IAI ACON-C Series User manual

C: Positioner type with internal
drive-power cutoff relay
CG: Positioner type with external
drive-power cutoff rela
y
<Input/Output signal pattern>
NP: NPN (Sink type)
PN: PNP (Source type)
DV: DeviceNet Wiring Specification
CC: CC-Link Wiring Specification
PR: PROFIBUS Wiring Specification
CN: CompoNet Wiring Specification
ML: MECHATROLINK Wiring
S
p
ecification
ACON-C/CG, PCON-C/CG/CF
First Step Guide Tenth 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
1 Controller
Refer to “How to read the model plate” and “How to
read the model of the controller.”
Accessories
2 I/O cable for positioner CB-PAC-PIO*** (*** indicates the cable length.)
3 First Step Guide ME0195
4 Instruction Manual (DVD)
2. Teaching Tool
The PC software or teaching pendant is necessary to perform setup operations such as position
and parameter settings through teaching or other means.
Prepare any PC software or teaching pendant.
No. Part Name Model
1 PC software RCM-101-MW
2 PC software RCM-101-USB
3 Teaching pendant CON-T
4 Teaching pendant CON-TG
5 Teaching pendant CON-PT
6 Teaching pendant (with deadman switch) CON-PD
7 Teaching pendant
(with deadman switch + TP adapter (RCB-LB-TG) ) CON-PG
8 Teaching pendant RCM-T
9 Teaching pendant (with deadman switch) RCM-TD
10 Simple teaching pendant RCM-E
11 Data setter RCM-P
* The mounting-type touch panel display (RCM-PM-01), which enables data input/change and monitoring, has
also been prepared. However, please note that only some parameters can be set by using it.
* Instruction Manuals related to this product, which are contained in the Instruction Manual
(DVD)
No. Name Manual No.
1 ACON-C/CG Controller Instruction Manual ME0176
2 PCON-C/CG/CF Controller Instruction Manual ME0170
3 PC Software RCM-101-MW/RCM-101-USB ME0155
4 Teaching Pendant CON-T/TG ME0178
5 Teaching Pendant CON-PT/PD/PG ME0227
6 Teaching Pendant RCM-T/TD ME0173
7 Simple Teaching Pendant RCM-E ME0174
8 Data Setter RCM-P ME0175
9 Touch Panel Display RCM-PM-01 ME0182
*How to read the model plate
*How to read the model of the controller
[ACON-C/CG]
ACON-C-20IHA-NP-2-0-ABU
<Series name> For simple absolute unit
connection
<Type name> <Power-supply voltage>
0: 24VDC
<I/O flat cable length>
[PCON-C/CG/CF]
PCON-C-56PI-NP-2-0-ABU-H
Basic Specifications
Characteristics
(1) This is a position controller which can set 64 positioning points as standard and 512
points at maximum. The position number depends on the PIO pattern which can be
selected by the parameter.
(2) Zone output boundaries can be set for each position.
(3) Acceleration and deceleration can be set separately for each position.
(4) The feed speed to be used in trial run and adjustment can be limited to ensure safety.
(5) The power-saving mode can be selected by the parameter in situations where the
actuator must stand by for a long time period.
ACON Specifications (Controller for RCA2/RCA/RCL Series)
Specification Item ACON-C (Internal drive-power cutoff relay type)/
ACON-CG (External drive-power cutoff relay type)
Number of control items 1 axis/unit
Supply voltage 24VDC +10%/-10%
Standard specification/High
acceleration/deceleration Power-saving
Actuator
Motor Type
Rated [A] Peak [A] *2 Rated [A] Peak [A] *2
10W 1.3 4.4 1.3 2.5
20W [Model No. : 20] 1.3 4.4 1.3 2.5
30W 1.3 4.0 1.3 2.2
RCA/RCA2
20W [Model No. : 20S]
Dedicated to HA3,
HA4 and TA5 Types
1.7 5.1 1.7 3.4
2W 0.8 4.6
5W 1.0 6.4
Motor
Power
Capacity
*1
RCL
10W 1.3 6.4
Heating value 8.4W
RCA All types 800 Pulse/rev
RCA2-□□□N 1048 Pulse/rev
RCA2
Excluding RCA2-□□□N 800 Pulse/rev
RA1L ꞏ SA1L ꞏ SA4L ꞏ SM4L 715 Pulse/rev
RA2L ꞏ SA2L ꞏ SA5L ꞏ SM5L 855 Pulse/rev
Encoder
resolution
RCL
RA3L ꞏ SA3L ꞏ SA6L ꞏ SM6L 1145 Pulse/rev
Positioning command Position number specification 64 points (standard), 512 points (maximum)
* The position number varies depending on the selection of the PIO pattern.
