IAI RCON-PC User manual

P Driver Unit
Gateway Unit
Terminal Unit
SCON
Extension
Unit
Fan Unit
A Driver Unit
D Driver Unit Simple Absolute Unit
for A Driver Unit
Simple Absolute Unit
for P Driver Unit
Serial Numbe
r
Model
Model Plate (Large)
Refer to “External Dimensions”
for the attached position.
Serial Numbe
r
Model
Model Plate (Large)
Refer to “External Dimensions”
for the attached position.
Serial Numbe
r
Model
Model Plate (Large)
Refer to “External Dimensions”
for the attached position.
-PC/PCF/AC/DC, -FU
-ABU-A/P, -EXT
24V Driver Unit, Fan Unit,
Simple Absolute Unit, SCON Extension Unit
First Step Guide Second 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.
R-unit is constructed with Gateway Unit (RCON-GW/GWG, RSEL-G), Terminal Unit (RCON-GW-TR), 24V
Driver Unit (RCON- PC/PCF/AC/DC), Simple Absolute Unit (RCON-ABU), 200V Power Supply Unit
(RCON-PS2-3), 200V Driver Unit (RCON-SC), Fan Unit (RCON-FU/FUH), PIO Unit (RCON-NP/PN),
PIO/SIO/SCON Extension Unit (RCON-EXT-NP/PN), SCON Extension Unit (RCON-EXT) and SCON
Controller (SCON-CB-*-RC) to connect to the SCON Extension Unit.
In this guide, describes about the 24V Driver Unit, Simple Absolute Unit, Fan Unit and SCON Extension Unit.
For instruction of other units, refer to the first step guide and instruction manual (DVD) of each unit.
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
(1) 24V Driver Unit (RCON-PC/PCF/AC/DC)
No. Part Name Model Numbe
r
Remarks
1 RCON P Driver Unit Refer to “How to read the model
plate”, “How to read the model code” - Two-Axis Type/One-Axis Type /High-Thrust Type
2 RCON A Driver Unit Refer to “How to read the model
plate”, “How to read the model code” - Two-Axis Type / One-Axis
3 RCON D Driver Unit Refer to “How to read the model
plate”, “How to read the model code” - Two-Axis Type / One-Axis
Accessories
4 D
r
ive Source Cutoff
Connecto
r
DFMC1.5/2-STF-3.5
(Manufactured by PHOENIX CONTACT)
1 Recommended Cable Size
0.5 to 1.25mm2 (AWG20 to 16)
5 First Step Guide ME0383 1 This Manual
6 Safety Guide M0194 1
(2) Fan Unit (RCON-FU)
No. Part Name Model Numbe
r
Rema
r
ks
1 Fan Unit RCON-FU - When ordered individually
(3) Simple Absolute Unit (RCON-ABU-P/A)
No. Part Name Model Numbe
r
Remarks
1 Simple Absolute Unit Refer to “How to read the model
plate”, “How to read the model code” - P Driver Type/A Driver Type
Accessories
2 Simple Absolute Battery AB-7 1
3 Moto
r
/encoder Cable CB-ADPC-MPA005 1
4 Fi
r
st Step Guide ME0383 1 This Manual
5 Safety Guide M0194 1
(4) SCON Extension Unit (RCON-EXT)
No. Part Name Model Numbe
r
Remarks
1 SCON Extension Unit Refer to “How to read the model
plate”, “How to read the model code” -
Accessories
2 Terminal Connecto
r
RCON-EX
T
-TR 1 Terminal Resistance
3 First Step Guide ME0383 1 This Manual
4 Safety Guide M0194 1
2. Teaching Tool (Please purchase separately)
A teaching tool such as PC software is necessary when performing the setup for position setting, parameter
setting, etc. that can only be done on the teaching tool. Please prepare either of the following teaching tools.
No. Part Name Model
1 PC Software
(
Includes USB Exchan
g
e Ada
p
ter + USB Cable + Peri
p
heral Communication Cable
)
RCM-101-USB
2 Touch Panel
T
eachin
g
Pendant TB-02
(
Standard
/
Dead Man’s Switch Mounted
)
TB-02/TB-02D
3 Touch Panel Teachin
g
Pendant TB-03 TB-03
3. Instruction manuals related to this product, which are contained in the instruction manual (DVD).
No. Name Manual No.
