IAI ACON-C User manual

DeviceNet
ACON-C/CG/CA
PCON-C/CG/CA/CFA
SCON-CA/CAL
DCON-CA
Operation Manual, Seventh Edition

Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among others,
providing the information you need to know 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 CD/DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.
[Important]
xThis Operation Manual is original.
xThe product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall
assume no responsibility for the outcome of any operation not specified herein.
xInformation contained in this Operation Manual is subject to change without notice for the purpose of product
improvement.
xIf you have any question or comment regarding the content of this manual, please contact the IAI sales office
near you.
xUsing or copying all or part of this Operation Manual without permission is prohibited.
xThe company names, names of products and trademarks of each company shown in the sentences are
registered trademarks.

Caution: The following functions are described in the separate operation manual.
Title of operation manual/Overview Control number
1
DeviceNet Operation Manual
Refer to this operation manual if you are using an
XSEL, TT, ASEL, PSEL, SSEL, SCON-C, RCS-C
E-Con controller(s).
ME0124

Table of Contents
Safety Guide ............................................................................................................................ 1
1. Overview ...........................................................................................................................................................9
2. ACON-C/CG, PCON-C/CG............................................................................................................................ 10
2.1 Operation Modes and Functions.................................................................................................. 10
2.2 Model Numbers............................................................................................................................ 13
2.3 Interface Specifications................................................................................................................ 14
2.4 DeviceNet Interface ..................................................................................................................... 15
2.4.1 Name of Each Part.......................................................................................................... 15
2.4.2 Monitor LED Indicators.................................................................................................... 16
2.5 Selecting (Setting) the Operation Mode....................................................................................... 17
2.6 Setting the Node Address............................................................................................................ 17
2.7 Communicating with the Master Station ...................................................................................... 18
2.7.1 Operation Modes and Corresponding PLC I/O Areas .................................................... 18
2.7.2 Remote I/O Mode (Number of Occupied Channel: 1)..................................................... 20
2.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4).................................. 26
2.7.4 Half Direct Mode (Number of Occupied Channels: 8) .................................................... 31
2.7.5 Full Direct Mode (Number of Occupied Channels: 16) ................................................... 38
2.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6)................................................ 47
2.7.7 I/O Signal Controls and Functions .................................................................................. 51
2.8 I/O Signal Timings........................................................................................................................ 67
2.9 Operation ..................................................................................................................................... 68
2.10 DeviceNet Parameters................................................................................................................. 76
2.11 Troubleshooting ........................................................................................................................... 81
2.12 CE Mark ....................................................................................................................................... 82
3. ACON-CA, PCON-CA/CFA, DCON-CA......................................................................................................... 83
3.1 Operation Modes and Functions.................................................................................................. 83
3.2 Model Numbers............................................................................................................................ 86
3.3 Interface Specifications................................................................................................................ 87
3.4 DeviceNet Interface ..................................................................................................................... 88
3.4.1 Name of Each Part.......................................................................................................... 88
3.4.2 Monitor LED Indicators.................................................................................................... 89
3.5 Selecting (Setting) the Operation Mode....................................................................................... 90
3.6 Setting the Node Address............................................................................................................ 90
3.7 Communicating with the Master Station ...................................................................................... 91
3.7.1 Operation Modes and Corresponding PLC I/O Areas .................................................... 91
3.7.2 Remote I/O Mode (Number of Occupied Channel: 1)..................................................... 93
3.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4).................................. 97
3.7.4 Half Direct Mode (Number of Occupied Channels: 8) .................................................. 102
3.7.5 Full Direct Mode (Number of Occupied Channels: 16) ................................................. 109
3.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6).............................................. 121