Backup memory Position data and parameters are saved in nonvolatile memory.
Serial EEPROM can be rewritten 100,000 times. (NOTE 1)
PIO interface 24VDC, input/output
LED indicators SV (Green) – Servo ON, ALM (Red) – Alarm present
Serial communication RS485, 1 channel (conforming to the Modbus protocol)
Forced release of
electromagnetic brake NOM/BK RLS switch (on the front panel)
Actuator cable: 20m or less
Cable length
I/O flat cable: 10m or less
Insulation strength 500VDC, 10M
Surrounding air
temperature 0 to 40C
Surrounding
humidity 85%RH or less (non-condensing)
Surrounding
environment Refer to Installation Environment
Surrounding
storage
temperature
-10 to 65C
Surrounding
storage humidity 90%RH or less (non-condensing)
Environment
Vibration Durability
10 to 57Hz in XYZ directions/Pulsating amplitude 0.035mm (continuous),
0.075mm (intermittent)
57 to 150Hz/4.9m/s2 (continuous), 9.8m/s2 (intermittent)
Protection class IP20
Cooling method Natural air-cooling
Weight 300g or less
External dimensions 35W x 178.5H x 68.1D (mm)
*1: The rush current, which is approx. 5 to 12 times the
rated current, flows for approx. 1 to 2msec after
power-on. Please note that the rush current value
varies depending on the impedance of the power
line.
*2: The current becomes maximum during the detection
of the excitation phase of the servo motor performed
in the initial servo ON processing after power-on.
(Normal: Approx. 1 to 2sec, Maximum: 10sec)
As a +24V DC power supply,
select the power supply of the
“peak load support” specification
or one with sufficient capacity.
In particular, in the case of the
unit with the remote sensing
function, the greatest care is
required.
NOTE 1: Position data and parameters are written to EEPROM.
Please note that the rewrite limit is around 100,000 times.
<Actuator characteristics>
[Motor wattage] [Encoder type]
2 : 2W 20S : 20W I: Incremental
5 : 5W (for RCA-RA3
RCA2-SA4/TA5) [Option]
10 : 10W 30 : 30W No description : Standard Type
20 : 20W HA : High Accel/Decel Type
LA : Less Power consumption Type
<Series name>
<Model name>
C: Positioner type with internal drive-power
cutoff relay
CG: Positioner type with external drive-power
cutoff relay
CF: High-output positioner type with internal
drive-power cutoff relay
<Actuator characteristics>
20P: 20, square 35P:35, square
28P: 28, square 42P: 42, square
28SP: 28, square 56P: 56, square
(RA3 type only) 86P: 86, square
[Encoder type]
I: Incremental
<Input/Output signal pattern>
NP: NPN (Sink type)
PN: PNP (Source type)
DV: DeviceNet Wiring Specification
CC: CC-Link Wiring Specification
PR: PROFIBUS Wiring Specification
CN: CompoNet Wiring Specification
ML: MECHATROLINK Wiring
Specification
For simple absolute unit
connection
<Power-supply voltage>
0: 24VDC
<I/O flat cable length>
0: No cable 3: 3m
2: 2m 5: 5m
High Acceleration
Transport Type
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 hardcopy of the Manual can be requested by contacting your nearest IAI Sales Office listed at
the back cove
r
of the Instruction Manual or on the First Step Guide.
Model
Serial number
Model
SER NO.
