IAI MSCON User manual

MSCON
First Step Guide First Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (CD/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 Quantity Remarks
1 Controller Refer to “How to read the model
plate”, “How to read the model” 1
Accessories
2 Control Power Supply
Connector
MC1.5/5-STF-3.81
(Supplier: PHOENIX CONTACT) 1
Recommended cable size
•
Control Power Input area
KIV3.5 to 0.75mm2
(AWG12 to 18)
•Brake Power Input area
KIV0.75mm2
(AWG18)
3 Motor Power Supply
Connector
GMSTB2.5/3-STF-7.62
(Supplier: PHOENIX CONTACT) 1
Recommended cable size
KIV3.5 to 1.25mm2
(AWG12 to 16)
4 System I/O Connector FMCD1.5/4-ST-3.5
(Supplier: PHOENIX CONTACT) 1
Recommended cable size
KIV1.25 to 0.2mm2
(AWG16 to 24)
5 CC-Link Connector
(For CC-Link Type)
SMSTB2.5/5-ST-5.08 AU
(Supplier: PHOENIX CONTACT) 1
Trminal resistance
(130Ω1/2W, 110Ω1/2W)
enclosed one unit each
6 DeviceNet Connector
(For DeviceNet Type)
SMSTB2.5/5-ST-5.08 AU
(Supplier: PHOENIX CONTACT) 1
Prepare a terminal resistor
separately if this controller is
to be allocated at the
terminal.
7 Absolute Battery Unit
(Option) (Battery AB-5) -
Depends on number of
actuators to be used in
absolute type
8 First Step Guide 1
9 Instruction Manual
(CD/DVD) 1
10 Safety Guide 1
2. Teaching Tool (to be purchased separately)
For the setup operation such as position setting and parameter setting by a teaching, conduct it on PC software.
Prepare a teaching tool such as PC software and so on for the operations and tunings.
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 Teaching Pendant (Touch panel teaching) CON-PTA
4 Teaching Pendant (Touch panel teaching equipped with a deadman switch) CON-PDA
5
Teaching Pendant
(Touch panel teaching equipped with a deadman switch + TP adapter
(RCB-LB-TG))
CON-PGA
6 Teaching Pendant CON-T
7 Teaching Pendant (equipped with dead man’s switch + TP adapter (RCB-LB-TG)) CON-TG
8 Gateway Parameter Setting Tool -
3. Instruction Manuals related to this product, which are contained in the Instruction Manual (CD/DVD).
No. Name Manual No.
1 MSCON Controller Instruction Manual ME0304
2 PC Software RCM-101-MW/RCM-101-USB Instruction Manual ME0155
3 Touch Panel Teaching CON-PTA/PDA/PGA Instruction Manual ME0295
4 Teaching Pendant CON-T/TG Instruction Manual ME0178
4. How to read the model plate
5. How to read the model
(Example) Consists of 5 axes : Axis No.0, 2, 3 = 60W actuators to be connected incremental type
Axis No.4, 5 = 100W actuators to be connected incremental type
Axis No.1 = When no connected axis
MSCON-C-5-60I-N-60I-60I-100I-100I-DV-2-0-**
Basic Specifications
Specifications
Number of Controlled Axes Max. 6-axis
Control Power Voltage 24V DC ± 10%
Control Power Current
Consumption Max. 2.4A
Add the Control Power In Rush
Current (Note1) Max. 7A 5msec or less
Driving Source
Voltage
100V AC
Specification
AC100 to 115V ± 10%
Drive (Motor)
Power Supply
Voltage Driving Source
Voltage
200V AC
Specification
AC200 to 230V ± 10%
Driving Source
Voltage
100V AC
Specification
10A max. with 20A for 80msec (driving source voltage 100V in ambient temp. 25°C)
10A max. with 45A for 80msec (driving source voltage 115V × 10% in ambient temp. 40°C)
Drive (Motor)
Power Supply
In-Rush
Current (Note1) Driving Source
Voltage
200V AC
Specification
10A max. with 45A for 40msec (driving source voltage 200V in ambient temp. 25°C)
10A max. with 95A for 40msec (driving source voltage 230V × 10% in ambient temp. 40°C)
Driving Source
Voltage
100V AC
Specification
Max. 200W/axis (up to 450W in total for six axes)
Motor
Capacity of
Connectable
Actuators Driving Source
Voltage
200V AC
Specification
Max. 200W/axis (up to 900W in total for six axes)
Electromagnetic Brake Power
Supply Voltage
(when brake-equipped actuator
connected)
DC24V ± 10%
Brake Power Supply Current Max. 1A/axis (0.5A/axis at steady state)
Brake Power Supply In-Rush
Current (Note1) Max. 10A 10msec or less
Drive (Motor) Power Capacity Refer to Power Capacity and Heat Generation.
