IAI RCM-GW-CC User manual

RCM-GW Gateway Unit
First Step Guide First Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to
this First Step Guide to ensure correct use.
This Instruction Manual is original.
 Using or copying all or part of this Instruction Manual without permission is prohibited.
 The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
Product Check
A standard configuration of this product is comprised of the following parts.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts
No. Part Name Model Remarks
1 Controller Main Body Refer to “How to read the model plate” and
“How to read the model”.
Accessories
2 Fieldbus
Connector
DeviceNet type SMSTB2.5/5-ST-5.08AU
(Supplier : PHOENIX CONTACT)
CC-Link type
PROFIBUS type Prepare Dsub 9-pin (female) connector.
3 SIO Communication
Connector Plug
MC1.5/6-ST-3.5
(Supplier : PHOENIX CONTACT)
Applicable Cable Size
0.3mm2 (AWG22)
4 Power Supply Input
Connector Plug
MC1.5/4-ST-3.81
(Supplier : PHOENIX CONTACT)
Applicable Cable Size
1.25mm2 (AWG16)
5 Terminal
Resistance
DeviceNet type Please prepare separately 1211 1/4W
CC-Link type 1301/2W, 1101/2W enclosed one unit
each
PROFIBUS type Built-in
(selected on terminal resistance switch)
6 First Step Guide
7 Instruction Manual (DVD)
8 Safety Guide
2. Instruction Manuals related to this product, which are contained in the Instruction Manual
(DVD).
No. Name Manual No.
1 DeviceNet Gateway Unit RCM-GW-DV Instruction Manual ME0168
2 CC-Link Gateway Unit RCM-GW-CC Instruction Manual ME0169
3 PROFIBUS Gateway Unit RCM-GW-PR Instruction Manual ME0177
4 ACON-C/CG Controller Positioner Type Instruction Manual ME0176
5 ACON-SE Controller Serial Communication Type Instruction Manual ME0171
6 PCON-C/CG/CF Controller Positioner Type Instruction Manual ME0170
7 PCON-SE Controller Serial Communication Type Instruction Manual ME0163
8 SCON Controller Instruction Manual ME0161
9 ERC2 Actuator with integrated Controller Instruction Manual (SIO type) ME0159
3. How to read the model plate
4. How to read the model
• RCM-GW-DV : DeviceNet Gateway Unit
• RCM-GW-CC : CC-Link Gateway Unit
• RCM-GW-PR : PROFIBUS Gateway Unit
Basic Specifications
1. RCM-GW-DV
Item Specification
DeviceNet type
Communication Protocol DeviceNet2.0
(
certified interface
)
For Communication Master/Slave Connection Bit Strobe
Pollin
g
C
y
clic
Baud Rate 500k/250k/125kbps
Communication Cable
Length (Note 1) Baud Rate Max. Network Length Max. Branch Line
Len
g
th
Total Branch Line
Len
g
th
500kbps 100m
6m
39m
250kbps 250m 78m
125kbps 500m 156m
(
Note
)
When DeviceNet dedicated thick cable is used
Numbe
r
of Occupied Nodes 1 node
Communication Power
Supply
Voltage 24V DC10% Current Consumption 60mA Externally Supplied (Supplied from
DeviceNet communication cable side
)
Communications Cable DeviceNet dedicated cable
Note 1 Refer to the instruction manuals for the master unit and the mounted programmable logic controller (stated as PLC
from now on) when a T-junction communication is to be conducted.
2. RCM-GW-CC
Item Specification
CC-Link type
Communication Protocol
CC-Link Ver1.10/Ver2 (Note 1)
Baud Rate 10M/5M/2.5M/625k/156kbps
Communication S
y
stem Broadcast pollin
g
s
y
stem
S
y
nchronization S
y
stem Frame s
y
nchronization s
y
stem
Transmission Path
Forma
t
Bus format (EIA RS485 conformance 3-line type)
Error Control System CRC (X16  X12  X5  1)*1
Number of Occupied Stations Remote Device Station [Refer to Field Network Wirin
g
s and Settin
g
s Section]
Communication Cable
Length (Note 2)
Baud Rate 10Mbps 5Mbps 2.5Mbps 625kbps 156kbps
Total Cable
Len
g
th 100m 160m 400m 900m 1200m
Communications Cable CC-Link dedicated cable
Note 1 When the host CC-Link master unit is Ver.1, the available RCM-GW-CC is limited to Ver.1.10. Even if the host CC-Link
master unit is Ver.2, RCM-GW-CC Ver.1.10 is connectable, but the available functions are limited.
[Refer to 5. Operation Modes and Main Functions [2] RCM-GW-CC or Instruction Manual (DVD)]
Note 2 Refer to the instruction manuals for the master unit and the mounted programmable logic controller (stated as PLC
from now on) when a T-junction communication is to be conducted.