1 RCON S
y
stem Inst
r
uction Manual ME0384
2 SCON-CB/CGB/LC/LCG Controller Instruction Manual ME0340
3 PC Software RCM-101-MW/RCM-101-USB Instruction Manual ME0155
4 Touch Panel Teachin
g
Pendant TB-02 A
pp
licable for Position Controller Instruction Manual ME0355
5 Touch Panel Teachin
g
Pendant TB-03 Wired Link A
pp
licable for Position Controlle
r
Instruction Manual ME0376
4. How to read the model plate
(1) 24V Driver Unit
(2) Fan Unit
(3) Simple Absolute Unit
(4) SCON Extension Unit
Mark Explanation of Mark
Use IAI specified cables only.
Do not touch product when power is ON. Risk of burn.
5. How to read the model code
(1) 24V Driver Unit
(2) Fan Unit (When ordered individually)
(3) Simple Absolute Unit
(4) SCON Extension Unit
1. Specifications of Power Supply
Item Specification
Power Input Voltage Range 24V DC ±10%
Supply Current Described in “Current Amperage”
Power Source Frequency Range -
Current Amperage Described in “Current Amperage”
In-Rush Current Described in “Current Amperage”
Instantaneous Power Outage Endurance By 24V power supply
Protection Function against Electric Shock Class Ⅲ
2. Specifications of Control Part
Item Specification
Number of Controlled Axes RCON System 1 to 16 axes, RSEL System 1 to 8 axes
Data Memory System Position data and parameters are saved in the nonvolatile memory.
(There is no limitation in number of writing)
SIO Interface (T. P. Connector) Communication System: RS485, Baud Rate: 9.6/19.2/38.4/57.6/115.2/230.4kbps
SIO Interface (USB Connector) Communication System: USB, Baud Rate: 12Mbps
PIO Interface None
Conformed Extension I/O Interface
(Field Network Interface)
CC-Link, CC-Link IE Field, DeviceNet, EtherCAT, EtherNet /IP, PROFIBUS-DP and
PROFINET IO
Pulse Train Type Unavailable to Control
Brake Output Voltage 24V DC ±10%
Connectable Brake Power Supply 11W Max.
Calendar Feature Maintained Duration: Approx. 10 days, Charge Time: Approx. 100 hours
Applied Safety Category B (Safety category applicable type is capable to achieve 4 with external circuit)
Driver Source Cutoff System Drive source cutoff with semiconductor (Power MOSFET)
Stop Input Break Contact Input
Stop Action Turning servo OFF + Drive source cutoff
Enable Input None
T. P. Enable Input Available
Enable Action Turning servo OFF
Protective functions Overcurrent, temperature error, encoder line breakage and overload
Preventive / Predictive Maintenance Feature Electrolytic capacitor capacity dropdown and Fan revolution dropdown
LED Display Described in “Troubleshooting”
Brake Compulsory Release Feature Brake release switch equipped on driver unit
Jog Jog switch equipped on driver unit
Oversea Certifications CE Marking, UL Standard
3. Environmental Specifications
Item Specification
Environment
Environment of Use Pollution Degree 2
Surrounding Air Temperature With Fan Unit: 0 to 55 ° C, With No Fan Unit: 0 to 40 ° C, Simple Absolute Unit: 0 to 40 ° C
Surrounding Humidity 85% RH or less (non-condensing)
Peripheral Ambience of Use [Refer to section in Installation Environment]
Surrounding Storage Temperature -20 to 70°C
Vibration Endurance
Frequency 10 to 57Hz/Swing width: 0.075mm
Frequency 57 to 150Hz/Acceleration: 9.8m/s2
XYZ Each direction Sweep time: 10min. Number of sweep: 10times
Protection Class IP20
Altitude 1000m
Cooling Method Natural air-cooling and Forced air cooling with fan unit
Dielectric Withstanding Voltage Between power supply terminal and FG 500V DC 10M
Ω
or more
Product Check
Basic Specifications
Warning: Operation of this equipment requires detailed installation and operation instructions
which are provided on the DVD Manual included in the box this device was packaged
in. It should be retained with this device at all times.