Leak Current 3.5mA (Motor power supply)
◎There is no leak current of control power supply and brake power supply.
Heat Generation Refer to Power Capacity and Heat Generation.
Drive (Motor) Frequency 50/60Hz ± 5%
Transient Power Cutoff Durability 1msec (Control Power Supply), 20msec (Drive (Motor) Power Supply), 5msec (Brake
Power Supply)
Motor Control System Sinusoidal Wave PWM Vector Current Control
Applicable Encoder Incremental Serial Encoder
Absolute Serial Encoder
Actuator Cable Length Max. 20m
Serial Communication
(SIO Port: For Teaching) RS485 1ch (complying with Modbus Protocol) Speed : 9.6 to 230.4kbps
External Interface DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, MECHATROLINK ll, EtherNet/IP,
EtherCAT®
Data Setting and Input PC software, Teaching pendant, Gateway parameter setting tool
Number of Positioning Points Position data and parameters are saved in the nonvolatile memory.
(There is no limitation in number of writing)
Number of Positioning Points Max. 256 points (There is no limit for simple direct and direct indication modes) Note: The number of positioning points differs depending on the operation mode select
by the parameter setting.
LED Indication
(Mounted on Front Panel)
LED lamp for driver status display 2 points
Gateway Status LED 5 points
Fieldbus Status LED 2 points
Power Supply Status LED 2 points
Forcibly Releasing of
Electromagnetic Brake
(Mounted on Front Panel) Switching NOM (standard)/RLS (compulsory release)
Protective Functions Overload, overcurrent, overvoltage, etc.
Protection Function against
Electric Shock Class I
Insulation Resistance (Between
secondary power source and FG) 500V DC 10MΩor more
Withstanding Voltage (Between
primary and secondary power
sources, Between primary power
source and PE)
1500V AC for 1 min. (for MSCON individually)
Cooling Method Forced air-cooling
External Dimensions 225W × 154H × 115D
Incremental Type Approx. 1900g
Weight
(when drivers
for 6 axes
mounted) Absolute Type Approx. 2000g (including batteries)
Surrounding air
temperature 0 to 40°C
Surrounding humidity 85%RH or less (non-condensing)
Surrounding environment [Refer to Installation and Storage Environment.]
Surrounding storage
temperature -20 to 70 °C (Note) 0 to 40 °C for absolute battery.
Surrounding storage
humidity 85%RH or less (non-condensing)
Usable Altitude 1000m 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
Package Drop Dropping height 800mm, 1 corner, 3 edges and 6 surfaces
Protection Class IP20
Pollution Degree I
Enviro-
nment
Overvoltage Category II
Note 1 The rush current value varies depending on the impedance of the power line.
<Power Capacity and Heat Generation>
Shown in the table is the relation between the motor wattage and motor power capacity of an actuator that
can be connected
RS : Rotary Shaft
<Remark 1> Selection of Circuit Breaker
•3 times of the rated current flows to the controller during the acceleration/deceleration. Select an
interrupter that does not trip with this value of current. If a trip occurs, select an interrupter that
possesses the rated current of one grade higher. (Check the operation characteristics curves in the
product catalog.)
•Select an interrupter that does not trip with the in-rush current. (Check the operation characteristics
curves in the product catalog.)
•Consider the current that enables to cutoff the current even when a short circuit current is flown for
the rated cutoff current.
Rated Interrupting Current > Short Circuit Current = Circuit Breaker Primary Power Capacity / Power Voltage
Consider margin for the rated current on the circuit breaker.
<Remark 2> Selection of Leak Current Breaker
•It may be mandatory by low to install a leakage breaker.
•A ground fault circuit interrupter needs to be selected carefully considering the purposes of prevention
of fire and protection of human (Determined by law).