*1 CRC : Cyclic Redundancy Check It is a data error detection method often used for the synchronous transmission
3. RCM-GW-PR
Item Specification
PROFIBUS type
Communication Protocol PROFIBUS-DP
(
RS485 conformance
)
Communication S
y
stem H
y
brid S
y
stem
(
Maste
r
-Slave S
y
stem or Token Passin
g
S
y
stem
)
Baud Rate 9.6k to 12Mbps
(
Automatic Followin
g
to the Maste
r
)
Communication Cable
Length
(Type A Cable)
Baud Rate 12/6/3Mbps 1.5Mbps 500kbps 187.5kbps 93.75/45.45/
19.2/9.6kbps
Total Cable
Len
g
th 100m 200m 400m 1000m 1500m
Number of Occupied Nodes 1 node
Communications Cable T
y
pe A Cable for PROFIBUS-DP
(
Standard EN50170
)
4. Common Specifications
Item Specification
Power Supply 24V DC10
Current Consumption MAX. 300ｍA
Heat Generation 7.2W
Connectable Models ERC2, PCON-C/CG/SE, ACON-C/CG/SE, SCON
Number of Max. Controllable
Axes
16-axis (There is a limitation for RCM-GW-CC depending on the Operation Mode
[Refer to 5. Operation Modes and Main Functions [2] RCM-GW-CC or Instruction
Manual
(
DVD
)
]
)
For Communication
Communication
Protocol
RS485 conformance
Communication S
y
stem Start-Stop S
y
nchronization S
y
stem Half-Duplex Communication
Baud Rate 230.4kbps
Error Control System Non parit
y
bit, CRC*1
Communication Cable
Len
g
th
Total Cable Length 100m or less
Communications Cable Twisted-pair shielded cable
(Recommended : Taiyo Cabletec Corporation K-SB/20276  Length [m] 2P  AWG22)
Environment
Surrounding air
temperature
0 to 40C
Surroundin
g
humidit
y
85%RH or less
(
non-condensin
g
)
Surrounding
environmen
t
[Refer to Installation Environment section]
Surrounding storage
temperature
10 to 65C
Surrounding storage
humidit
y
90%RH or less (non-condensing)
Vibration durability XYZ Each direction 10 to 57Hz Pulsating amplitude 0.035mm (continuous) 0.075mm (intermittent)
57 to 150Hz 4.9m/s
2
(
continuous
)
9.8m/s
2
(
intermittent
)
Protection class IP20
Coolin
g
Method Natural ai
r
-coolin
g
Insulation Resistance Between power supply terminal and FG 500V DC 10M or more
Product Life (Reference) 5 to 10 years: It varies significantly by the effects of the usage condition
(
especiall
y
temperature
)
.
External Dimensions 35W  178.5H  68.1D [mm]
Wei
g
h
t
Approx. 480
g
*1 CRC : Cyclic Redundancy Check It is a data error detection method often used for the synchronous transmission
5. Operation Modes and Main Functions
Operation Mode can be selected on the mode switch located on the front panel. [Refer to Field Network
Wirings and Settings Section]
[1] RCM-GW-DV
Main Functions Position Number Specification
Mode
Direct Numeric Specification
Mode
Command Specification Mode
Positioner
Operation
Simplified Direct
Value Operation
Position Data Direct
Specification Movemen
t
× ○ △(Note 1) ○
Velocity and Acceleration Direct Setup
× ○ △(Note 1) △(Note 1)
Pressing Operation ○ ○ △(Note 1) △(Note 1)
Current Position Reading × ○ △(Note 2) ○
Number of Positions Specification
(Note 4)
○ × ○ ×
Completed Position Number Readin
g
○ × ○ ○
Si
g
nal Readin
g
for Each Status ○ ○ ○ ○
Numbe
r
of Max. Connectable Axes 16 16 16 16
Numbe
r
of Selectable
(
Valid
)
Axes 0 to 15 0 to 15 0 to 15 0 to 15
Max. Value for Position Data
Specification
(
mm or de
g)
Position Table Setting 9999.99(Note 3)
9999.99 (Note 3)
9999.99
(Note 3)
[2] RCM-GW-CC
Main Functions
Position Number
Specification
Mode
Direct Numeric Specification Mode Command Specification Mode
Position Data
Limit Mode
Normal
Positionin
g
Mode
Pressing
Available Mode
Positioner
Operation
Simplified Direct
Value Operation
Position Data Direct
Specification Movemen
t
× ○ ○ ○ △(Note 1) ○
Velocity and Acceleration Direct Setup × × ○ ○ △(Note 1) △(Note 1)
Pressing Operation ○ × × ○ △(Note 1) △(Note 1)
Current Position Reading × ○ ○ ○ △(Note 2) ○
Number of Positions Specification
(Note 4)
○ × × × ○ ×
Completed Position Numbe
r
Readin
g
○ × × × ○ ○
Numbe
r
of Max. Connectable Axes 14 14 7 3 16 16
Numbe
r
of Selectable
(
Valid
)
Axes 0 to 13 0 to 13 0 to 6 0 to 2 0 to 15 0 to 15
Max. Value for Position Data
Specification
(
mm or de
g)
Position Table
Settin
g
327.67 327.67
9999.99
(Note 3)
9999.99
(Note 3)
9999.99
(Note 3)
RCM-GW-CC Ver1.10
Correspondin
g
Model ○ ×
RCM-GW-CC Ver2
Correspondin
g
Model ○
[3] RCM-GW-PR
Main Functions Position Number
Specification Mode
Direct Numeric Specification
Mode
Command Specification Mode
Positioner
Operation
Simplified Direct
Value Operation
Position Data Direct
Specification Movemen
t
× ○ △(Note 1) ○
Velocity and Acceleration Direct Setup × ○ △
(Note 1) △(Note 1)
Pressing Operation ○ ○ △(Note 1) △(Note 1)
Current Position Reading × ○ △(Note 2) ○
Number of Positions Specification
(Note 4)
○ × ○ ×
Completed Position Number Readin
g
○ × ○ ○
Si
g
nal Readin
g
for Each Status ○ ○ ○ ○
Numbe
r
of Max. Connectable Axes 16 16 16 16
Numbe
r
of Selectable
(
Valid
)
Axes 0 to 15 0 to 15 0 to 15 0 to 15
Max. Value for Position Data
Specification
(
mm or de
g)
Position Table Setting 9999.99(Note 3)
9999.99 (Note 3)
9999.99
(Note 3)
Note 1 Although an operation cannot be performed with specifying values directly, it is available to operate by rewriting the
data on the position table from the write command.