A copy of the DVD Manual can be requested by contacting your nearest IAI Sales
Office listed at the back cover of the Instruction Manual or on the First Step Guide.
<Type>
A
C : A Driver Unit
DC : D Driver Unit
PC : P Driver Unit
PCF : P Driver Unit (High-Thrust Type)
RCON - PCF - 1
< Number of Axes >
1: One-Axis Type
2: Two-Axis Type
Note There should be only one-axis type for
P Driver Unit (high-thrust type)
<Series>
<Type>
A
BU: Simple Absolute Unit
RCON - ABU - A
< Applicable Driver >
A
: For A Driver Unit
P: For P Driver Unit
<Series>
2A
<Type>
EXT : SCON Extension Uni
t
RCON - EXT
<Series>
<Series> <Type>
FU: Fan Unit
RCON - FU
Note Fan unit can be ordered with a model code for a gateway unit as an accessory of the gateway unit.
Color P Driver P Driver (high thrust) A Driver D Driver
Label
Green Green (Light) Blue Brown
Serial
Number
Model
Model Plate (small)
It is attached on the
bottom of the panel
front face.
Serial Number
Model
Model Plate (small)
Serial
Number
Model Code
(Partially)
It is attached on the
bottom of the panel
front face.
Model Plate (small)
It is attached on the
bottom of the panel
front face.
Serial
Number
Model Code
(Partially)

Current Amperage
The current amperage should be divided into the control power capacity and motor power capacity.
Each power supply should be input from the control power supply connector and the motor power supply
connector on the gateway unit. However, it is necessary that the 0V of the control power supply and the
motor power supply are in common.
The necessary capacity of the current amperage should be figured out by [Total of control power capacity of
used units] + [Total of motor power capacity of used actuators].
It is necessary that the rated current of 24V power supply satisfies the rated current of the motor power
capacity and the peak current satisfies the maximum current of the motor power capacity. However, when
several axes get connected, unless all the actuators operates at the same time, the rated current and
maximum current would not flow at the same time, thus the calculation should not be simply the total of all
the axes.
The specifications related to the power capacities should be as shown below.
[Control Power Supply]
Item Specification
Power Supply Voltage 24V DC ±10%
Control Power Capacity
(for one unit)
Gateway unit
(terminal unit included)
RCON Gateway Unit 0.8A (Ethernet option: Not equipped)
1.0A (Ethernet option: Equipped)
SEL Unit 1.2A
24V Driver unit
Brake: Not equipped 0.2A
Brake: Equipped (one-axis type) 0.4A
Brake: Equipped (two-axis type) 0.6A
200V Driver uni
t
(200V power supply
unit included)
Brake: Not equipped 0.2A
Brake: Equipped 0.5A
Extension unit
SCON Extension Unit 0.1A
PIO/SIO/SCON Extension Unit 0.3A
PIO Unit 0.2A
Simple absolute unit (in common for all types) 0.2A
EC Connection Unit 0.1A
[24V Motor Power Supply]
Item
Actuator / Driver unit
Rated
Current
Max. current
Series Motor type
When
energy-saving
is set
Motor power capacity
(1 axis per actuator)
Stepper motor
/ RCON-PC
RCP2
RCP3
20P/20SP/28P
Without PowerCON
0.8A - -
28P (Note 1)
/35P/42P/56P 1.9A - -
RCP4
RCP5
RCP6
28P/35P/42P
/42SP/56P
Without PowerCON 1.9A - -
With PowerCON 2.3A - 3.9A
Stepper motor
/ RCON-PCF
RCP2
RCP4
RCP5
RCP6
56SP/60P/86P Without PowerCON 5.7A - -
AC servo motor
/ RCON-AC
RCA
RCA2
5W Standard
/ Hi-accel./decel. 1.0A - 3.3A
10W
Standard
/ Hi-accel./decel.
/ Energy-saving
1.3A 2.5A 4.4A
20W 1.3A 2.5A 4.4A
20W (20S) 1.7A 3.4A 5.1A
30W 1.3A 2.2A 4.0A
RCL
2W
Standard
/ Hi-accel./decel.