•Leak current varies depending on the capacity of connected motor, cable length and the surrounding
environment. Measure the leak current at the point where a ground fault circuit interrupter is to be
installed when leakage protection is conducted.
•Use the harmonic type (for inverter) for the ground fault circuit interrupter.
<Control Power Capacity>
Follow the description below for the calculation of 24V DC power capacity.
(1) Control Power Current Consumption :
Select from control power supply current in the table below ··············1)
Number of Controlled Axes (Note1) 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis
Control Power Unit Heating Value [W] 25.5 31.5 38.2 44.2 50.9 56.9
Control Power Capacity [A] 1.1 1.3 1.6 1.8 2.1 2.4
Note 1 : See the line of max. number of controlled axes connectable to corresponding MSCON.
manufacturing name plate : MSCON-C-*-• • • •: “*” is the maximum number of connectable axes.
(2) Current Consumption of Brake Power Supply :
1A or 0.5A (Note 2) × number of brake-equipped actuators ··············2)
Note 2 : The maximum current of 1A per actuator runs for approximately 100ms when a brake is
released. The current consumption after the release is 0.5A per unit.
Calculate the capacity with 0.5A per unit when a 24V DC power supply corresponding to
transient load change such as peak load appliance is used and capable for the maximum
current described above. For other cases, calculate with 1A per unit.
(3) Add the Control Power In Rush Current : 7A ····································································3)
[Selection of Power Supply]
Usually, the rated current is to be approximately 1.3 times higher than the total of Control Power 1) and
Motor Power 2) above considering approximately 30% of margin to the load current. However, considering
the inrush currents [excitation 3)], even though it is a short time, select a power supply with sufficient “peak
load capacity”. If a power supply with insufficient peak capacity is utilized, a transient voltage drop or cutoff
may occur. This may present issues with power supplies providing remote sensing functionality.
<Remark 3> 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.
If having 24V DC turned ON/OFF, keep the 0V connected and have the +24V ON/OFF (cut one side only).
Be careful to the in-rush current of the 24V DC power supply unit when making a selection. (Check it in
the operation characteristics curve graph in a catalog provided by the supplier.)
Consider the current that enables to cutoff the current even when a short circuit current is flown for the
rated cutoff current.
•
Rated Interrupting Current > Short Circuit Current = Circuit Breaker Primary Power Capacity / Power Voltage
•(Remark) In-rush Current of IAI Power Supply Unit PS241 = 50 to 60A, 3msec
Actuator Motor Wattage Motor Power Capacity [VA] Peek Max. Motor Power Capacity [VA] Heat Generation [W]
12 41 123 1.7
20 50 150 2.0
30D (Excluding RS) 47 141 2.0
30R (for RS) 138 414 4.0
60 146 438 4.8
100 238 714 7.0
150 328 984 8.3
200 421 1263 9.2
<Type Name>
C : Standard Type
<Connected Axis>
1 to 6 : Number of driver axes
<Detail of Connected Axis>
[Motor Type]
12 : 12W Servo Motor, 20 : 20W Servo Motor
30D : 30W Servo Motor, 30R : 30W Servo Motor (for RS Series)
60 : 60W Servo Motor, 100 : 100W Servo Motor
150 : 150W Servo Motor, 200 : 200W Servo Motor
N : Not connected
[Encoder Type]
I : Incremental
A : Absolute
[Option]
HA : High Accel/Decel Type
L : Home Sensor/Limit Switch Type
C : Creep Sensor Type
B : Brake Type
<Identification for IAI use only>
*There is no identification in
some cases
<Power-supply Voltage>
1 : AC100V
2 : AC200V
<I/O cable Length>
0 : No cable
<I/O Type>
DV : DeviceNet Type
CC : CC-Link Type
PR : PROFIBUS-DP Type
CN : CompoNet Type
ML : MECHATROLINK Type
EP : EtherNet/IP Type
EC : EtherCAT® Type
Applicable Field Network
(DeviceNet, CC-Link, PROFIBUS, CompoNet,
MECHATROLINK-ll, EtherNet/IP, EtherCAT®)
Rated Current for Circuit Interrupter >
Total capacity of motor power for all the connected actuators / AC input voltage × Safety margin (1.2 to 1.3 for reference)
MODEL MSCON-C-6-200AHA-200AHA-200AB-100A-100A-60AB-DV-0-2
SERIAL No.01234567
Model No.
