IAI RCM-P6GW First Step Guide

RCM-P6GW(G)／RCM-P6HUB
Fieldbus Communication
First Step Guide Third Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to
this First Step Guide to ensure correct use.
This Instruction Manual is original.
 Using or copying all or part of this Instruction Manual without permission is prohibited.
 The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
Product Check
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts
No. Part Name Model Number Remarks
1 Controller Main Body
Refer to each instruction manual of
an actuator.
-
2 Gateway Unit
Refer to “How to read the model
plate”, “How to read the model”.
1
Accessories
3 Hub Unit (Option)
Refer to “How to read the model
plate”, “How to read the model”.
-
To be prepared separately
4 Drive Cutoff Connector (1)
FKCN2.5/4-STF-5.0 (Ax0-7)
(Supplier : PHOENIX CONTACT)
1
Recommended cable size
1.25 to 0.5mm
2
(AWG16 to 20)
5
Drive Cutoff Connector (2)
FKCN2.5/4-STF-5.0 (Ax8-15)
(Supplier : PHOENIX CONTACT)
1
Recommended cable size
1.25 to 0.5mm
2
(AWG16 to 20)
6 System I/O Connector
DFMC1.5/7-ST-3.5
(Supplier : PHOENIX CONTACT)
1
Recommended cable size
 Brake Release Input
1.25 to 0.5mm
2
(AWG16 to 20)
 Other than above
1.25 to 0.3mm
2
(AWG16 to 22)
7 Dummy Plug DP-5 1
For the safety category compliant type
(RCP-P6GWG)
8
DeviceNet Connector
(For DeviceNet Type)
MSTB2.5/5-STF-5.08 AU M
(Supplier : PHOENIX CONTACT)
1
Prepare a terminal resistance
separately if this controller is to be
allocated at the terminal.
9
CC-Link Connector
(For CC-Link Type)
MSTB2.5/5-STF-5.08 AU
(Supplier : PHOENIX CONTACT)
1
Terminal resistance
(1301/2W, 1101/2W)
enclosed one unit each
10 Safety Guide 1
11 First Step Guide 1
12 Instruction Manual (DVD) 1
*
Select the cable thickness allowable for the current figured out in the <Calculation of 24V DC Power Capacity, Number of
Connectable Axes>.
Drive Cutoff Connector (1) (2) System I/O Connector Dummy Plug (DP-5)
DeviceNet Connector CC-Link Connector CC-Link Connector Enclosed Terminal Resistance
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 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
Touch Panel Teaching Pendant TB-01 (Standard/with dead-man switch attached on the left/with
dead-man switch attached on the right)
TB-01/01D/01DR
4 Touch Panel Teaching Pendant TB-02 (Standard/with dead-man switch attached on the left)
TB-02/02D
5
Touch Panel Teaching Pendant TB-03 TB-03
3. Instruction manuals related to this product, which are contained in the instruction manual (DVD).
4. How to read the model plate
5. How to read controller model code
Gateway Unit
RCM - P6GW - CC
CC : CC-Link Connection Type
DV : DeviceNet Connection Type
P6GW : Standard Type PR : PROFIBUS-DP Connection Type
P6GWG : Safety Categories Complied EP : EtherNet/IP Connection Type
EC : EtherCAT Connection Type
PRT : PROFINET-IO Connection Type
Hub Unit
RCM - P6HUB - DN
(Not Specified) : Fixed Screws Type
DN : Attachment DIN Rail Type
P6HUB : Standard Type
Basic Specifications
Built-in Controller
Specification Item Details of Specifications
Number of Controlled Axes 1-axis
Power-supply Voltage
24V DC±10%
Control Power Capacity 0.3A (Built-in Controller only)
High-thrust function is disabled 1.7A max.
28P, 35P,
42P, 56P
High-thrust function is enabled Rated at 3.2A, 4.2A max.
