IAI RCON-LC User manual

This instruction manual describes contents regarding RCON-LC
System about the PLC features and those different from RCON
System. For those not described in this manual should refer to
RCON System Instruction Manual (ME0384).
-LC System
Instruction Manual First Edition ME0416-1A
RCON-LC System
Specifications for
unit
Installation, Wiring,
Configuration
Warranty
PLC Features
Chapter 1
Chapter
2
Chapter 3
Chapter 4
Chapter 5

ME0416-1A
Please Read Before Use
Thank you for purchasing our product.
This instruction manual explains the handling methods, structure and maintenance of this
product, providing the information you need in order to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents
explained herein to ensure safe use of the product.
The DVD enclosed with the product contains instruction manuals for IAI products.
When using the product, refer to the necessary sections of the applicable instruction manual
by printing them out or displaying them on a PC.
After reading the instruction manual, keep it in a convenient place so that whoever is handling
the product can refer to it quickly when necessary.
[Important]
●This instruction manual is an original document dedicated for this product.
●This product cannot be used in ways not shown in this instruction manual. IAI shall not be
liable for any result whatsoever arising from the use of the product in any other way than
what is noted in the manual.
●The information contained in this instruction manual is subject to change without notice for
the purpose of product improvement.
●If any issues arise regarding the information contained in this instruction manual, contact
our customer center or the nearest sales office.
●Use or reproduction of this instruction manual in full or in part without permission is
prohibited.
●The company names, names of products and trademarks of each company shown in the
text are registered trademarks.

ME0416-1A
RCON-LC System Instruction Manual Configuration
Product name Manual name Control
number
RCON-GW(G)/LC(G)
Gateway Unit First Step Guide ME0384
RCON 24V Driver Unit First Step Guide ME0383
RCON 200V
Power Supply / Driver Unit First Step Guide ME0397
SEL Unit, PIO Unit,
PIO/SIO/SCON Extension unit First Step Guide ME0393
RCON-LC Instruction Manual (this document) ME0416
RCON System Instruction Manual ME0384
SCON-CB Controller SCON-CB/CGB/LC/LCG
Instruction Manual ME0340
PC Software RCM-101-MW/RCM-101-USB
Instruction Manual ME0155
PC Software
IA-OS First Step Guide
For how to operate, refer to the guide feature
stored in IA-OS
ME0391
Touch Panel Teaching Pendant TB-02/02D Instruction Manual ME0355
Touch Panel Teaching Pendant TB-03 Instruction Manual ME0376
24V Power Supply Unit PSA-24 Instruction Manual ME0379
LC System Programming Manual Instruction Manual ME0329
LC System Ladder Edit Software Manual
Instruction Manual ME0330
Instruction Manual is available for download in IAI homepage.
URL: www.iai-robot.co.jp/data_dl/CAD_MANUAL/

ME0416-1A
Contents
Safety Guide ·················································································· Intro-1
Precautions for Handling ··································································· Intro-8
International Standard Compliance······················································ Intro-10
Chapter 1 RCON-LC System
1.1 Overview ·················································································· 1-1
1.2 System Configuration ·································································· 1-2
1.3 Unit list····················································································· 1-3
1.4 Model ······················································································ 1-7
1.5 Specifications ············································································ 1-11
1.5.1 General specifications ·············································································· 1-11
1.6 Power Capacity·········································································· 1-14
1.7 Used Tools ················································································ 1-15
Chapter 2 Specifications for unit
2.1 LC unit ····················································································· 2-1
2.1.1 Overview ······························································································· 2-1
2.1.2 Model Code ··························································································· 2-2
2.1.3 Components ·························································································· 2-3
2.1.4 Part names/Functions ·············································································· 2-4
2.1.5 External dimensions ················································································ 2-6
2.2 Extension unit (PIO/SIO/SCON extension unit, PIO unit) ··································· 2-7
2.2.1 Overview ······························································································· 2-7
2.2.2 Model Code ··························································································· 2-8
2.2.3 Components ·························································································· 2-10
2.2.4 Part Names/Functions·············································································· 2-12
2.2.5 PIO Specifications ··················································································· 2-16
2.2.6 SIO Specifications ··················································································· 2-21
2.2.7 External dimensions ················································································ 2-22
2.3 Other Units ··············································································· 2-23
2.3.1 24V Driver Unit ······················································································· 2-23
2.3.2 200V Driver Unit, 200V Power Supply Unit ··················································· 2-23
2.3.3 Simple Absolute Unit················································································ 2-23