3.7.7 I/O Signal Controls and Functions ................................................................................ 125
3.8 I/O Signal Timings...................................................................................................................... 142
3.9 Operation ................................................................................................................................... 143
3.10 DeviceNet Parameters............................................................................................................... 151
3.11 Troubleshooting ......................................................................................................................... 156
3.12 CE Mark ..................................................................................................................................... 157
4. SCON-CA/CAL............................................................................................................................................. 158
4.1 Operation Modes and Functions................................................................................................ 158
4.2 Model Numbers.......................................................................................................................... 162
4.3 Interface Specifications.............................................................................................................. 163
4.4 DeviceNet Interface ................................................................................................................... 164
4.4.1 Name of Each Part........................................................................................................ 164
4.4.2 Monitor LED Indicators.................................................................................................. 165
4.5 Selecting (Setting) the Operation Mode..................................................................................... 166
4.6 Setting the Node Address.......................................................................................................... 166
4.7 Communicating with the Master Station .................................................................................... 167
4.7.1 Operation Modes and Corresponding PLC I/O Areas .................................................. 167
4.7.2 Remote I/O Mode (Number of Occupied Channel: 1)................................................... 171
4.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4)................................ 176
4.7.4 Half Direct Mode (Number of Occupied Channels: 8) .................................................. 181
4.7.5 Full Direct Mode (Number of Occupied Channels: 16) ................................................. 188
4.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6).............................................. 199
4.7.7 Position/Simple Direct Mode 2 (Number of Occupied Channels: 4)............................. 203
4.7.8 Half Direct Mode (Number of Occupied Channels: 8) .................................................. 208
4.7.9 Remote I/O Mode 3 (Number of Occupied Channels: 6).............................................. 215
4.7.10 Half Direct Mode 3 (Number of Occupied Channels: 8) ............................................... 219
4.7.11 I/O Signal Controls and Functions ................................................................................ 226
4.8 I/O Signal Timings...................................................................................................................... 243
4.9 Operation ................................................................................................................................... 244
4.10 DeviceNet Parameters............................................................................................................... 252
4.11 Troubleshooting ......................................................................................................................... 257
5. Troubleshooting ........................................................................................................................................... 258
6. EDS File ....................................................................................................................................................... 259
7. Change History ............................................................................................................................................ 260

1
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage
beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No. Operation
Description Description
1 Model
Selection Ɣ This product has not been planned and designed for the application where high level of safety is required, so the guarantee of the protection of human
life is impossible. Accordingly, do not use it in any of the following
applications.
1) Medical equipment used to maintain, control or otherwise affect human
life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
Ɣ Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Ɣ Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other large
heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Ɣ For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving part
may drop when the power is turned OFF and may cause an accident such
as an injury or damage on the work piece.

2
No. Operation
Description Description
2 Transportation ƔWhen carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
ƔWhen the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
ƔWhen in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
ƔTransport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the instructions in
the operation manual for each model.
ƔDo not step or sit on the package.
ƔDo not put any heavy thing that can deform the package, on it.
ƔWhen using a crane capable of 1t or more of weight, have an operator who
has qualifications for crane operation and sling work.
ƔWhen using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
ƔUse a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
ƔDo not get on the load that is hung on a crane.
ƔDo not leave a load hung up with a crane.
ƔDo not stand under the load that is hung up with a crane.
3 Storage and
Preservation
ƔThe storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of
condensation.
ƔStore the products with a consideration not to fall them over or drop due to
an act of God such as earthquake.
4 Installation and
Start
(1) Installation of Robot Main Body and Controller, etc.
ƔMake sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
ƔDo not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
ƔWhen using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets

3
No. Operation
Description Description
(2) Cable Wiring
Ɣ Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do
so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
Ɣ Perform the wiring for the product, after turning OFF the power to the unit,
so that there is no wiring error.
Ɣ When the direct current power (+24V) is connected, take the great care of
the directions of positive and negative poles. If the connection direction is
not correct, it might cause a fire, product breakdown or malfunction.
Ɣ Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction
of the product.
Ɣ Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
4 Installation and
Start
(3) Grounding
Ɣ The grounding operation should be performed to prevent an electric shock
or electrostatic charge, enhance the noise-resistance ability and control the
unnecessary electromagnetic radiation.
Ɣ For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair cable
with wire thickness 0.5mm2 (AWG20 or equivalent) or more for grounding
work. For security grounding, it is necessary to select an appropriate wire
thickness suitable for the load. Perform wiring that satisfies the
specifications (electrical equipment technical standards).
Ɣ Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100: or below).