0.8A - 4.6A
5W 1.0A - 6.4A
10W 1.3A - 6.4A
DC brush-less
motor
/ RCON-DC
RCD 3W Standard 0.7A - 1.5A
In-Rush Current
(Approx. 5ms)
Pulse motor / RCON-PC 8.3A
(with in-rush current limiting circuit)
Pulse motor / RCON-PCF 10.0A
(
with in-rush current limitin
g
circuit
)
Servo AC motor / RCON-AC 10.0A
(
with in-rush curren
t
limitin
g
circuit
)
Brushless DC motor / RCON-DC 10.0A
(with in-rush current limiting circuit)
Heat Generation
RCON-PC
PowerCON
: Not equipped 5.0W
PowerCON
: Not equipped 8.0W
RCON-PCF PowerCON
: Equipped 19.2W
RCON-AC
Standard
/ High-acceleration
/deceleration
4.5W
RCON-DC Standard 3.0W
Note 1 Applicable Models: RCP2-RA3, RCP2-RGD3
If there is no fan unit equipped, operation can be performed
without derating in the temperature range between 0 and
40°C, but it is necessary to reduce the operation duty by 20%
in every 5°C in the temperature range between 40 and 55°C.
In case of fan unit equipped, operation can be performed
with no derating up to 55°C.
Restrictions in Unit Connection
(1) Number of 24V Driver Units to Connect
The maximum number of control axes to be connected should be 16 axes in the RCON system and 8
axes in the RSEL system.
From the structural perspective of the unit, it can accept connection without any upper limit, but make it
accept the number of axes described above of driver units at the maximum.
Have two gateway units or more in the construction when it is necessary to control number of axes
described above or more of actuators.
(2) Current Restrictions
Shown below is the restricting values of current for selecting calculation.
Check that the calculation result of the control power supply and motor power supply of each unit based
on the construction of RCON/RSEL system does not exceed the restricting values of current for selecting
calculation.
Also, the gateway units should not be included for the calculation.
Shown below is some examples for calculation.
[Control Power Supply] * The gateway units should not be included for the calculation.
Example 1 Actuator × 16 axes, All axes equipped with brake (2 axes/unit)
Driver unit (with brake) 0.6A × 8 = 4.8A ⇒ OK
Example 2 Actuator × 16 axes, All axes equipped with brake (1 axis/unit)
Driver unit (with brake) 0.4A × 16 = 6.4A ⇒ OK
Example 3
Actuator × 16 axes, All axes equipped with brake (2 axes/unit), All axes simple absolute type
Driver unit (with brake) 0.6A × 8 + Simple absolute 0.2A × 16 = 8.0A ⇒ OK
Example 4 Actuator × 16 axes, All axes equipped with brake (1 axis/unit), All axes simple absolute type
Driver unit (with brake) 0.4A × 16 + Simple absolute 0.2A × 16 = 9.6A ⇒ NG
[Motor Power Supply]
Example 5
RCON-PC (with PowerCON) × 16 axes
RCON-PC (with PowerCON) rated current 2.3A × 16 axes = 36.8A ⇒ OK
Example 6
When RCON-PCF × 16 axes or 6 axes
RCON-PCF rated current 5.7A × 16 axes = 91.2A ⇒ NG
RCON-PCF rated current 5.7A × 6 axes = 34.2A ⇒ OK
Example 7 RCON-PC (with no PowerCON), RCON-AC, RCON-DC
Rated current for all the units is low and it would not exceed current limit with 16 axes ⇒ OK
Example 8 RCON-PCF × 3 axes, RCON-PC (with PowerCON) × 7 axes, RCON-AC × 3 axes
5.7 × 3 + 2.3 × 7 + 1.3 × 3 = 37.1A ⇒ OK
Note When the operation pattern is to have all the axes operate acceleration and deceleration only and
the operation duty is 100%, it is necessary that the calculation is done with the maximum current
for the motor power supply.