ME0416-1A
Chapter 3 Installation, Wiring, Configuration
3.1 Installation ················································································ 3-2
3.1.1 Installation and mounting ·········································································· 3-2
3.1.2 Noise countermeasures and mounting method·············································· 3-3
3.2 Wiring ······················································································ 3-5
3.2.1 Wiring of LC Unit Power Supply Connector··················································· 3-5
3.2.2 200V Power Supply Wiring to RCON System················································ 3-7
3.2.3 Actuator connecting ················································································· 3-9
3.2.4 Field network wiring ················································································· 3-12
3.3 Configuration············································································· 3-14
3.3.1 Configuration for Gateway parameter ·························································· 3-14
3.3.2 Gateway parameter configuration tool ························································· 3-17
3.4 Operation mode ········································································· 3-25
Chapter 4 PLC Features
4.1 Device Memory·········································································· 4-2
4.1.1 OM_X [Bit Memory : For Input Assignment] ·················································· 4-3
4.1.2 OM_Y [Bit Memory : For Output Assignment] ················································ 4-3
4.1.3 OM_M [Bit Memory : For General] ······························································ 4-4
4.1.4 OM_LM [Bit Memory : For Retention] ·························································· 4-4
4.1.5 OM_AM [Bit Memory : For Axis Control Command Assignment]························ 4-4
4.1.6 OM_SM [Bit Memory : For System]····························································· 4-5
4.1.7 OM_IX [Word Memory : For Index] ····························································· 4-7
4.1.8 OM_D [Word Memory : For General] ··························································· 4-7
4.1.9 OM_SD [Word Memory : For System] ························································· 4-7
4.1.10 OM_T [For Timer] ·················································································· 4-7
4.1.11 OM_C [For Counter]··············································································· 4-8
4.1.12 OM_L [For Indication of Destination to Jump for JE, JMP, CALL Commands]····· 4-8
4.1.13 OM Modbus Address·············································································· 4-8
4.2 Commands················································································· 4-9
4.2.1 Basic Commands ···················································································· 4-9
4.2.2 Application Commands············································································· 4-9
4.2.3 DFC Commands ····················································································· 4-10
4.3 Error Code ················································································ 4-23

ME0416-1A
Chapter 5 Warranty
5.1 Warranty period ······································································· 5-1
5.2 Scope of the warranty ······························································· 5-1
5.3 Honoring the warranty······························································· 5-1
5.4 Limited liability········································································· 5-2
5.5 Conformance with applicable standards/regulations, etc.,
and application conditions·························································· 5-2
5.6 Other items excluded from warranty············································· 5-2
Revision history ·············································································· Post-1

Safety Guide
Intro-1 ME0416-1A
Safety Guide
The Safety Guide is intended to permit safe use of the product and thus to prevent risks and property
damage.
Be sure to read it before handling the product.
Safety Precautions for Our Products
Common safety precautions for the use of robots in various operations are indicated here.
No.
Operation
Precautions
1 Model
Selection
●This product is not intended or designed for applications where high levels of
safety are required, and so cannot guarantee that human lives will be
protected. 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 or machinery designed for the purpose of moving or
transporting people (vehicles, railway facilities, aviation facilities etc.)
(3) Machinery components essential for safety (safety devices etc.)
●Do not use the product outside the range of the specifications. Otherwise, the
product life may be drastically shortened, and product damage or facilities
stoppage may occur.
●Do not use it in any of the following environments.
(1) Locations with flammable gases, ignitable objects or explosives
(2) Locations with potential exposure to radiation
(3) Locations with ambient temperature or relative humidity exceeding the
specifications range
(4) Locations where radiant heat is applied by direct sunlight or other large
heat source
(5) Locations where condensation occurs due to abrupt temperature changes
(6) Locations with corrosive gases (sulfuric acid, hydrochloric acid etc.)
(7) Locations exposed to significant amounts of dust, salt or iron powder
(8) Locations subject to direct vibration or impact
●For an actuator used in vertical orientation, select a model with brake. If a
model without brake is selected, the moving parts may fall when the power is
turned OFF, causing accidents such as injury or workpiece damage.