4
No. Operation
Description Description
4 Installation and
Start
(4) Safety Measures
ƔWhen the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
ƔWhen the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within the robot’s movable range. When the
robot under operation is touched, it may result in death or serious injury.
Ɣ Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Ɣ Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an
injury or damage to the product.
ƔTake the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to
do so may result in an electric shock or injury due to unexpected power
input.
Ɣ When the installation or adjustment operation is to be performed, give clear
warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
ƔTake the measure so that the work part is not dropped in power failure or
emergency stop.
Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Ɣ Do not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching ƔWhen the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
ƔWhen the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
ƔWhen the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be
stopped any time in an emergency. Also, keep watch on the operation so
that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.

5
No. Operation
Description Description
6 Trial Operation ƔWhen the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
ƔAfter the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
ƔWhen the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
ƔMake sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected motion
caused by a program error, etc.
ƔDo not touch the terminal block or any of the various setting switches in the
power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
ƔCheck before starting the automatic operation or rebooting after operation
stop that there is nobody in the safety protection fence.
ƔBefore starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no alarm
indication.
ƔMake sure to operate automatic operation start from outside of the safety
protection fence.
ƔIn the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn OFF
the power switch. Failure to do so may result in a fire or damage to the
product.
ƔWhen a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of
the product in the recovery operation from the power failure.

6
No. Operation
Description Description
8 Maintenance
and Inspection
ƔWhen the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
ƔPerform the work out of the safety protection fence, if possible. In the case
that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
ƔWhen the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
ƔWhen the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
ƔWhen the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be
stopped any time in an emergency. Also, keep watch on the operation so
that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
ƔFor the grease for the guide or ball screw, use appropriate grease
according to the Operation Manual for each model.
ƔDo not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
ƔWhen releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
ƔThe slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
ƔPay attention not to lose the cover or untightened screws, and make sure
to put the product back to the original condition after maintenance and
inspection works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
ƔDo not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal ƔWhen the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
ƔWhen removing the actuator for disposal, pay attention to drop of
components when detaching screws.
ƔDo not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other ƔDo not come close to the product or the harnesses if you are a person who
requires a support of medical devices such as a pacemaker. Doing so may
affect the performance of your medical device.
Ɣ See Overseas Specifications Compliance Manual to check whether
complies if necessary.
ƔFor the handling of actuators and controllers, follow the dedicated
operation manual of each unit to ensure the safety.

7
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level,
as follows, and described in the Operation Manual for each model.
Level Degree of Danger and Damage Symbol
Danger This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious injury. Danger
Warning This indicates a potentially hazardous situation which, if the product
is not handled correctly, could result in death or serious injury. Warning
Caution This indicates a potentially hazardous situation which, if the product
is not handled correctly, may result in minor injury or property
damage. Caution
Notice This indicates lower possibility for the injury, but should be kept to
use this product properly. Notice

8

1. Overview
9
1. Overview
The open field network DeviceNet is a multi-bit, multi-vendor network for communication of both control and data
signals of the machine/line control level.
A wire-saving system can be built by connecting IAI’s X-SEL, TT, RCS-C, E-Con, ASEL, PSEL, SSEL, SCON,
ACON and PCON controllers (hereinafter collectively and individually referred to as “Each Controller”) to a
DeviceNet network.
Each controller is treated as a slave station in DeviceNet and can be used to exchange I/O data.
This Operation Manual covers the ACON, PCON, SCON-CA/CAL and DCON series.
* For details on DeviceNet, refer to the operation manual for the programmable controller (hereinafter referred to
as “PLC”) in which the master unit is installed.
This operation manual should be used in conjunction with the operation manual for each controller.
You should also assume that any usage not specifically permitted in this operation manual is prohibited.
System configuration example
Remote I/O
terminal
Master
unit
CPU
unit
(Node)
(Node)
(Node) (Node)
(Node) (Node) (Node)
(Node) (Node) (Node)
(Node) (Node)
(Node) (Node) (Node)
Remote I/O function
PCON-
CA/CFA
ACON-CA