Serial number
Warning : Operation of this equipment requires detailed installation and operation instructions which are
provided on the CD/DVD Manual included in the box this device was packaged in. It should be
retained with this device at all times.
A hard copy of 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.

●Specifications of DeviceNet Interface
Item Specification
DeviceNet 2.0
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
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 (Note2)
125kbps 500m 156m
6m
Communications Cable Use the dedicated cable.
Connector (Note1) MSTBA2.5/5-G-5.08-ABGY AU (Manufactured by PHOENIX CONTACT or equivalent)
Consumption Current of
Communication Power
Supply
60mA
Communication Power
Supply
24V DC (Supplied from DeviceNet)
Note 1 The cable-side connector is a standard accessory. (SMSTB2.5/5-ST-5.08 AU by PHOENIX CONTACT)
Note 2 For T branch communication, refer to the Instruction Manuals for the master unit and programmable
logic controller (stated as PLC from now on) to be mounted.
●Specifications of CC-Link Interface
Item Specification
Communication Protocol CC-Link Ver. 1.1 or Ver. 2
Station Type Remote device station (4 stations max. to occupy)
Baud Rate 10M/5M/2.5M/625K/156kbps
Communication System Broadcast Polling System
Baud Rate [bps] 10M 5M 2.5M 625k 156k Communication Cable
Length (Note2) Total Cable Length [m] 100 160 400 900 1200
Communications Cable Use the dedicated cable.
Connector (Note1) MSTBA2.5/5-G-5.08 AU (Manufactured by PHOENIX CONTACT or equivalent)
Note 1 The cable-side connector is a standard accessory. (SMSTBA2.5/5-ST-5.08 AU by PHOENIX CONTACT)
Note 2
For T branch communication, refer to the Instruction Manuals for the master unit and PLC to be mounted.
●Specifications of 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)
Max. Total Network Length Baud Rate Cable Type
100m 12,000/6,000/3,000kbps
200m 1,500kbps
400m 500kbps
1000m 187.5kbps
Communication Cable
Length
1200m 9.6/19.2/93.75kbps
Type A Cable
Communications Cable STP cable AWG18
Connector (Note1) 9 pin female D-sub Connector
Transmission Path Format
Bus/Tree/Star
Note 1 Prepare the 9-pin male D-sub connector as the connector on the cable side.
●Specifications of CompoNet Interface
Item Specification
Communication System CompoNet specialized protocol
Communication Type Remote I/O Communication
Baud Rate Automatically follows the master
Communication Cable
Length
Follows CompoNet Type
Slave Type Word Mixed Slave
Available Node
Addresses for Setting 0 to 63 (Setting conducted on controller parameter)
Communications Cable
(Prepare separately)
Round-type cable (JIS C3306, VCTF2 conductors)
Flat cable I (with no sheathed)
Flat cable II (sheathed)
Connector (Controller
side) XW7D-PB4-R (manufactured by OMRON or equiv.)
●Specifications of MECHATROLINK II Interface
Item Specification
Slave Type Intelligent I/O
Baud Rate 10Mbps
Max. Transmittable Distance 50m
Min. Distance between Stations 0.5m
Transmission Frequency 1 to 8ms
Data Length 32 bytes
Settable Node Address Range 61 to 7F [hex.]
Communications Cable
(Prepare separately) STP Cable (characteristic impedance 130Ω)
●Specifications of EtherNet/IP Interface
Item Specification
Communication Protocol IEC61158 (IEEE802.3)
Baud Rate 10BASE-T/100BASE-T (Autonegotiation setting is recommended)
Communication Cable
Length
EtherNet/IP Specifications (Distance between hub and each node: 100m or less)
Number of Connection Master Unit
Available Node
Addresses for Setting
0.0.0.0 to 255.255.255.255
Communications Cable
(Prepare separately)
Category 5e or higher
(Double shielded cable braided with aluminum foil recommended)
Connector RJ45 Connector × 1pc
●Specifications of EtherCAT® Interface
Item Specification
Communication Protocol IEC61158 type12
Physical Layer 100Base-TX (IEEE802.3)
Baud Rate Automatically follows the master
Communication Cable
Length
Depends on EtherCAT® Specification (Distance between each node: 100m or less)
Slave Type I/O slave
Available Node
Addresses for Setting
0 to 127
(17 to 80 : When connected to the master (CJ1W-NC*82) manufactured by OMRON)
Communications Cable
(Prepare separately)
Category 5e or more
(Double shielded cable braided with aluminum foil recommended)
Connector RJ45 Connector × 2pcs (Input×1, Output×1)
Connection Daisy chain only
External Dimensions
Incremental Type
Absolute Type
Installation Environment
This product is capable for use in the environment of pollution degree 2*1or 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]
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 Environment
•Storage 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. Heat Radiation and Installation
Design and Build the system considering the size of the controller box, location of the controller and
cooling factors to keep the ambient 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 a room temperature environment as much as possible. (Approximately 20°C is
the recommended temperature.)