1. 24V Driver Unit (in common for P Driver Unit / A Driver Unit / D Driver Unit)
Item Specification
External Dimensions 22.6W × 115H × 95D [mm]
Mass Approx. 180g
2. Fan Unit
Item Specification
External Dimensions 34.2W × 49H × 12.5D [mm]
Mass Approx. 15g
3. Simple Absolute Unit
Item Specification
External Dimensions 22.6W × 115H × 95D [mm]
Mass Approx. 270g (included battery weight: 183g)
4. SCON Extension Unit
Item Specification
External Dimensions 22.6W × 115H × 95D [mm]
Mass Approx. 99g
5. When Units Linked
Item Specification
External Dimensions (42.6 + 22.6 × N) W × 115H × 95D [mm] N: Total number of driver units and extension units
Mass Approx. (206 + 180 × N1 + 99 × N2) g N1: Number of driver units, N2: Number of extensions units
Item Restricting Value of Current for Selecting Calculation
Control Power Supply (CP) 9.0A or less
Motor Power Supply (MP) 37.5A or less
External Dimensions
Model Code
Plate (Large)
Adhered
Position
Model Code
Plate (Large)
Adhered
Po
s
ition
Model Code
Plate (Large)
Adhered
Position
N: Total number of driver units and extension units
Operation Duty [%]
120
100
80
60
40
20
00
With Fan
With No Fan
10 20 30 40 50 60
Temperature Environment of Use [°C]

RCON/RSEL Systems are capable to construct a system with the gateway allocated at the left end as the
interface for the field network connection and freely combine multiple driver units and extension units. There
is an order of allocation for each unit.
Gateway Unit (Left End) - Extension Unit (Right Side of Gateway Unit) - Driver Unit ( No Order among P/A/D ) - Terminal Unit (Right End)
Unit should be linked in the process shown below. (Make sure it gets linked before connected to the DIN rails.)
1) Twist the operation parts of the link upper parts and the link bottom parts towards the panel side and
place them at the panel side end.
2) Adjust the position of two units so the link upper parts come to Point [A], link bottom parts to [B] and the
four positioning bosses to [C] and all the six points fit to each other.
3) Once positioning is done, firmly insert the connectors at two points.
4) Twist the operation parts of the link upper parts and the link bottom parts towards the rear side till they
make click feeling.
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 ambient temperature is out of the range between 0 and 55°C (with fan) or
0 and 40°C (with no fan)
• 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 section in 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 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
For installation and noise elimination, refer to the first step guide for RCON Gateway Unit or RSEL Gateway
Unit.
Wiring Layout for Motor/Encoder Cables
Note This wiring diagram shows an example for connection.
Required equipments, such as conversion cable and conversion unit, should differ
depending on the type of actuator.
Refer to “24V Driver Unit Connection Cable List” shown in the following page for
details.
[Conversion Unit]
For those actuators which cannot be connected using 24V Driver Unit connection cables
CB-ADPC-MPA□□□(-RB) and CB-RCAPC-MPA□□□(-RB) or a conversion cable CB-CAN-AJ002, it is
necessary to use this conversion unit and connection cable for each actuator in order to establish
connection.
24V Driver Unit Connection Cable List
No.
Actuator Connection cable (Note 2)
(-RB: Robot cable )
[Each actuator connection cable]
Conversion
unit
Wiring
diagram
Series Target type
(1)
RCP6
RCP6CR
RCP6W
RCP5
RCP5CR
RCP5W
Other than high thrust type (Note 1) CB-ADPC-MPA□□□(-RB) - A