Please note, however, that the EEPROM has a 100,000 write limitation. Consider the effect of this mode with regard to
product lifespan.
Note 2 Direct reading cannot be performed since it is not the constant output. However, reading is available from the read
command.
Note 3 This is the maximum value that can be written to the data field; however, the maximum value input should not exceed
the actuator stroke.
Note 4 The number of available positions varies according to which PIO pattern is selected through the Operation Mode
parameter.
Limitation in Number of
Positions by PIO Pattern
Select
ERC2 Standard, PCON-C/CG/SE, ACON-C/CG and SCON ERC2-SE
ACON-SE
PCON-SE
PIO Pattern (Parameter No.25)
0 1 2 3 4 5
ERC2
Operation Type Standard
Solenoid
Valve T
y
pe
Zone Signal
T
y
pe
Position
Zone T
y
pe
SIO  SIO Type
Position Number
Specification Mode 8 × 16 16 64  64
Command
Specification Mode 8 × 16 16 64  64
PCON
ACON
SCON
Operation Type
Positioning
Mode
Teaching
Mode
256-point
Mode
512-point
Mode
Electromagnetic
Valve Mode 1
Electromagnetic
Valve Mode 2
SIO Type
Position Number
Specification Mode 64 64 256 512 7 × 64
Command
Specification Mode 64 64 256 512 7 × 64
[Refer to the instruction manual of each controller for PIO pattern details.]
Model
Serial numbe
r
MODEL RCM-GW-DV
SERIAL No. 800056144 MADE IN JAPAN
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.
1D

External Dimensions
Installation Environment
This product is capable for use in the environment of pollution degree 2*1 or equivalent.
*1 Pollution Degree 2 : Environment that may cause non-conductive pollution or transient conductive
pollution by frost. (IEC60664-1)
1. Installation Environment
Do not use this product in the following environment.
•Location where the surrounding air temperature exceeds the range of 0 to 40°C
• Location where condensation occurs due to abrupt temperature changes
• Location where relative humidity exceeds 85%RH
• Location exposed to corrosive gases or combustible gases
• Location exposed to significant amount of dust, salt or iron powder
• Location subject to direct vibration or impact
• Location exposed to direct sunlight
• Location where the product may come in contact with water, oil or chemical droplets
• Environment that blocks the air vent [Refer to Installation and Noise Elimination Section]
When using the product in any of the locations specified below, provide a sufficient shield.
• Location subject to electrostatic noise
• Location where high electrical or magnetic field is present
• Location with the mains or power lines passing nearby
2. Storage and Preservation Environment
The storage and preservation environment should comply with the same standards as those for the installation
environment. In particular, when the machine is to be stored for a long time, pay close attention to environmental conditions
so that no condensation forms. Unless specially specified, moisture absorbency protection is not included in the package
when the machine is delivered. In the case that the machine is to be stored and preserved in an environment where
condensation is anticipated, take the condensation preventive measures from outside of the entire package, or directly after
opening the package.
Installation and Noise Elimination
1. Noise Elimination Grounding (Frame Ground)
2. Precautions regarding wiring method
(1) Twist the wires for the 24V DC power unit.
(2) Separate the communication line from the power line.
3. Noise Sources and Elimination
Carry out noise elimination measures for power devices on the same
power path and in the same equipment.
The following are examples of measures to eliminate noise sources.
(1) AC solenoid valves, magnet switches and relays
[Measure] Install a Surge absorber parallel with the coil.
(2) DC solenoid valves, magnet switches and relays
[Measure] Install a diode parallel with the coil. Use a DC relay with
a built-in diode.
4. Heat Radiation and Installation
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.
System Configuration (Example)
Note : Have the 0V line in common for the 24V power supply for each controller (except for SCON).
Power Supply and Emergency Stop Circuit (Example)
There is no emergency stop function for Gateway Unit. Perform the emergency stop using the control on the
system side. CR is an emergency stop relay for the entire system. While the connector port for the teaching
pendant and PC is on, the contact signal of the emergency stop switch can be output externally, thus the
emergency stop circuit of the system can be constructed. Also, Switching on/off of the port can be performed
not only on the port switch on the main unit of Gateway Unit, but also by the external signal. Shown below is
the relation between switching on/off of the port and the emergency stop signal output.