2. ACON-C/CG, PCON-C/CG
10
PLC PLC
Flat cable
Communication
cable
2. ACON-C/CG, PCON-C/CG
2.1 Operation Modes and Functions
ACON and PCON controllers supporting DeviceNet can be operated in a desired operation mode selected from
the following five modes.
Operation Modes and Key Functions
Key function Remote I/O
mode
Position/simple
direct mode Half direct mode Full direct mode Remote I/O mode 2
Number of occupied
bytes 1CH 4CH 8CH 16CH CH
Operation by position
data specification x{(*1) { { x
Direct
speed/acceleration
specification
x x { { x
Push-motion
operation { { { { {
Current position read x { { { {
Current speed read x x { { x
Operation by position
number specification { { x x {
Completed position
number read { { x x {
Maximum position
table size 512 768 Not used Not used 512
(*1) The actuator is operated by specifying all position data, other than positions, using position numbers.
[1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24-V I/Os) via DeviceNet communication.
Number of occupied bytes: 1CH
A
CON/PCON not
supporting DeviceNet
PIO connection
A
CON/PCON supporting
DeviceNet
DeviceNet connection

2. ACON-C/CG, PCON-C/CG
11
[2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers.
You can select whether to specify the target position directly as a value, or use
a value registered in the position data table, by switching a control signal.
For the speed, acceleration/deceleration, positioning band, etc., values
preregistered in the position data table are used. Up to 768 position data points
can be set.
Number of occupied bytes: 4CH
[3] Half direct mode: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration
and push current, in addition to the target position, directly as values.
Number of occupied bytes: 8CH
PLC䎃
Target position: 100.00 mm
+
Position No. 0
A
CON/PCON supporting
DeviceNet
A
ctuato
r
S
p
eed
A
cceleration Deceleration Push
PLC䎃
Target position: 100.00 mm
Positioning band: 0.10 mm
Speed specification: 100.0
mm/sec
A
cceleration/deceleration:
0.30 G
Push current: 50%
A
CON/PCON supporting
DeviceNet
A
ctuato
r

2. ACON-C/CG, PCON-C/CG
12
䎳䎯䎦䎃
Flat cable
Communication
cable
[4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control
(target position, speed, acceleration/deceleration, etc.) directly as values.
Number of occupied bytes: 16CH
[5] Remote I/O mode 2: In this mode, the actuator is operated by PIOs (24-V I/Os) via DeviceNet
communication.
The current-position and command-current read functions are available in addition to
the functions provided in mode [1].
Number of occupied bytes: 6CH
Target position: 100.00 mm
Positioning band: 0.10 mm
Speed specification:
100.0 mm/sec
A
cceleration: 0.30 G
Deceleration: 0.30 G
Push current: 50%
Load current threshold: 0
Zone+: 50.00 mm
Zone-: 30.00 mm
A
CON/PCON supporting
DeviceNet
A
ctuato
r
PLC PLC
A
CON/PCON not
supporting DeviceNet
A
CON/PCON supporting
DeviceNet
DeviceNet connection
PIO connection

2. ACON-C/CG, PCON-C/CG
13
2.2 Model Numbers
The model numbers of ACON and PCON controller supporting DeviceNet are indicated as follows, respectively:
zACON-C/CG--DV-
zPCON-C/CG--DV-
Printed series name
zACON
zPCON Front panel color
zACON: Dark blue
zPCON: Dark green

2. ACON-C/CG, PCON-C/CG
14
2.3 Interface Specifications
Item Specification
DeviceNet 2.0
Group 2 only server
Communication protocol
Network-powered isolation node
Bit strobeCommunication specification Master-slave connection
Polling
Baud rate Automatically set to the same value as the band rate set in the master
Baud rate Maximum network length Maximum branch
line length
Total branch
line length
500 kbps 100 m 39 m
250 kbps 250 m 78 m
125 kbps 500 m
6 m
156 m
Communication cable length
Note) When a large-size DeviceNet cable is used.
Communication power supply 24 VDC (supplied from DeviceNet)
Consumption current of
communication power supply 60 mA
Number of occupied nodes 1 node
Connector MSTB2.5/5-GF-5.08AU (*1) by Phoenix Contact
(*1) The cable-end connector is a standard accessory.
MSTB2.5/5-STF-5.08AU by Phoenix Contact