(2) High thrust type (Note 1) CB-ADPC-MPA□□□(-RB)
CB-CAN-AJ002 (conversion cable)
- B
(3)
RCP4
RCP4CR
RCP4W
Gripper (GR*), ST4525E, SA3/RA3 CB-ADPC-MPA□□□(-RB) - A
(4) High thrust type (Note 1) CB-ADPC-MPA□□□(-RB)
CB-CAN-AJ002 (conversion cable)
- B
(5) Other than (3), (4) CB-ADPC-MPA□□□(-RB)
CB-CAN-AJ002 (conversion cable)
- B
(6) RCP3 CB-RCAPC-MPA□□□(-RB) - C
(7)
RCP2
RCP2CR
RCP2W
RCP2 (standard type)
Rotary compact type
RCP2-RTBS/RTBSL/RTCS/RTCSL
CB-ADPC-MPA□□□(-RB)
[CB-RPSEP-MPA□□□]
Required D
(8)
RCP2CR (clean room type),
RCP2W (dust-proof/splash-proof type)
Rotary (RT*) of above types
GRS/GRM/GR3SS/GR3SM of above types
CB-ADPC-MPA□□□(-RB) - A
(9)
All (standard / clean room /
dust-proof/splash-proof) types of
GRSS/GRLS/GRST/GRHM/GRHB
Short type (RCP2 only)
RCP2-SRA4R/SRGS4R/SRGD4R
CB-RCAPC-MPA□□□(-RB) - C
(10) High thrust type (Note 1) CB-ADPC-MPA□□□(-RB)
[CB-CF
A
-MPA□□□(-RB)]
Required D
(11) Other than (7) to (10) CB-ADPC-MPA□□□(-RB)
[CB-PSEP-MPA□□□]
Required D
(12) RCA2/RCA2CR/RCA2W, RCL CB-RCAPC-MPA□□□(-RB) - C
(13) RCA2/RCA2CR/RCA2W (CNS option) CB-ADPC-MPA□□□(-RB) - A
(14) RCA
RCACR
RCAW
Short type (RCA only)
RC
A
-SRA4R/SRGS4R/SRGD4R CB-RCAPC-MPA□□□(-RB) - C
(15) Other than (14) CB-ADPC-MPA□□□(-RB)
[CB-
A
SEP2-MPA□□□]
Required D
(16) RCD RCD-RA1DA, RCD-GRSNA CB-ADPC-MPA□□□(-RB) - A
Note 1 Actuators using high-thrust pulse motor (56SP, 60P and 86P)
Note 2 Up to 20 m from each driver unit to the actuator, with or without the conversion unit.
However, the maximum length from the D driver unit to the RCD actuator will be 10 m.
Linking Units
Item Document Control
RCON Gatewa
y
Unit First Step Guide ME0382
RSEL Gatewa
y
Uni
t
First Step Guide ME0393
RCON
Controller Side Actuator Side
Rear Side (Link)
Link Upper Parts
Operation Part
[C]
[A]
Link Bottom Parts Operation Part
[B]
Connector
Panel Side
(Unlink) Rear Side
(Link)
Panel Side
(Unlink)
Wiring
A
Wiring
B
Wiring
C
Wiring
D
D
Driver
Unit
A
Driver
Unit
P
Driver
Unit
P
(High Thrust)
Driver Unit
RCA□ Actuato
r
RCP□ High Thrust Actuator
RCP□ Actuato
r
Conve
r
sion
Cable Conversion
Unit
RCD Actuator
24V
Driver Unit
Motor/Encoder
Connector
CB-ADPC-MPA□□□(-RB)
Actuator
24V
Driver Unit
Motor/Encoder
Connector
CB-ADPC-MPA□□□(-RB)
Actuator
Conversion Cable
CB-CAN-AJ002
Order Separately
24V
Driver Unit
Motor/Encoder
Connector
CB-RCAPC-MPA□□□(-RB)
Actuator
24V
Driver Unit
Motor/Encoder
Connector
CB-ADPC-MPA□□□(-RB)
Actuator
Each Actuator
Connection Cable
Order Separately
Order Separately
RCM-CV
-APCS
Conversion
Unit

Gateway unit Driver unit Driver unit
SIO connector
System I/O
connector
Motor
power
connector
Control
power
connector
Note 1
Control
power
24V
Stop
reset
switch
Stop
switch
Teaching pendant
Stop switch
Drive-source
cutoff
connector
Drive-source
cutoff
connector
Motor power Ⅰ Motor power Ⅱ Motor power Ⅰ Motor power Ⅱ
High-side protection circuit High-side protection circuit High-side protection circuit High-side protection circuit
24V
dedicated
for stop
circuit
Motor Power SupplyⅠ Motor Power SupplyⅡ
High-Side Protection Circuit
System I/O
Connector
Motor Power Supply
Connector
Control
Power
Connector
Control
Power
Stop Reset
Switch
SEL Unit
High-Side Protection Circuit
ENB Detection
Enable Switch,
Door Switch, etc.
24V Driver Unit
Teaching Pendant
Teaching
Connector
Power Supply and Stop Circuit (Example)
In the diagram below shows a circuit related to a drive source cutoff. For RCON/RSEL System, 24V motor
power is supplied from the gateway unit, but the circuit related to the drive-source cutoff is on the driver unit
side.