External Port
Switchover Input Port Switch Emergency Stop Signal Output (Push Button Switch)
Teaching pendant/
Connector Port for PC
OFF OFF Disable (ON) Disable
ON OFF
OFF ON
ON ON
Enable
(Always ON =b contact) Enable
SIO Communication Line Wiring Layout
There should be no problem to have a terminal block connection
instead of a 4-way junction.
Use a terminal block connection or direct-joint connection if
there is a concern that a faulty connection may occur as a result
of using the E-Con connector.
17.5 17.5
φ5 Hole
178.5 170.5
161
68.1
RCM-GW-DV RCM-GW-CC RCM-GW-PR
(Note) Dimensions are the same for all the models.
5
Surge Absorber
Relay
Coil
Relay Coil
R
C
+24V 0V
+24V 0V
+-
Earth Terminal
Attach the ground screw
terminal to the earth ground.
Annealed copper wire:
Connect a ground wire with a
diameter of 1.6 mm or larger.
Controller
Class D grounding
(Grounding resistance at 100Ωor less)
Controller
Controller
Other
equipment
Other
equipment
Other
equipment
Do not share the ground wire with or connect to
other equipment. Ground each controller.
10050
30 30 30 100
( )
( )
Emergency
stop switch
Teaching
pendant
Emergency Stop Circuit on System Side
Emergency
stop reset
CR
CR
Teaching pendant
Emergency
stop
Gateway Unit
Teaching pendant/
Connector for PC software
ON 24V
Port Switch
RY
S1
S2
N
24V
PORT
IN
PORT
N
OFF
ON
Teaching pendant
Emergency Stop Signal Output
Allowable Load Voltage : 30V DC
Allowable Load Current : 1A
Gateway Power Supply
24V DC±10%
MAX. 300mA
External Port Switchover Input
(Please prepare separately)
OFF
ON
(Load 24V DC 7mA)
Port Switch
E-Con Connector
Press Welding
Locking
Claw
Shrink Tube
Double Shield Cable
(AWG22)
Pin No. of E-Con Connector
Locking
Claw
4321
• Make sure to select the right
cable size.
• Do not peel off the sheath.
Link Cable
(with a E-Con connector)
E-Con Connector
(with the terminal
resistance)
Junction
E-Con Connector
■ Controller Link Cable
(enclosed with E-Con connector, junction and terminal resistance)
Model CB-RCB-CTL002
4-1473562-4
(Manufactured by AMP)
5-1473574-4
(Manufactured by AMP)
Note
If Gateway Unit is used as a terminal,
refer to “Field Network Wirings and
Settings” for how to mount or set the
terminal resistance.
Note
PLC
DeviceNet/CC-Link/PROFIBUS
Gateway Unit
DeviceNet Type
<Model RCM-GW-DV>
CC-Link Type
<Model RCM-GW-CC>
PROFIBUS Type
<Model RCM-GW-PR>
Teaching Pendant
Switching ON/OFF of the teaching
port can be performed not only
on the front panel, but also by
the external signal.
Be careful when handling the
external signals.
[Refer to “Power Supply and
Emergency Stop Circuit
(Example)” for the details.]
SIO Communication Line
Port Switch
24V DC
power supply
Recommended Cable (Taiyo Cabletec Corporation)
HK-SB/20276 × L [ m ]
2P × AWG22
to be prepared by customer.
e-Con connector
Junction
Power I/O Cable for SIO Type
CB-ERC2-PWBIO***
Terminal Resistance R = 220 Ω
Network Connection Cable
CB-ERC2-CTL001
0.2m0.2m 0.2m
Controller Link Cable
Model : CB-RCB-CTL002
1st unit 2nd unit 15th unit
16th unit
Connectable Controller ERC2/PCON/ACON/SCON
ERC2 (SIO type)
Gateway Unit
PORT IN
PORT N
SDA
SDB
GND
FG
Double Shield Cable
Recommended :
Taiyo Electric Wire & Cable
HK-SB/20276 ×L
2P ×AWG22
4-way junction (Manufactured by AMP : 5-1473574-4)
E-Con connector
(Manufactured by AMP : 4-1473562-4)
Housing color : GN
E-Con connector
(Manufactured by AMP : 3-1473562-4)
Housing color : OR
1st unit
Controller Link Cable
CB-RCB-CTL002
1
2
3
4
1
2
3
4
1
2
3
1
2
7
4
1
2
3
4
SGA
SGB
GND
2nd unit
1
2
7
SGA
SGB
GND
YW
OR
BL
YW
OR
BL
1
2
3
4
1A
1B
5B
1
2
1
2
SGA
SGB
GND
OR (RD1)
OR (BK1)
OR (RD1)
OR (BK1)
OR (BK1)
0V
Connect to Junction
(Connect to 0V on ERC2
24V power supply)
ERC2-NP/PN
• Power I/O Cable for PIO Type
Accessory Cable for CB-ERC-PWBIO***
E-Con Connector
Terminal Block
J.S.T. Mfg. V0.5-3
Prepare the outlined cable section separately.
(Recommended cable: HK-SB/20276 ×L [m]
2P × AWG22 supplied by
Taiyo Cabletec Corporation)
For ERC2 (PIO type)
For SIO Type, connection to a 4-way junction is available with the network connection cable (CB-ERC2-CTL001).