Input
Output
Actuator **
CAUTION: Connect the wiring correctly and
properly, use IAI specified cables
or min 60°C Cu wire.
IP20
*********
*********
DC24V A
0-24Vac,3ph,0-333Hz, A
*****
10A

PCON Specifications (Controller for RCA3/RCP2 Series)
Specification Item
PCON-C
(Internal drive-power
cutoff relay type)
PCON-CG
(External drive-power
cutoff relay type)
PCON-CF
(Internal drive-power
cutoff relay type)
Number of controlled axes 1 axis/unit
Supply voltage 24VDC 10%
Actuator Peak *2 Peak *2 Peak *3
20/28P motor
35/42/56P motor
2.0A 2.0A
Power-source
capacity *1
86P motor 6.0A
Heating value 9.6W 9.6W 26.4W
Control method Weak field-magnet vector control
Encoder resolution Incremental specification 800 P/rev
Positioning command Position number specification 64 points (standard), 512 points (maximum)
*The position number varies depending on the selection of the PIO pattern.
Backup memory Position data and parameters are saved in nonvolatile memory.
Serial EEPROM can be rewritten 100,000 times. (NOTE 1)
PIO interface 24VDC, input/output
LED indicators SV (Green) – Servo ON, ALM (Red) – Alarm present
Serial communication RS485, 1 channel (conforming to the Modbus protocol)
Forced release of
electromagnetic brake NOM/BK RLS switch (on the front panel)
Cable length Actuator cable: 20m or less
I/O flat cable: 10m or less
Insulation strength 500VDC, 10M
Surrounding air
temperature 0 to 40C
Surrounding humidity 85%RH or less (non-condensing)
Surrounding
environment Refer to Installation Environment
Surrounding storage
temperature -10 to 65C
Surrounding storage
humidity 90%RH or less (non-condensing)
Environment
Vibration Durability
10 to 57Hz in XYZ directions/Pulsating amplitude 0.035mm (continuous),
0.075mm (intermittent)
57 to 150Hz/4.9m/s2 (continuous), 9.8m/s2 (intermittent)
Protection class IP20
Cooling method Natural air-cooling Forced air-cooling
Weight 300g or less 300g or less 320g or less
External dimensions 35W x 178.5H x 68.1D (mm)
*1: The rush current, which is approx. 5 to 12 times the
rated current, flows for approx. 1 to 2msec after
power-on. Please note that the rush current value
varies depending on the impedance of the power
line.
*2: Excitation phase detection is performed after
power-on. In such a case, the current becomes
maximum (normally 100msec).
However, a current of approx. 6.0A flows (for
approx. 1 to 2msec) if the motor driving power is
turned on again after its shutdown.
*3: Excitation phase detection is performed after
power-on. In such a case, the current becomes
maximum (normally 100msec).
However, a current of approx. 10.0A flows (for
approx. 1 to 2msec) if the motor driving power is
turned on again after its shutdown.
As a +24V DC power supply,
select the power supply of the
“peak load support” specification
or one with sufficient capacity.
In particular, in the case of the
unit with the remote sensing
function, the greatest care is
required.
NOTE 1: Position data and parameters are written to EEPROM.
Please note that the rewrite limit is around 100,000 times.
External Dimensions
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 Installation and Noise Elimination
Section]
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
The storage and preservation environment should comply with the same standards as
those for the installation environment. In particular, when the machine is to be stored
for a long time, pay close attention to environmental conditions so that no condensation
forms. 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
and preserved in an environment where 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) Use a twisted cable for connection to the 24V DC power supply.
(2) Separate signal lines and encoder cables from high-power lines such as the power
wire.
3. Noise Sources and Elimination
Carry out noise elimination measures for
power 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 killer parallel with
the coil.
(2) DC solenoid valves, magnet
switches and relays
[Measure]
Install a diode parallel with the
coil. Use a DC relay with a built-in
diode.
4. Heat Radiation and Installation
Conduct design and manufacture in consideration of the control box size, controller
layout and cooling in such a way that the temperature around the controller will be 40C
or less.
Do not share the ground wire with
or connect to other equipment.