To install the unit, use the attachment holes on the top and bottom of the main body and affix with screws,
or attach to DIN rails. (Regenerative resistance unit is separated to screw attachment type and DIN rail
attachment type. Have an appropriate way to affix the unit for each type.)
Earth Terminal
Class D grounding (Formerly Class-III grounding:
Grounding resistance at 100Ωor less)
Copper Wire:
Connect to an ground cable
with diameter 1.6mm
(2mm2: AWG14) or more.
Connect using FG
connection
terminal on the main unit.
MSCON
10.5
115
10.5
(77 from DIN rail center)
(134)
4
10.5
10.5
(77 from DIN rail center)
115
4
Do not share the ground wire with or connect
to other equipment. Ground each controller.
Controller
Other
equipment
Controller
Other
equipment
Other
equipment
0V
R
C
+24V
0V+24V
Relay
coil
Relay coil
Noise killer
20mm or more
10mm or more
50mm or more 50mm or more
20mm or more
20mm or more
20mm
or more
10mm
or more
30mm
or more
150mm or more
Waste
Heat

Operation Mode Available
7 types of operation modes are available to select from. The settings are to be established with Gateway
Parameter Setting Tool.
Operation
Pattern Contents Overview
Positioner
1
In Positioner 1 Mode, 256 points of
position data can be registered at the
maximum and is able to stop at the
registered positions. Monitoring of the
current position is also available.
Simple
Direct
Mode
In Simple Direct Mode, the target
position can be indicated directly by
inputting a value. Monitoring of the
current position is also available.
Those other than the target position
are to be indicated in the position
table, and the setting can be done for
256 points at maximum.
Communication with Fieldbus
Dedicated Cable
100V/200V AC+24V
Target Position
Target Position No.
Control Signal
PLC
Current Position
Completed Position No.
Status Signal
Electric Cylinder
Direct
Indication
Mode
Direct
Indication
2 Mode
The target position, speed
acceleration/deceleration and
pressing current limit can be indicated
with inputting a number. Monitoring of
not only the current position, but also
the current speed and indicated
current are available.
In Direct Indication 2 Mode,
anti-vibration control is available
instead of JOG operation.
+24V 100V/200V AC
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
Communication with Field Network
Dedicated Cable
Electric Cylinder
Position 2
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 mode is that the transferred data
is reduced from Positioner 1 Mode.
+24V 100V/200V AC
Target Position No.
Control Signal
PLC
Completed Position No.
Status Signal
Communication with Fieldbus
Dedicated Cable
Electric Cylinder
Position 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.
+24V 100V/200V AC
Target Position No.
Control Signal
PLC
Completed Position No.
Status Signal
Communication with Fieldbus
Dedicated Cable
Electric Cylinder
Remote
I/O
Five types (Note 1) of control same for
PIO are available.
(Note 1) PIO patterns 0, 1, 2, 4 and
5 can be selected (by switching over
in driver board parameters).
+24V 100V/200V AC
Target Position No.
Control Signal
PLC
Completed Position No.