For PIO Type, perform the wiring as shown below with using a device such as a terminal block.

BK
BL
None
WT
RD
BK (V-)
BL (CAN L)
Shield
WT (CAN H)
RD (V+)
DA (BL)
DB (WT)
DG (YW)
SLD (Shield)
FG (connection is
not required)
BL (DA)
WT (DB)
YW (DG)
Shield (SLD)
Field Network Wirings and Settings
1. DeviceNet (RCM-GW-DV)
[1] Wiring
For details, refer to the Instruction Manuals of the master unit and PLC in which in the master unit is
installed.
The connection connector is enclosed as a standard option.
Connector : SMSTB2.5/5-ST-5.08AU
(Supplier : PHOENIX CONTACT)
There is a sticker attached on the panel showing the corresponding cable
colors.
Use the dedicated cable and connect the wires to the corresponding colors
for the signal identification.
Colo
r
Si
g
nal T
y
pe
RD Power Supply Cable Positive Side (V)
WT Communication Data Hi
g
h Side
(
CAN H
)
 Shield
BL Communication Data Low Side
(
CAN L
)
BK Power Supply Cable Negative Side (V)
[2] Settings for DeviceNet Communication and Operation Modes
Turn off the power before performing this operation. Also, refer to Instruction Manual (DVD) for the
details of the modes.
Baud rate setting switch (Left side is ON) ○: ON × : OFF
Baud Rate [bps] DR1 DR0
125
k
× ×
250
k
× ○
500
k
○×
Baud rate is the communication speed, and its unit is bps (bit/sec).
It is necessary that all the settings of the devices have to be the same in
one DeviceNet.
Node address setting switch (Left side is ON) ○: ON × : OFF
Address NA32 NA16 NA8 NA4 NA2 NA1
0 × × × × × ×
1 × × × × × ○
2 × × × × ○×
3 × × × × ○○
⋮⋮⋮⋮⋮⋮⋮
62 ○○○○○×
63 ○○○○○○
The settings have to be made in binary values. Ordinary, the master unit is to be set
to 63.
Mode setting switch (Right side is ON) ○: ON × : OFF
No. Mode
Max. Number
of Connectable
Axes
Mode Setting Switch
Numbe
r
of PLC I/O B
y
tes
*1
4 3 2 1 Input Output
1 Position Number
specification mode 16 × × ○× 48 48
2
Direct numeric
specification mode
4 × × × × 28 52
3 6 × ○× × 40 76
4 8 ○× × × 52 100
5 10 ○○× ○64 124
6 16 ○○× × 100 196
7 Command
specification
mode
Lar
g
e
16Note 1
× × × ○160 160
8 Middle × × × ○128 128
9 Small ○× × ○64 64
Note 1 The numbers of bytes stated in the table above is the maximum data size that can be handled in each mode. This limits
the number of connectable axes. The input and output data size is affected by the total number of the positioner
operation axes and simple direct operation axes.
PLC input  Fixed value (18 bytes)  Number of Positioner Operation Axes  2 bytes  Number of Simple Direct Operation Axes  6 bytes
PLC output  Fixed value (18 bytes)  Number of Positioner Operation Axes  2 bytes  Number of Simple Direct Operation Axes  8 bytes
*1 Number of PLC I/O Bytes: Number of data register occupied by PLC 2 bytes 1 word 1ch
2. CC-Link (RCM-GW-CC)
[1] Wiring
For details, refer to the Instruction Manuals of the master unit and PLC in which in the master unit is
installed.
The connection connector is enclosed as a standard option.
Connector : SMSTB2.5/5-ST-5.08AU
(Supplier : PHOENIX CONTACT)
Use the dedicated cable and connect the wires to the corresponding colors
for the signal identification.
Colo
r
Si
g
nal T
y
pe
BL Communication Line A
(
DA
)
WT Communication Line B
(
DB
)
YW Communication Ground Line
(
DG
)
Shield (SLD)
[2] Settings for CC-Link Communication and Operation Modes
Turn off the power before performing this operation. Also, refer to Instruction Manual (DVD) for the
details of the modes.
Baud rate setting switch
Station number setting switch
Switch Description
BR
[Baud rate setting switch]
It establishes the communication
speed.
The setting more than 5 is invalid.
SA 10
SA 1
[Station number setting switch]
Valid settable range is from 1 to 64.
SA 10ꞏꞏꞏꞏꞏꞏ
It is to set the digit of ten’s
place.
SA 1ꞏꞏꞏꞏꞏꞏꞏꞏ
It is to set the digit of
one’s place.
(Example) When setting the station number 12:
Set 1 to SA 10.
Set 2 to SA 1.
Ordinary, the master unit is to be set to 00.
Mode setting switch (Right side is ON) ○: ON × : OFF
No. Mode
Max. Number
of Connectable
Axes
Mode setting switch PLC Master Unit Settin
g
Ver.1 Ver.2
4 3 2 1
Number of
occupied
stations
Number of
occupied
stations
Extended
Cyclic
Settin
g
1 Position number specification mode 14 × × ○× 4 4 1
2
Direct numeric
specification
mode
Position Data Limit Mode 14 × × × × 4 4 1
3 Normal Positionin
g
Mode 7 × ○× × 4 4 1
4 Pressin
g
Available Mode 3 × ○○× 4 4 1
5 Command
specification
mode
Lar
g
e
16
× × × ○3 2
6 Middle × ○× ○3 4
7 Small ○× × ○2 8
Note 1 Although the actual number of used input and output words is as shown below, the areas assigned by the
number of occupied stations set to the master unit and the extended cyclic settings cannot be used for other
purposes. Refer to Instruction Manual (DVD) for the details of the address assignment.