Ground each controller.
Class D grounding
(Formerly Class-III grounding:
Grounding resistance at 100 or less)
178.5
170.5 (Mounting dimension)
5 68.1
5
35
50mm or more
Fan
50mm or more
95mm
or more
Airflow
Controller
Ground Terminal
Annealed copper wire:
Connect a ground wire
with a diameter of 1.6mm
or larger.
Connect the ground wire
to the mounting screw of
the controller.
Surge Killer
Relay coil
+-
Relay
coil
Controller
Controller
Other
equipment
Other
equipment Other equipment

Connection Diagram
NOTE:
 A 24V DC power supply is required as the source for the controller and PIO.
 Turn off the power to the controller before inserting or removing the connector for connection
between the teaching pendant and controller.
Inserting or removing the connector while the power is turned ON causes a controller failure.
Power Supply and Emergency Stop Circuit
The following is a circuit example where the emergency stop switch on the teaching pendant is
incorporated into the emergency stop circuit constructed by the customer:
● Internal drive-power cutoff relay type : ACON-C, PCON-C/CF
• In the case of the use of a single controller:
• In the case of the use of two or more controllers:
*1 To cut off the motor drive power supply in conformance with safety category 2, connect 24V to the
EMG terminal and a contactor or other contact device to the MPI/MPO terminals.
*2 When the teaching pendant is connected to the controller, the controller automatically recognizes it.
*3 For the CR contact, the rated voltage and rated current are “24VDC” and “0.1A”.
● Driving Source Interruption Relay: External Type
• In the case of the use of a single controller:
• In the case of the use of two or more controllers:
*1 To cut off the motor drive power supply in conformance with safety category 2, connect 24V to the
EMG terminal and a contactor or other contact device to the MPI/MPO terminals.
*2 When the teaching pendant is connected to the controller, the controller automatically recognizes it.
*3 For the CR contact, the rated voltage and rated current are “24VDC” and “0.1A”.
Teaching pendant
<CON-T>
PIO connecto
r
Status indicato
r
LEDs
Host system <PLC>
Supplied flat cable
A
xis number setting switch
Mode selector switch
Brake release switch
Actuato
r
PC Software <Optional>
RS232C type <RCM-101-MW>
USB type <RCM-101-USB>
PC
+
2
4V
0
V
ACON-C, PCON-C/CF
EMG Switch for the
Teaching Pendant
MAX 0.1A
(30VDC)
Motor Power Breaker Relay
(Coil current 10mA or less)
S1
S2
EMG-
MPI
MPO
24V
0V
GND
CR
CR
*3
CR
Coil current 0.1A or less
(30VDC)
External EMG
reset switch
External EMG
switch
Motor power supply
Control power supply
+
2
4V
0
V
ACON-C, PCON-C/CF
EMG Switch for the
Teaching Pendant
MAX 0.1A
(30VDC)
Motor Power Breaker Relay
(Coil current 10mA or less)
S1
S2
EMG-
MPI
MPO
24V
0V
S1
S2
EMG-
MPI
MPO
24V
0V
S1
S2
EMG-
MPI
MPO
24V
0V
GND
CR
*3
CR
*3
CR
*3
CR
External EMG
reset switch
External EMG
switch
Motor power supply
Control power supply
CR
Second Unit
nth Unit
+24V 0V
ACON-CG,
PCON-CG
EMG Switch
S1
S2
EMG-
MPI
MPO
24V
0V
CR
*3
CR
External EMG
reset switch
External EMG
switch
Motor power supply
Control power supply
T
eac
hi
ng
P
en
d
ant
CR
Coil current 0.1A or less
(30VDC)
MAX 0.1A
(30VDC)
+24V 0V
ACON-CG,
PCON-CG
EMG Switch
S1
S2
EMG-
MPI
MPO
24V
0V
S1
S2
EMG-
MPI
MPO
24V
0V
S1
S2
EMG-
MPI
MPO
24V
0V
CR
*3
CR
*3
CR
*3
CR
External EMG
reset switch
External EMG
switch
Motor power supply
Control power supply
Second Unit
nth Unit
CR
Teaching Pendant
MAX 0.1A
(30VDC)

I/O Signals
Function description for I/O Signals
Category Signal
Abbreviation Signal Name Function Description
CSTR PTP strobe signal
(start signal)
The actuator will start to move to the position set by
the command position number.