Safety Guide
ME0416-1A Intro-2
No.
Operation
Precautions
2 Transportation ●When transporting heavy objects, do the work with two or more persons or
utilize equipment such as a crane.
●When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.
●During transportation, carefully consider the carrying positions, weight, and
weight balance, and be careful to avoid collisions or dropping.
●Use appropriate transportation measures for transport.
The actuators available for transportation with a crane have eyebolts attached
or tapped holes to mount bolts. Follow the instructions in the instruction manual
for each model.
●Do not climb onto the package.
●Do not put anything heavy that could deform the package on it.
●When using a crane with capacity of 1t or more, have an operator qualified for
crane operation and sling work.
●When using a crane or equivalent equipment, make sure not to suspend loads
exceeding the equipment's rated load.
●Use a hook that is suitable for the load. Consider the safety factor of the hook
in such factors as shear strength. Also, check to make sure that the hook is free
of damage.
●Do not climb on loads suspended from cranes.
●Do not leave loads suspended from cranes for long periods.
●Do not stand under loads suspended from cranes.
3
Storage and
Preservation
●For the storage and preservation environment, see the installation
environment. However, give especial consideration to the prevention of
condensation.
●Store the products so as to prevent them from falling over or down in the case
of natural disasters such as earthquakes.
4 Installation
and Startup
(1) Installation of robot body and controller, etc.
●Be sure to securely hold and fix the product (including the workpiece). If the
product falls over, is dropped, or operates abnormally, it may lead to damage
and injury.
Also, be equipped for falls over or down due to natural disasters such as
earthquakes.
●Do not climb on or put anything on the product. Otherwise, this may lead to
accidental falling, injury or damage to the product due to falling objects,
product loss of function or performance degradation, or shortening of product
life.
●When using the product in any of the places specified below, provide
sufficient shielding.
(1) Locations where electrical noise is generated
(2) Locations with strong electrical or magnetic fields
(3) Locations with mains or power lines passing nearby
(4) Locations where the product may come in contact with water, oil or
chemical spray

Safety Guide
Intro-3 ME0416-1A
No.
Operation
Precautions
(2) Cable wiring
●Use IAI genuine cables for connecting the actuator and controller, and for the
teaching tools.
●Do not scratch cables, bend them forcibly, pull them, coil them, snag them, or
place heavy objects on them. Otherwise, this may lead to fire, electric shock,
or abnormal operation due to leakage or conduction malfunction.
●Perform the wiring for the product after turning OFF the power to the unit, and
avoid miswiring.
●When wiring DC power (+24V), be careful with the positive/negative polarity.
Incorrect connections may lead to fire, product breakdown or abnormal
operation.
●Connect the cable connector securely so that there is no disconnection or
looseness. Otherwise, this may lead to fire, electric shock, or abnormal
operation of the product.
●Never cut or reconnect the cables supplied with the product for the purpose of
extending or shortening the cable length. Otherwise, this may lead to fire or
abnormal operation of the product.
(3) Grounding
●Grounding must be performed, in order to prevent electric shocks or
electrostatic charge, enhance noise-resistant performance and control
unnecessary electromagnetic radiation.
●For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, be sure to use a twisted pair cable with
wire thickness 0.5mm2(AWG20 or equivalent) or more for grounding work.
For safeguard grounding, it is necessary to select an appropriate wire
diameter for the load. Perform wiring that satisfies the specifications (electrical
equipment technical standards).
●Perform Class D grounding (former Class 3 grounding, with ground resistance
100Ωor below).