No. Mode Remote I/O Data Re
g
iste
r
GW→PLC
(
RX
)
PLC
(R
Y
)
→GW GW→PLC
(R
W
r
)
PLC
(
RWw
)
→GW
1 Position number specification mode 7 words 7 words 9 words 9 words
2
Direct numeric
specification
mode
Position Data Limit Mode 7 words 7 words 16 words 16 words
3 Normal Positionin
g
Mode 7 words 7 words 16 words 16 words
4 Pressing Available Mode
2 words
1 byte 6 words 6 words 2 bytes 14 words
5 Command
specification
mode
Lar
g
e 9 words 9 words 38 words 49 words
6 Middle 9 words 9 words 35 words 45 words
7 Small 9 words 9 words 17 words 21 words
3. PROFIBUS (RCM-GW-PR)
[1] Wiring
For details, refer to the Instruction Manuals of the master unit and PLC in which in the master unit is
installed.
Use the type A cable for PROFIBUS-DP (EN5017).
Use D-Sub 9-pin (female) type of PROFIBUS-DP Standard
(recommended for EN5017) for the connector.
Pin No. Si
g
nal Name Detail
1 NC Unconnected
2 NC Unconnected
3 B-Line Communication line B
(
Positive side
)
4 NC Unconnected
5 GND Si
g
nal
g
roundin
g
6 5V 5V output
7 NC Unconnected
8 A-Line Communication line A
(
Ne
g
ative side
)
9 NC Unconnected
Housin
g
Shield Cable Shield
Note : RCM-GW-PR is equipped with a built-in terminal resistance. If RCM-GW-PR is connected as the terminal,
turn the terminal resistance setting switch ON. If a connector that is equipped with a terminal resistance is
used or RCM-GW-PR is not located on the terminal, keep the switch turned OFF.
[2] Settings for PROFIBUS Communication and Operation Modes
Turn off the power before performing this operation. Also, refer to Instruction Manual (DVD) for the
details of the modes.
Node address setting switch
Switch Description
ADRS
10
1
[Station number setting switch]
Valid settable range is from 3 to 32.
10ꞏꞏꞏꞏꞏꞏ
It is to set the digit of ten’s
place.
1ꞏꞏꞏꞏꞏꞏꞏꞏ
It is to set the digit of one’s
place.
(Example) When setting the station number 12:
Set 1 to 10.
Set 2 to 1.
Typically, the master unit is to be set to 02.
Node address 00 is either for the monitor or for the inspection functions
while 01 is for monitoring devices.
Set numbers within the range up to 32 at the maximum in the order of 03, 04,
05, … from the closer to the further from the master unit.
Mode setting switch (Right side is ON) ○: ON × : OFF
No. Mode
Max. Number
of Connectable
Axes
Mode Setting Switch
Number of PLC I/O B
y
tes
*1
4 3 2 1 Input Output
1 Position number
specification mode 16 × × ○× 48 48
2
Direct numeric
specification mode
4 × × × × 28 52
3 6 × ○× × 40 76
4 8 ○× × × 52 100
5 10 ○○× ○64 124
6 16 ○○× × 100 196
7 Command
specification
mode
Lar
g
e
16Note 1
× × × ○160 160
8 Middle × ○× ○128 128
9 Small ○× × ○64 64
Note 1 The numbers of bytes stated in the table above is the maximum data size that can be handled in each mode. This limits
the number of connectable axes. The input and output data size is affected by the total number of the positioner
operation axes and simple direct operation axes.
PLC input  Fixed value (18 bytes)  Number of Positioner Operation Axes  2 bytes  Number of Simple Direct Operation Axes  6 bytes
PLC output
 Fixed value (18 bytes)  Number of Positioner Operation Axes  2 bytes  Number of Simple Direct Operation Axes  8 bytes
*1 Number of PLC I/O Bytes: Number of data register occupied by PLC 2 bytes 1 word 1ch
Slave Device
RCM-GW-DV
V+
Drain
(Shield)
CAN_H
CAN_L
V-
RD
WT
BL
BK
RD
WT
BL
BK
V+
Drain
(Shield)
CAN_H
CAN_L
Class D grounding
(Class-III grounding)
V+
Drain
(Shield)
CAN_H
CAN_L
V-
RD
WT
BL
BK
Communication power
needs to be supplied by
an external device.
Terminal Resistance is required
to be mounted on the terminal.
V-
Terminal Resistance
121Ω
Master Unit
Terminal Resistance
121Ω
24V
Power Supply
Slave Device
RCM-GW-CC
SLD and FG are internally connected.
Terminal Resistance is required
to be mounted on the terminal.