PC1 to PC256 Command position
number signal Input of the position number to move (binary input)
BKRL Forced brake
release signal The brake will forcibly be released.
RMOD Operating mode
selector signal
The operating mode is selectable when the MODE
switch of the controller is set to AUTO. (The operating
mode of the controller will become AUTO when this
signal is turned OFF, or MANU when this signal is
turned ON.)
*STP Pause signal
When this signal turns OFF while the actuator is
moving, the actuator will decelerate to stop. The
remaining movement is retained and will resume when
the signal is turned ON again.
RES Reset signal
An alarm will be reset when this signal is turned ON.
The remaining movement can be canceled when the
pause signal is OFF (STP is OFF).
SON Servo ON signal The servo remains ON while this signal is ON, or OFF
while this signal is OFF.
HOME Home return signal The controller will perform home return operation when
this signal is turned ON.
MODE Teaching mode
signal
The operating mode will change to the teaching mode
when this signal is turned ON. (At this time, the mode
will not be selected unless all signals of CSTR, JOG+
and JOG- are OFF and the actuator operation has
stopped.)
JISL Jog/inching selector
signal
The actuator will jog with JOG+ or JOG- when this
signal is OFF. It will inch with JOG+ or JOG- when this
signal is ON.
JOG +, JOG - Jog signal
When the JISL signal is OFF, the actuator will jog
toward the +/- direction upon detection of an OFF→ON
rise edge of this signal.
If an ON→OFF fall edge of this signal is detected while
the actuator is jogging, the actuator will decelerate to a
stop.
PWRT Teaching signal
When the write position is specified in the teaching
mode and this signal has remained ON for 20msec or
longer, the controller will write the current position in
the specified position field.
Input
ST0 to ST6 Start position
command
In the electromagnetic valve mode, the actuator will
move to the specified position when this signal is ON.
(The start signal is not required.)
PEND/INP Positioning
completion signal
This signal will turn ON when the target position has
been reached after movement and the actuator has
entered the in-position range. The PEND signal will not
turn OFF but the INP signal will turn OFF if the position
deviation exceeds the in-position range. PEND or INP
can be selected by the parameter.
PM1 to PM256 Completed position
number signal
The relevant position number will be output when
positioning has been completed (binary output).
HEND Home return
completion signal
This signal will turn ON when home return has been
completed.
ZONE1 Zone signal This signal will turn ON when the current actuator
position enters the range set by the parameters.
PZONE Position zone signal
This signal will turn ON when the current actuator
position enters the range specified in the position data
after position movement. The combined use with
ZONE 1 is possible, but PZONE becomes effective
only for movement to the set position.
RMDS Operating mode
status signal The operating mode status will be output.
*ALM Controller alarm
status signal
This signal remains ON in normal conditions of use
and turns OFF when an alarm is generated.
MOVE Moving signal This signal will remain ON while the actuator is moving
(including home return and push & hold times).
SV Servo ON status
signal This signal will remain ON while the servo is ON.
*EMGS Emergency stop
status signal
This signal remains ON while the controller is under
the emergency stop reset condition and turns OFF
when the emergency stop condition is enabled.
MODES Mode status signal
This signal will turn ON when the teaching mode is
enabled by the input of the mode signal and will turn
OFF when the mode changes to the normal mode.
WEND Write completion
signal
This signal will turn OFF after the controller has
switched to the teaching mode. It will turn ON when
writing in response to the PWRT signal has been
completed. When the PWRT signal turns OFF, this
signal will also turn OFF.
PE0 to PE6 Current position
number signal
In the electromagnetic valve mode, this signal will turn
ON when the actuator completes moving to the target
position.
LS0 to LS2 Limit switch output
signal
This signal will turn ON when the current actuator
position enters the positioning band of the target
position. It will be output even before the movement
command if home return has been completed.