Status Signal
Communication with Fieldbus
Dedicated Cable
Electric Cylinder
Connection Diagram
Note 1 Applicable Moter Cable types □□□ : cable length Example) 030 = 3m
Model Name Cable Reference
CB-RCC-MA□□□-RB Robot cable from 0.5 to 20m
CB-RCC-MA□□□ Standard cable from 0.5 to 20m
CB-X-MA□□□-RB Robot cable from 0.5 to 20m
For Single Axis Robot
Connection
CB-X-MA□□□ Standard cable from 0.5 to 20m
Note 2 Applicable Encoder Cable types □□□ : cable length Example) 030 = 3m
Model Name Cable Reference
For Single Axis Robot
Connection CB-X1-PA□□□ Robot cable from 0.5 to 20m
For Connection of Single
Axis Robot Equipped with
LS (Option)
CB-X1-PLA□□□ Robot cable from 0.5 to 20m
CB-X3-PA□□□ Robot cable from 0.5 to 20mFor RCS2 [models
equipped with LS and
rotary models (RT*) are
excluded] CB-RCS2-PA□□□ Standard cable from 0.5 to 20m
CB-X2-PLA□□□ Robot cable from 0.5 to 20mRCS2 [for models
equipped with LS and
rotary models (RT*)] CB-RCS2-PLA□□□ Standard cable from 0.5 to 20m
CAUTION
The model code and the manufacturing number of the connected actuator are printed on MSCON front
panel. Check the information before connecting the actuator. Wrong connection will issue an error such
as the encoder wire breakage.
Power Line and Emergency Stop Circuit
<Drive (Motor) Power Supply Circuit>
<Control Power Supply and Brake Power Supply Circuit>
<Emergency Stop Circuit>
It is the example of circuit layout when an emergency switch of the teaching pendant is used to the
emergency stop circuit of the equipment.
Note 1 When the teaching pendant is not connected, S1 and S2 become short-circuited inside the controller.
Note 2 When the motor power must be disconnected externally for safety category compliance, apply a
safety rated contactor between L and N.
Note 3 The rating for the emergency stop signal (EMG-) to turn ON/OFF at contact CR1 is 24V DC and
30mA.
Note 4 For CR1, select the one with coil current 0.1A or less.
DeviceNet Type
Check the instruction manuals for each Field Network master unit and mounted PLC for the details.
Connector
Name DeviceNet Connector
Cable
Side
SMSTB2.5/5-ST-5.08 AU Enclosed in standard
package
Manufactured by
PHOENIX CONTACT
Controller
Side MSTBA2.5/5-G-5.08 ABGY AU
Pin No. Signal Name Contents Applicable Cable
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
DeviceNet
Dedicated Cable
Caution
●When using an actuator equipped with a brake, supply a brake power (24V DC).
With the power not being supplied, 0A5 Electromagnetic Brake Non-Release Error will occur. Do
not attempt to supply a brake power if there is no actuator with a brake.
●If having the control power supplied/cut on the 24V DC side, keep the 0V connected and have the
+24V supplied/cut (cut one side only). If cut also on 0V side (cut both sides), it may damage the
internal circuit.
Teaching Pendant
Touch Panel Teaching
(to be purchased separately)
Host System (Master Unit)
(PLC, etc.…Please prepare separately)
Communication power supply
(if necessary) (24V DC…
Please prepare separately)
Actuator
Emergency Stop
Circuit
PC software
(to be purchased separately)
Regenerative Resistor Unit
Follow the specifications of each
Fieldbus for how to lay out wiring.
Control Power
Supply
(24V DC Please
prepare separately)
Drive Power Supply
(100/200V AC
Please prepare
separately)
MSCON
M0 to 5
Motor
Connector
PG0 to 5
Encoder
Connector
Motor Cable
(Note 1)
Encoder Cable
(Note 2)
L, N : AC100V or 200V (to be identified at order)
+24V
MSCON
0V
24V
+
FG
0V
-
Control Power
Supply Connector
Control Power Supply
Brake Power Supply
Shield
BL (CAN L)
RD (V+)
WT (CAN H)
BK (V-)
4
5
1
2
3
Front view of
connector on
controller side
MSCON
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
V+
Drain
(Shield)
CAN_H
CAN_L
V-
RD
WT
BL
BK
Communication power needs to be
supplied by an external device.
Connect the terminal resistor if the unit is
placed at the end of the network.