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
(Class-III grounding)
Master Unit Terminal
Resistance
Terminal
Resistance
0
9
8
7
6
5
4
3
2
1
156k
625k
2.5M5M
10M
0
9
8
7
6
5
4
3
2
1
0
9
8
7
6
5
4
3
2
1
SA
×
10
SA
×
1
RCM-GW-PR
Slave Device
Class D grounding
(Class-III grounding)
Master Unit
0
9
8
7
6
5
4
3
2
1
0
9
8
7
6
5
4
3
2
1
×
10
×
1
ADRS
Cable
Shield
Red B line (Positive side)
Green A line (Negative side)
Terminal Resistance
Setting Switch

Starting Procedures
When using this product for the first time, pursue work while making sure to avoid omission and incorrect
wiring by referring to the procedure below. “PC” stated in this section means “PC software”.
This section explains the procedure for starting up the Gateway Unit. For the settings and wiring of each of
the individual devices, controllers, and actuators connected to the network, refer to the individual device's
Instruction Manual.
Troubleshooting
On Gateway Unit, there are the monitor LEDs for the field network and SIO communication.
You can confirm the communication establishment and also communication errors on these LEDs.
1. DeviceNet (RCM-GW-DV)
Gateway Unit Status Display LEDs
LED Color Indication Description
Illuminating CPU is in process.
RUN GN OFF The power is OFF or CPU is not working. Please contact us if
the LED does not turn ON even after the power is turned ON.
Illuminating CPU error. Please contact us.
G.E R R D OFF CPU is operating in normal condition.
Illuminating
Either an error is occurred on DeviceNet module or the
connection with DeviceNet is not established.
Check the communication status LEDs for the connection to
DeviceNet, and check the settings and wirings. Even if this LED
is ON, the connection to the teaching tool is available as long as
RUN is turned ON.
Flashing The port switch is ON. The interval for the flashing should be
1sec.
C.ER RD
OFF Status is in normal condition.
Illuminating
There is a communication
error occurred to all the
axes that are in SIO
communication with the
connected IAI controller.
Flashing
There is a communication
error occurred to one or
more of the axes that are
in SIO communication
with the connected IAI
controller.
• Check the settings in the
parameters (No. 16 and 17) for
each axis controller.
• Check the axis number settings.
• Check the wiring connections of
SIO communication lines.
• Check the terminal resistance
devices.
• Check the noise prevention
equipment.
T.ER RD
OFF Status is in normal condition.
DeviceNet status indicator LEDs (MS: Node condition, NS: Network condition)
LED Color Indication Description
Illuminating The machine is in the normal operation.
GN Flashing Connection to the master is not established.
Check if it has been registered in the master’s scanning list.
Illuminating
A hardware error occurred.
Board must be replaced. Please contact us.
RD
Flashing
There is an error occurred but it is not critical such like a
configuration error or incorrect switch settings.
It can be recovered with a rebuild of the settings.
MS
−
OFF Power is not supplied.
Illuminating
The connection has been established and the communication is
being performed normally.
GN
Flashing Online but network connection is not yet established.
Communication Stop (Network is normal). Check the scan list.
Illuminating
A communication error has
occurred. The communication
cannot be established due to a
duplication of node addresses or a
Busoff (communication stop due to
frequent data error detection).
RD
Flashing
A communication error has
occurred.
(Communication time-out is detected.)
Check the node address
settings, baud rate
setting, communication
line wiring connections,
terminal resistance
connections,
communication power
supply, noise prevention,
etc.
NS
−OFF The machine is not on-line. The power to the DeviceNet is not
supplied.
Refer to Instruction Manual for the details of the DeviceNet status check.
SIO Communication Status Display LEDs
LED Color Indication Description
Flashing Data is being sent (from Gateway Unit to IAI controller).
TxD GN OFF Data sending is being stopped (from Gateway Unit to IAI
controller).
Flashing Data is being received (from IAI controller to Gateway Unit).
RxD GN OFF Data receiving is being stopped (from IAI controller to Gateway
Unit).
2. CC-Link (RCM-GW-CC)
Gateway Unit Status Display LEDs
LED Color Indication Description
Illuminating CPU is in process.RUN
GN OFF The power is OFF or CPU is not working. Please contact us if
the LED does not turn ON even after the power is turned ON.
Illuminating CPU error. Please contact us.
G.ER RD OFF CPU is operating in normal condition.
Illuminating
Either an error is occurred on CC-Link module or the connection
with CC-Link is not established.
Check the communication status LEDs for the connection to
CC-Link, and check the settings and wirings. Even if this LED is
ON, the connection to the teaching tool is available as long as
RUN is turned ON.
Flashing The port switch is ON. The interval for the flashing should be
1sec.
C.ER RD
OFF Status is in normal condition.
Illuminating
There is a communication
error occurred to all the
axes that are in SIO
communication with the
connected IAI controller.
Flashing
There is a communication
error occurred to one or
more of the axes that are
in SIO communication
with the connected IAI
controller.
• Check the settings in the
parameters (No. 16 and 17) for
each axis controller.
• Check the axis number settings.
• Check the wiring connections of
SIO communication lines.
• Check the terminal resistance
devices.
• Check the noise prevention
equipment.
T.ER
RD
OFF Status is in normal condition.
CC-Link status indicator LEDs (MS: Node condition, NS: Network condition)
LED Color Indication Description
Illuminating The machine is in the normal operation. (Illuminated once
communication started)
RUN GN
OFF Not in the network or timeout (The illumination is turned off if the
communication is shut off for a certain time.)
