for all the connected axes by operating the PC.
Caution: Please perform this process with the actuator away from the mechanical end or interfering objects as
much as possible. Move the actuator away from interfering surroundings. It may generate an alarm if the
actuator hit the mechanical end or interfering objects when the servo is turned ON.
The slider may get slightly dropped by self-weight if servo ON and OFF is repeatedly performed at the
same position. Be careful not to pinch the hand or damage the work.
↓
↓ Yes
No →
Check Item
1) Is the status display LED lamp for the actuator (controller) in which the
servo is turned ON turned ON in green?
2) Is the status LED lamp for the applicable axis number of the hub unit
turned ON in green?
If an alarm is generated (LED: Red
Illuminating), check the detail of the
alarm on the PC and have an
appropriate treatment.
↓
↓ Yes
No →
Check of Safety Circuit
Does the emergency stop circuit (drive cutoff circuit) work properly and
turn the servo OFF?
Check the emer
g
enc
y
sto
p
circuit.
Setting of Position Data [Except for direct numerical specification mode]
Set the position (*), velocity and acceleration/deceleration in each position table. * Setting is unnecessary in simple direct mode
↓
Test Run Adjustment 1
1) Cancel the emergency stop, do not put a work piece on, set to low speed and check the operation with commands from
the PC.
2) Put on a work piece, set to the automatic operation speed, and then check the operation with the command from the PC.
↓ Yes
No →
Check Item
Any vibration or abnormal noise?
Check if there is any problem with the installation of the actuator and
the condition of the actuator use exceeds the ranges of the rated
values. Ad
j
ust the servo if necessar
y
.
↓
Test Run Adjustment 2
Output an operation command from the host (such as PLC) to check by the system operation.
Establish Link to Fieldbus
1) Assign RCP6S GW as the host controller [Refer to the instruction manual of the master unit].
2) Put the operation mode setting switch on the front panel to AUTO side, and reboot the power.
3) Once the link with the master unit is established, turn ON MON Signal in the gateway control signals.
(While MON Signal is ON, control from fieldbus is available.)
↓
Status of LED Operation Status
Operation status
OFF
Servo OFF
Alarm (Operation Cancellation
Level or more)
Red Illuminating
In the Emergency Stop
Red Flashing During Crash Detection
Green Illuminating Servo ON
Green Flashing Motor Driving Power Supply OFF
Orange Illuminating In initializing process when the
power is turned on
Manual No.: ME0350-3B