Safety Guide
ME0416-1A Intro-4
No.
Operation
Precautions
4 Installation
and
Startup
(4) Safety measures
●When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.
●When the product is operating or in the ready mode, take safety measures
(such as the installation of safety/protection fences) so that nobody can enter
the area within the robot's movable range. Contact with an operating robot
may lead to death or serious injury.
●Be sure to install an emergency stop circuit so that the unit can be stopped
immediately in an emergency during operation.
●Take safety measures such that turning the power ON alone will not start up
the unit. Otherwise, this may cause the product to start unexpectedly, leading
to injury or product damage.
●Take safety measures such that emergency stop cancel or recovery after
power failure alone will not start up the unit. Otherwise, this may lead to injury
or equipment damage.
●When installation or adjustment operation is to be performed, display signs
such as "Operating: No Power ON!" etc. Sudden power input may cause
electric shock or injury.
●Take measures to prevent workpieces, etc. from falling during power failures
or emergency stop.
●Wear protection gloves, goggles and safety shoes, as necessary, to secure
safety.
●Do not insert fingers or objects into the openings in the product. Otherwise,
this may lead to injury, electric shock, product damage, or fire.
●When releasing the brake on a vertically oriented actuator, be careful that it
does not fall under its own weight, catching the operator's hand or damaging
workpieces.
5
Teaching
●When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.
●Perform teaching operation from outside the safety/protection fence, if
possible. If operation must be performed within the safety/protection fence,
prepare "Work Regulations" and make sure that all the workers acknowledge
and understand them well.
●When operation is to be performed inside the safety/protection fence,
operators should have emergency stop switches available at hand so that the
unit can be stopped at any time if abnormalities occur.
●When operation is to be performed inside the safety/protection fence, have a
monitor standing by in addition to the operator(s) so that the unit can be
stopped at any time if abnormalities occur. Also, keep watch on the operation
so that a third party cannot operate the switches carelessly.
●Place a sign indicating "Operating" where it can be seen easily.
●When releasing the brake on a vertically oriented actuator, be careful that it
does not fall under its own weight, catching the operator's hand or damaging
workpieces.
* Safety/protection fence: If there is no safety/protection fence, the movable
range should be indicated.

Safety Guide
Intro-5 ME0416-1A
No.
Operation
Precautions
6 Trial
Operation
●When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.
●After teaching or programming, carry out trial operation step by step before
switching to automatic operation.
●When trial operation is to be performed inside the safety/protection fence, use
the same work procedure, determined in advance, as teaching operation.
●Be sure to confirm program operation at safe speeds. Otherwise, this may
lead to accidents due to unexpected motion caused by program error, etc.
●Do not touch the terminal block or any of the various setting switches while
the equipment is live. Otherwise, this may lead to electric shock or abnormal
operation.
7
Automatic
Operation
●Check before starting automatic operation or restarting after operation stop
that there is nobody within the safety/protection fence.
●Before starting automatic operation, make sure that all peripheral equipment
is ready for automatic operation and that there is no alarm indication.
●Be sure to start automatic operation from outside the safety/protection fence.
●If the product produces abnormal heat, smoke, odor, or noise, immediately
stop it and turn OFF the power switch. Otherwise, this may lead to fire or
damage to the product.
●When a power failure occurs, turn OFF the power switch. Otherwise, this may
lead to injury or product damage due to unexpected product motion during
recovery from the power failure.

Safety Guide
ME0416-1A Intro-6
No.
Operation
Precautions
8 Maintenance
and
Inspection
●When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.
●Perform the work outside the safety/protection fence, if possible. If operation
must be performed within the safety/protection fence, prepare "Work
Regulations" and make sure that all the workers acknowledge and understand
them well.
●When work is to be performed inside the safety/protection fence, turn OFF the
power switch as a rule.
●When operation is to be performed inside the safety/protection fence,
operators should have emergency stop switches available at hand so that the
unit can be stopped at any time if abnormalities occur.
●When operation is to be performed inside the safety/protection fence, have a
monitor standing by in addition to the operator(s) so that the unit can be
stopped at any time if abnormalities occur. Also, keep watch on the operation
so that a third party cannot operate the switches carelessly.
●Place a sign indicating "Operating" where it can be seen easily.
●For the grease for the guide or ball screw, use appropriate grease according
to the Instruction Manual for each model.
●Do not perform dielectric strength testing. Otherwise, this may lead to damage
to the product.
●When releasing the brake on a vertically oriented actuator, be careful that it
does not fall under its own weight, catching the operator's hand or damaging
workpieces.
●The slider or rod may be misaligned from the stop position if the servo is
turned OFF. Avoid injury or damage due to unnecessary operation.
●Be careful not to lose the cover or any removed screws, and be sure to return
the product to the original condition after maintenance and inspection work.
Otherwise, this may lead to product damage or injury due to incomplete
mounting.
* Safety/protection fence: If there is no safety/protection fence, the movable
range should be indicated.
9
Modification
and
Disassembly
●Do not modify, disassemble/assemble, or use maintenance parts not specified
on your own discretion.
10 Disposal ●When the product exceeds its useful life or is no longer needed, dispose of it
properly as industrial waste.
●When removing the actuator for disposal, avoid dropping components when
detaching screws.
●Do not put the product in a fire when disposing of it. The product may rupture
or generate toxic gases.
11
Other
●If you are equipped with a medical device such as a pacemaker, do not
approach the product or its wiring, as the device may be affected.
●See the Overseas Standard Compliance Manual to check compliance with
overseas standards if necessary.
●For the handling of actuators and controllers, follow the dedicated instruction
manual of each unit to ensure safety.