V-
Terminal Resistance
121Ω
Terminal Resistance
121
Ω
24V
Power Supply
Class D grounding
(Formerly Class-III grounding : Grounding resistance at 100Ωor less)
Master Unit Slave Device
L
Circuit
Breaker
Leak Current
Noise
Filter
Surge Absorber
MSCON
L
N
PE
(Earth on either
of them)
Class D grounding
(Formerly Class-III grounding:
Grounding resistance at 100Ωor less)
Motor Power Supply
Connector
Screw Terminal for
Protective Grounding
N
Emergency Stop
Reset Switch
Emergency
Stop Switch
Emergency stop switch
for the teaching pendant (Note 1)
MSCON
Second Unit
MSCON
Second Unit
MSCON
nth Unit
+24V
CR1
S1 S2 S1 S2 S1 S2
MC1
EMG+
EMG-
+24V
L
N
CR
1 (Note 1)
CR1
(Note 3)
MC1
(Note 2)
CR1
(Note 3)
MC1
(Note 2)
CR1
(Note 3)
MC1
(Note 2)
CR1
(Note 1)
0V
MSCON
AC100V
AC200V
AC100V
AC200V
AC100V
AC200V
System I/O
Connector
System I/O Connector
Motor Power Cutoff Relay
Motor
Power Supply
Motor Power Input Connector
Motor Power Input Connector
EMG+
EMG-
L
N
MSCON Second Unit
System I/O Connector
Motor Power Input Connector
MSCON nth Unit
EMG+
EMG-
L
N

CC-Link Type
Check the instruction manuals for each Field Network master unit and mounted PLC for the details.
Connector
Name CC-Link Connector
Cable
Side
SMSTB2.5/5-ST-5.08 AU Enclosed in standard
package
Manufactured by
PHOENIX CONTACT
Controller
Side MSTBA2.5/5-G-5.08AU
Pin No. Signal Name Contents Applicable Cable
1 DA (BL) Communications Line A
2 DB (WT) Communications 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)
CC-Link
Dedicated Cable
PROFIBUS-DP Type
Check the instruction manuals for each Field Network master unit and mounted PLC for the details.
Connector
Name
PROFIBUS-DP Connector
Cable
Side
D-sub 9-pin connector (Male) Please prepare
separately
Controller
Side
D-sub 9-pin connector (Female)
Pin No. Signal Name Contents Applicable Cable
1 NC Unconnected
2 NC Unconnected
3 B-Line Communications Line B (RS485)
4 RTS Request for Sending
5 GND Signal GND (Insulated)
6 +5V +5V Output (Insulated)
7 NC Unconnected
8 A-Line Communications Line A (RS485)
9 NC Unconnected
PROFIBUS-DP
Dedicated Cable
(Type A : EN5017)
CompoNet Type
Check the instruction manuals for each Field Network master unit and mounted PLC for the details.
Connector
Name CompoNet Connector
Cable Side Connector that complies with CompoNet standards
Controller
Side XW7D-PB4-R Manufactured by
OMRON
Pin No. Signal Name Contents Applicable Cable
1 BS+ (RD) Communication Power
Supply + (Note 1)
2 BDH (WT) Signal Cable H Side
3 BDL (BL) Signal Cable L Side
4 BS- (BK) Communication Power
Supply - (Note 1)
CompoNet
Dedicated Cable
Note 1 It is unnecessary to supply the communication power. (Internal power source is used.)
If conducting multi power supply to other slave devices via communication cables,
there is no problem with connecting the power supply to BS+ and BS- terminals.
MECHATROLINK Type
Check the instruction manuals for each Field Network master unit and mounted PLC for the details.
Connector
Name MECHATROLINK Connector
Cable Side Connector that complies with MECHATROLINK standards
Controller
Side DUSB-ARB82-T11A-FA Manufactured by DDK
Pin No. Signal Name Contents Applicable Cable
A1/B1 NC Unconnected
A2/B2 /DATA Signal Cable - Side
A3/B3 DATA Signal Cable + Side
A4/B4 SH Shield
MECHATROLINK
Dedicated Cable
EtherNet/IP Type
Check the instruction manuals for each Field Network master unit and mounted PLC for the details.
Connector Name EtherNet/IP Connector
Cable Side 8P8C Modular Plug
Controller Side 8P8C Modular Jack
Pin No. Signal Name Contents Applicable Cable
1 TD+ Sent data +
2 TD- Sent data -
3 RD+ Received
data +
4 - Not used
5 - Not used
6 RD- Received
data -
7 - Not used
8 - Not used
For EtherNet cable, use a straight
STP cable that possesses the
performance of Category 5e or
more.