LOAD Load output
judgment status
This signal will be output when the load exceeds the
current value set as the “threshold” within the range of
zone+ and zone- in the position data during push &
hold operation. It is used to judge whether pressing
has been performed normally.
Output
TRQS Torque level status
signal
This signal will be output when the slider (rod) collides
against an obstacle during push & hold operation and
the motor current value reaches the value set as the
“threshold” in the position data.
I/O Signals
Parameter (PIO) Pattern Selection
0 1 2 3 4 5
Positioning
mode
Teaching
mode
256-point
mode
512-point
mode
Electromagnetic
valve mode 1
Electromagnetic
valve mode 2
Number of
positioning points 64 points 64 points 256 points 512 points 7 points 3 points
Zone signal ○ * * * ○ ○
Pin
No. Category
Position zone
signal ○ ○ ○ * ○ ○
1A 24V P24
2A 24V P24
3A  MC
4A  MC
5A IN0 PC1 PC1 PC1 PC1 ST0 ST0
6A IN1 PC2 PC2 PC2 PC2 ST1 ST1 (JOG+)
7A IN2 PC4 PC4 PC4 PC4 ST2 ST2
8A IN3 PC8 PC8 PC8 PC8 ST3 
9A IN4 PC16 PC16 PC16 PC16 ST4 
10A IN5 PC32 PC32 PC32 PC32 ST5 
11A IN6  MODE PC64 PC64 ST6 
12A IN7  JISL PC128 PC128  
13A IN8  JOG+  PC256  
14A IN9 BKRL JOG- BKRL BKRL BKRL BKRL
15A IN10 RMOD RMOD RMOD RMOD RMOD RMOD
16A IN11 HOME HOME HOME HOME HOME 
17A IN12 *STP *STP *STP *STP *STP
18A IN13 CSTR CSTR/PWRT CSTR CSTR
19A IN14 RES RES RES RES RES RES
20A
Input
IN15 SON SON SON SON SON SON
1B OUT0 PM1 PM1 PM1 PM1 PE0 LS0
2B OUT1 PM2 PM2 PM2 PM2 PE1 LS1 (TRQS)
3B OUT2 PM4 PM4 PM4 PM4 PE2 LS2 (-)
4B OUT3 PM8 PM8 PM8 PM8 PE3 
5B OUT4 PM16 PM16 PM16 PM16 PE4 
6B OUT5 PM32 PM32 PM32 PM32 PE5 
7B OUT6 MOVE MOVE PM64 PM64 PE6 
8B OUT7 ZONE1 MODES PM128 PM128 ZONE1 ZONE1
9B OUT8 PZONE PZONE PZONE PM256 PZONE PZONE
10B OUT9 RMDS RMDS RMDS RMDS RMDS RMDS
11B OUT10 HEND HEND HEND HEND HEND HEND
12B OUT11 PEND PEND/WEND PEND PEND PEND 
13B OUT12 SV SV SV SV SV SV
14B OUT13 *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS
15B OUT14 *ALM *ALM *ALM *ALM *ALM *ALM
16B
Output
OUT15 LOAD/TRQS *1  LOAD/TRQS *1 LOAD/TRQS *1 LOAD/TRQS *1 
17B  NC
18B  NC
19B 0V N
20B 0V N
(NOTE) The terms inside parentheses indicate functions before home return.