Safety Guide
Intro-7 ME0416-1A
Precaution Indications
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 risk to persons and property 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 a situation in which, while injury is not a likely result, the
precautions should be observed in order to use the
product
appropriately.
Notice
Description
In this manual, descriptions are expressed as shown below.
The system with the master unit constructed with RCON-GW/GWG is described as “RCON System”.
The system with the master unit constructed with RCON-LC/LCG is described as “RCON-LC System”.

Precautions for Handling
ME0416-1A Intro-8
Precautions for Handling
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 the correct teaching tool.
Refer to the following item and use compatible tools for PC software and teaching pendant
usable for this controller.
[Refer to 1.7 Used Tools]
3. Back up data in order to be prepared for a breakdown.
Non-volatile memory is used for backup memory of this controller. Registered position data and
parameters are written in this memory and backed up. Therefore, these data will normally not be
lost even if the power is turned off. However, be sure to save the latest data to enable a quick
recovery process in case this controller needs to be replaced with a substitute due to
breakdown, etc.
How to save
(1) Save to an external memory or a hard disk using Teaching Tool
(2) Record position table and parameters in writing

Precautions for Handling
Intro-9 ME0416-1A
4. External communication ports
The LC unit has 2 types of communication port.
·SIO port (RS485 round connector)
·USB port (USB mini-B connector)
Do not connect multiple ports and perform communication simultaneously.
This may result in following errors:
· Occurrence of communication error
· Occurrence of unpredictable operation
5. Other Remarks
Make sure to read also the caution notes in RCON System Instruction Manual.
Operation in wrong manner could cause injury or damage on the product or equipment.
SIO
port
USB port

International Standard Compliance
ME0416-1A Intro-10
International Standard Compliance
This product complies with the following overseas standards.
Refer to the Overseas Standard Compliance Manual (ME0287) for more detailed information.
RoHS Directive CE Marking UL Certification
○Not Planned to Comply Not Planned to Comply

International Standard Compliance
Intro-11 ME0416-1A

RCON-LC System
1.1 Overview······························································ 1-1
1.2 System Configuration ·············································1-2
1.3 Unit list ································································1-3
1.4 Model··································································1-7
1.5 Specifications························································1-11
1.5.1 General specifications ············································· 1-11
1.6 Power Capacity ·····················································1-14
1.7 Used Tools ··························································· 1-15
RCON - LC
Chapter 1

Chapter 1 RCON-LC System
1.1 Overview
1-1 ME0416-1A
1.1 Overview
RCON-LC System is a controller that is capable of the ladder control to an actuator connected to
a RCON System driver unit.
16 axis at the maximum can be controlled by constructing free combinations of the gateway unit
which is an interface for the field network connectivity (hereinafter called LC Unit) and each type
of driver unit.
It is available to connect five types of driver units, for RCP series, high-thrust RCP series, RCA
series, RDC series and for 200V servomotor. Also, by using PIO/SIO/SCON extension unit or
SCON extension unit, it is available to connect to SCON-CB of the RCON connection type.
Parallel I/O is capable of using 128 points of input and 128 points of output at the maximum by
connecting PIO/ISO/SCON extension unit or PIO unit. Serial communication with RS485 is also
available by using PIO/SIO/SCON extension unit.
There are seven types of applicable field networks, CC-Link, CC-Link IE Field, DevieNet,
EtherCAT, EtherNet/IP, PROFIBUS-DP and PROFINET IO, and operation is available in six
modes (Direct Numerical Indication, Simple Direct, Positioner 1, Positioner 2, Positioner 3 and
Positioner 5) regardless of the type of the field network.
LC
Unit
24V Driver Unit
PIO Unit 200V
Driver Unit
Terminal Unit
200V
Power Supply
Unit
PIO/SIO/SCON Extension Unit