EtherCAT® Type
Check the instruction manuals for each Field Network master unit and mounted PLC for the details.
Connector Name EtherCAT® Connector
Cable Side 8P8C Modular Plug
Controller Side 8P8C Modular Jack
Pin No. Signal Name Contents Applicable Cable
1 TD+ Sent data +
2 TD- Sent data -
3 RD+ Received
data +
4 - Not used
5 - Not used
6 RD- Received
data -
7 - Not used
8 - Not used
For EtherNet cable, use a straight
STP cable that possesses the
performance of Category 5e or
more.
BK (BS-)
BL (BDL)
RD (BS+)
WT (BDH)
Front view of
connector on
controller side
1
2
3
4
Master Unit
Switching Hub
Slave Device
EtherNet Straight Cable
Category 5e or more
Double shielded cable braided with aluminum foil
recommended
MSCON
EtherNet/IP Type
Master Unit Slave Device
EtherNet Straight Cable
Category 5e or more
Double shielded cable braided with aluminum
foil recommended.
(Note) Terminal resistor is not required.
MSCON
EtherCAT® Type
WT (DB)
BL (DA)
Shield (SLD)
YW (DG)
1
2
3
4
5
Front view of
connector on
controller side
1
6
95
ｺﾝﾄﾛｰﾗ側
ｺﾈｸﾀ正面図
Front view of
connector on
controller side
MSCON
CC-Link Type
SLD and FG are internally connected.
Connect the terminal resistor if the unit is
placed at the end of the network.
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)
Class D grounding
(Formerly Class-III grounding:
Grounding resistance at 100Ωor less)
Master Unit Slave Device
Terminal
Resistance
Terminal
Resistance
BS+
BDL
BDH
BS-
BS+
BDL
BDH
BS-
BS+
BDL
BDH
BS-
Master Unit Slave Device Terminal Resistance
121ΩMSCON
CompoNet Type
Connect the terminal
resistor if the unit is
placed at the end
of the network.
24V
Power Supply
Supply power separately to the slave devices
that requires the communication power supply.
It is not necessary to supply communication power,
however, there is no problem even if
communication power is supplied.
Front view of
connector on
controller side
B1
A1
A4 B4
4
3
2
1
4
3
2
1
4
3
2
1
A4
A3
A2
A1
B4
B3
B2
B1
Master Unit Slave Device
MECHATROLINK
Cable MECHATROLINK Cable
MSCON
MECHATROLINK Type
Terminal Resistance
JEPMC-W6022
Connect the terminal
resistor if the unit is
placed at the end
of the network.
130Ω
SH
DATA
/DATA
NC
Connect shield to
connector shell
SH
DATA
/DATA
NC
SH
DATA
/DATA
NC
Connect shield to
connector shell
1
8
Front view of
connector on
controller side
8
1
8
1
Front view of
connector on
controller side
5 1
9 6
Cable
Shield
Red B Line (Positive side)
Green A Line (Negative side)

Starting Procedures
When using this product for the first time, work while making sure to avoid omission and incorrect wiring by
referring to the procedure below. “PC” stated in this section means “PC software”.
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]
↓Yes
No →
Check of Packed Items
Are all the delivered items present? Contact your local IAI distributor.
Installation and Wiring
Install the controller and actuator and perform wiring according.
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
Is RDY in Gateway Status LEDs turned ON in green?
Connect the PC software, confirm the alarm
code, and remedy the indicated situation.
↓
Initial Setting and PIO Pattern Select
Conduct the initial selection for those such as PIO Patterns for each axis from the PC.
Register the operation mode to MSCON using 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
Is SV* on the status LED display for the driver on the axis
number indicated for the servo-on turned ON in green?
If an alarm is generated, 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 emergency stop circuit.
Target Position Setting [Except for simple direct mode and direct numerical specification mode]
Set a target position in the “Position” field for each position in the position table.
Establish Link to Field Network
1) Assign MSCON as the host controller [Refer to the instruction manual of the master unit].
2) Put the operation mode setting switch on the front panel of MSCON 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 field network is available.)
↓
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) Check the operation (of communication) with commands from the host system (PLC, etc.).
↓
↓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
Check the system operation conducted.
Manual No.: ME0305-1B