Illuminating Baud rate or station number setting is not correct.
Flashing Error in reception data to self station. (CRC error : Data error is
detected)
ERR RD
OFF Status is in normal condition.
Illuminating Data is being received.
RD GN OFF There is no received data.
Flashing Data is being sent.
SD GN OFF There is no sent data.
Refer to Instruction Manual for the details of the CC-Link status check.
SIO Communication Status Display LEDs
LED Color Indication Description
Flashing Data is being sent (from Gateway Unit to IAI controller).
TxD GN OFF Data sending is being stopped (from Gateway Unit to IAI
controller).
Flashing Data is being received (from IAI controller to Gateway Unit).
RxD GN OFF Data receiving is being stopped (from IAI controller to Gateway
Unit).
No→
Ye s
→
←Yes
→
←Yes
→No
Check of Packed Items
Has everything been received? Contact us or our distributor.
Installation and Wiring
Following Instruction Manual and this guide, set Gateway Unit
and have the wirings for the network and SIO completed.
Also, have all the wirings done for the power supply, actuator
motor and encoder cable following the instructions on the
Instruction Manual for each controller.
Point Check Item
• Is frame ground (FG) connected?
• Has the noise countermeasure been taken?
• Is the terminal treatment conducted on the shielded wire?
• Is the terminal resistance connected?
Initial Settings of Gateway Unit
Ensure the settings for the mode, field network baud rate and
node addresses (station numbers) comply with the system.
Initial Settings of IAI Controller Connected to Gateway Unit
• Have the settings for axis numbers.
• Have the setting for Parameter No. 16 SIO Baud Rate to 230.4kbps.
• Have the setting for Parameter No. 17 Slave Station Transmitter Activation Minimum Waiting Time to 2msec.
• Have all other necessary parameter settings done.
PLC (Master Unit) Baud Rate
Have the settings for the node addresses (station numbers)
and baud rate.
Important Check Item
Is the programmed Gateway control sequence
complied with the operation mode and the system?
Power Supply
1) Supply the power to the IAI controller that is connected to Gateway Unit.
2) Supply the power to Gateway Unit
3) Supply the power to PLC (master unit)
Communication Establishment Check
• Confirm that the communication has been established by checking
the monitor LEDs on Gateway Unit.
[Refer to Troubleshooting Section.]
• Are the LEDs turned on in normal condition? Is PLC (master unit)
side also in normal condition?
(Note) Refer to the PLC and master unit instruction manuals for the
details how to check on the master unit side.
Reconfirm all the settings following the procedure
in this chart while referring to the Instruction Manual
for each unit, controller and PLC.
Communication is established. Move on to the system operation check and adjustment.
↓Yes
↓
↓
↓
↓

3. PROFIBUS (RCM-GW-PR)
Gateway Unit Status Display LEDs
LED Colo
r
Indication Description
RUN GN
Illuminatin
g
CPU is in process.
OFF The power is OFF or CPU is not working. Please contact us if
the LED does not turn ON even after the power is turned ON.
G.ER RD
Illuminatin
g
CPU erro
r
. Please contact us.
OFF CPU is operatin
g
in normal condition.
C.ER RD
Illuminating
Either an error is occurred on PROFIBUS module or the
connection with PROFIBUS is not established.
Check the communication status LEDs for the connection to
PROFIBUS, and check the settings and wirings. Even if this
LED is ON, the connection to the teaching tool is available as
lon
g
as RUN is turned ON.
Flashing The port switch is ON. The interval for the flashing should be
1sec.
OFF Status is in normal condition.
T.ER RD
Illuminating
There is a communication
error occurred to all the
axes that are in SIO
communication with the
connected IAI controller.
• Check the settings in the
parameters (No. 16 and 17) for
each axis controller.
• Check the axis number settings.
• Check the wiring connections of
SIO communication lines.
• Check the terminal resistance
devices.
• Check the noise prevention
equipment.
Flashing
There is a communication
error occurred to one or
more of the axes that are
in SIO communication
with the connected IAI
controller.
OFF Status is in normal condition.
PROFIBUS status indicator LEDs (MS: Node condition, NS: Network condition)
LED Colo
r
Indication Description
LINE-
ON GN
Illuminatin
g
Status is on-line.
OFF The machine is not on-line.
LINE-
OFF RD
Illuminatin
g
Status is off-line.
OFF The machine is not off-line.
ERR RD
1Hz
Flashing
There is a configuration error.
(Exnample) The number of input and output set with the mode
setting switch does not match with the number of
input and output set with the confi
g
uration tool.
4Hz
Flashing
It is a communication board (ASIC) initializing error. Please
contact us if the condition does not recover even with a reboot
of the power.
OFF There is no error.
SIO Communication Status Display LEDs
LED Colo
r
Indication Description
TxD GN
Flashin
g
Data is bein
g
sent
(
from Gatewa
y
Unit to IAI controller
)
.
OFF Data sending is being stopped (from Gateway Unit to IAI
controller
)
.
RxD GN
Flashin
g
Data is bein
g
received
(
from IAI controller to Gatewa
y
Unit
)
.
OFF Data receiving is being stopped (from IAI controller to Gateway
Unit
)
.
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Manual No.: ME0272-1D