*1: Signal for PCON-CF only
I/O Flat Cable
Model: CB-PAC-PIO * Enter the cable l 
ength (L) in (up to 10m)
Example) 080 = 8m
HIF6-40D-1.27R
No. Signal
Name
Cable
Color Wiring No. Signal Name
Cable
Color Wiring
1A 24W BR-1 1B OUT0 BR-3
2A 24W RD-1 2B OUT1 RD-3
3A  OR-1 3B OUT2 OR-3
4A  YW-1 4B OUT3 YW-3
5A IN0 GN-1 5B OUT4 GN-3
6A IN1 BL-1 6B OUT5 BL-3
7A IN2 PL-1 7B OUT6 PL-3
8A IN3 GY-1 8B OUT7 GY-3
9A IN4 WT-1 9B OUT8 WT-3
10A IN5 BK-1 10B OUT9 BK-3
11A IN6 BR-2 11B OUT10 BR-4
12A IN7 RD-2 12B OUT11 RD-4
13A IN8 OR-2 13B OUT12 OR-4
14A IN9 YW-2 14B OUT13 YW-4
15A IN10 GN-2 15B OUT14 GN-4
16A IN11 BL-2 16B OUT15 BL-4
17A IN12 PL-2 17B  PL-4
18A IN13 GY-2 18B  GY-4
19A IN14 WT-2 19B 0V WT-4
20A IN15 BK-2
Flat cable (A) (Press welding)
20B 0V BK-4
Flat cable (B) (Press welding) AWG28
BR: Brown, RD: Red, OR: Orange, YW: Yellow, GN: Green, BL: Blue, PL: Purple, GY: Gray, WT: White, BK: Black
Starting Procedures
When using this product for the first time, pursue work while making sure to avoid omission
and incorrect wiring by referring to the procedure below.
1. Check of Packed Items
Check packed items with the packing list. Should there be any incorrect model or
insufficient item, contact your dealer.
2. Installation
Install the controller and actuator.
3. Wiring
Connect the 24V DC power supply, earth cable, emergency stop circuit, motor drive
power supply, motor cable, encoder cable and I/O flat cable.
4. Power Supply and Alarm Check
(1) Connect the PC or teaching pendant and set the mode selector switch to the
MANU side.
(2) After confirming that the emergency stop circuit is not activated, supply the input
power.
- When the controller functions properly:
The monitor LED [SV/ALM] illuminates for 2 seconds and then goes out.
- When an alarm generates:
The monitor LED [SV/ALM] illuminates in red.
After checking the contents of the alarm using the PC or teaching pendant,
remove the cause.
Flat calve (20 conductors) x 2
Half pitch MlL
socket
HIF6-40D-1.27R
(HIROSE)
Open-ended Open-ended

5. Setting of PIP Pattern/Safety Speed
(1) Select [Teaching mode 1: Enable safety speed/Inhibit PIOs] in the MANU
operation mode of the PC or teaching pendant.
(2) Set the PIO pattern.
Parameter No. 25, PIO pattern selection: 0 to 5
(3) Set the safety speed as needed.
Parameter No. 35
(NOTE) The default value of the safety speed is 100mm/sec or less.
6. Servo ON
(1) In the case of the PCON controller, confirm that the slider or rod is not contacting
the mechanical end.
If the slider or rod is contacting the mechanical end, move it away in the opposite
direction.
(NOTE) If the actuator is equipped with a brake, set the brake release switch to
the “BK RLS” side before moving the slider/rod. At this time, exercise
caution not to allow work to drop suddenly due to its own weight. Your
hand may be caught by the dropped work or the robot hand or work itself
may be damaged.
(2) Turn on the servo from the PC or teaching pendant.
If the actuator achieves servo lock and monitor LED “SV/ALM” illuminates in green,
the controller is functioning properly.
7. Check of Safety Circuit
Check that the emergency stop circuit (or motor drive-power cutoff circuit) operates
normally to turn off the servo.
8. Target Position Setting
Set a target position in the “Position” field for each position in the position table.
When carrying out direct teaching, perform home return operation first.
Determine the target positions while fine adjusting the transferred work and robot hand.
(NOTE) To ensure safety, it is recommended that safety speed be enabled during
initial movements.
9. Trial Run Adjustment
(1) Disable the safety speed with the PC software or teaching pendant and perform
operation check for each position.
(2) Set the mode selector switch to the “AUTO” side.
(3) Output a movement command from the PLC to the controller to perform system
operation check.
(4) If vibration or abnormal sound occurs during a trial run, check that actuator
installation has no problems and actuator use conditions have not exceeded the
rating.
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]
Chicago Office: 110 East State Parkway, Schaumburg, IL 60173
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 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand
TEL [phone] FAX [phone]
Manual No.: ME0195-10A