• Each driver unit possesses a drive source cutoff circuit by semiconductor. The motor power should be
cut off by STOP Signal. The drive source cutoff circuit by semiconductor possesses features to detect
the overcurrent and to limit the in-rush current.
Note 1 RCON-GW : If nothing is connected to the SIO connector, S1 and S2 will be short-circuited in the controller.
RCON-GWG : If nothing is connected to the SIO connector, S1 and S2 will not be short-circuited in the controller.
To short-circuit, connect the supplied dummy plug DP-5 to the SIO connector.
Note ●When externally shutting off the motor drive source to comply with the safety category or the like, connect a contact
such as a relay to the wiring between the MPI* and MPO* terminals.
●The rating of the STOP-signal to be turned ON/OFF with the contact CR1 is 24 VDC / 10 mA or less.
●The CR1 coil current must be 0.1 A or less.
●When supplying power by turning ON/OFF 24 VDC, leave 0 V connected and supply/cut off +24 V.
Wiring Layout for SCON Connection Cables
When the SCON-CB/CGB RCON connected type controller is to be connected using an SCON Extension
Unit, conduct wiring as shown in the figure below. (SCON Controllers with model code SCON-CB/CGB-*-RC
are only those available to connect.)
RCON connection communication connector in SCON Controller has IN on lower end and OUT on upper
end. Pay attention not to connect other way around. It is necessary to connect the terminal connector
(RCON-EXT-TR) at the terminal.
Troubleshooting (LED Display)
In this section, describes for LED on each unit.
Utilize them to check normal operation status and recovery after error occurrence.
(1) 24V Driver Unit
Panel Display Color Status Explanation
T RUN GN
Illuminating Inside bus communication in normal
conditions
Flashing Waiting for initializing communication
/
Communication error at initialization
OR Illuminating Inside bus communication in error
SYS
GN Illuminating Turning servo ON
OFF Turning servo OFF
RD Illuminating Alarm being generated, During STOP
input
(2) Simple Absolute Unit
Panel Display Color Status Explanation
SYS GN Illuminating Operation in normal conditions
RD Illuminating Alarm being generated
STATUS1 GN Illuminating Home-return operation complete
RD Illuminating Home-return operation incomplete
STATUS0
GN Illuminating Battery fully charged
RD Illuminating Battery not connected
OR
(GN/RD) Illuminating Battery charging
(3) SCON Controller (Field Network LED)
Refer to the instruction manual for SCON controller (ME0340) for the status display LED lamps (PWR,
SV, ALM and EMG).
Panel Display Color Status Explanation
NS GN
Illuminating Communication in normal conditions
Flashing
Startup ~
Initialization Communication Completed
OR Illuminating Communication Error Occurred
MS GN Illuminating In Normal Condition
OR Illuminating Error Occurred
Wiring Layout for Simple Absolute Unit
When it is required to use a simple absolute unit (in common for P Driver and A Driver), conduct wiring as
shown in the figure below.
One unit of the simple absolute unit is necessary for one unit of an actuator.
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Upper End: OUT
Lower End: IN
Total Cable Length: 10m Max. Length of Cables between Devices: 3m Max.
Servo-pressing type (SCON-CB/CGB-F) and
PLC feature equipped type (SCON-LC/LCG) are not available to connect.
Manual No.: ME0383-2A
SYSⅠ LED
SYSⅡ LED
T RUN LED
STATUS1 LED
SYS LED
STATUS0 LED
MS
NS
RCON System
RSEL S
y
stem
Cable for each actuator
Refer to SCON-CB
Instruction Manual
RCON System
RSEL System
Actuator
SCON-CB/CGB Controlle
r
Connection Cable: CB-RE-CTL□□□
(Supplied with SCON-CB/CGB-*-RC)
RCON Connection
Communication
Connector
Terminal Connector:
RCON-EXT-TR
(Supplied with
SCON Extension
Unit)
SCON Extension Unit
Simple Absolute Unit
Driver Connector (CONT)
Actuator
Connector (MPG)
CB-ADPC-MPA005
(Supplied with
Simple Absolute Unit)
RCON System
RSEL System
Actuato
r
Driver Unit
For the wiring of this part, refer to the
24V Driver Unit connection cable list
in “Wiring Layout for Motor/Encoder
Cables”.