Load Current
(Including current
consumption for
control)
Motor
Type
56SP, 60P 5.7A max.
Power Supply for Electromagnetic Brake
(for actuator equipped with brake)
24V DC±10% 0.15A
(Note) 0.7A is required for 0.2sec at brake release.
Heat Generation
5W (Motor type 28P, 35P, 42P, 56P)
19.2W (Motor type 56SP, 60P)
Rush Current
(Note 1)
8.3A with in-rush current protection circuit (Motor type 28P, 35P, 42P, 56P)
10A with in-rush current protection circuit (Motor type 56SP, 60P)
Motor Control System Weak field-magnet vector control
Corresponding Encoder Battery-less absolute encoder Resolution 8192pulse/rev
Cable Length
Between gateway unit and Hub: 10m max.
Between gateway unit and RCP6S actuator: 20m max.
Serial Communication (SIO Port)
RS485: 2CH (based on Modbus Protocol RTU/ASCII)
Based on ASCII is 1CH Speed: 9.6 to 230.4Kbps
External Interface
Fieldbus connection (Note) Connection of gateway unit is necessary
separately.
CC-Link, DeviceNet, PROFIBUS-DP, EtherCAT, EtherNet/IP, PROFINET-IO
Data Setting and Input PC software, Touch panel teaching
Data Retention Memory
Saves position data and parameters to non-volatile memory
(There is no limitation in number of writing.)
LED Display SV (GR) / ALM (RD): Servo ON / Alarm generated and emergency stop
Insulation Resistance
500V DC 10M or more
Protection Function against Electric Shock Class I basic insulation
Cooling Method Natural air-cooling
Note 1 In-rush current will flow for approximately 1 to 5msec after the power is turned on (at 40  C).
The value of inrush current differs depending on the impedance of the power supply line.
Gateway Unit
Specification Item Details of Specifications
Number of Controlled Axes
16-axes max. (Four axes for gateway unit itself)
For those except for CC-Link which are used in the direct indication mode, the maximum
number of the axes should be eight (and two axes with the gateway unit itself).
Power-supply Voltage 24V DC ±10%
Control Power Capacity 0.6A (Gateway unit itself 0.3A+Fieldbus module 0.3A)
Motor Power Capacity Current consumption 51.2A
Cooling Method Natural air-cooling
Emergency-stop Input B contact input
Enable Input None
T.P. Enable Input Equipped
Enable Operation Servo OFF or shutdown (Select the parameter)
Backup Memory FRAM (256kbit), No limitation in number of writing
Calendar Function Equipped (Data retained for ten days after power cutoff)
Gateway Board
LED Display
SYS LED×1 (RUN/ALM), EMG LED×1, MODE LED×1 (AUTO/MANU),
T.ERR LED×1, C.ERR LED×1, Status LED lamp for each fieldbus module LED×2
Tool Connection
T/P connector : RS485 1ch (based on Modbus protocol)
USB connector : USB 1ch
Electromagnetic Brake
Compulsory Release Feature
System I/O connector: External brake release signal input (24V DC)
* Used only when RCP6S connected directly to gateway. Invalid when hub connected.
Protection Function against
Electric Shock
Class I basic insulation
Insulation Strength
500V DC 10M
Mass 250g
External Dimensions 35W×115H×123D
Hub Unit
Specification Item Details of Specifications
Number of Controlled Axes 4-axes max.
Power-supply Voltage 24V DC ±10%
Control Power Capacity 0.3A (Hub unit itself)
Motor Power Capacity Total connected axes MAX. 12.8A
Cooling Method Natural air-cooling
Emergency-stop Input None
Enable Input None
T.P. Enable Input None
Backup Memory None
LED Display System status LED×1 (RUN/ALM), Axis status LED×4 (RUN/ALM)
Tool Connection None
Electromagnetic Brake
Compulsory Release Feature
Brake release switch×4
Protection Function against
Electric Shock
Class I basic insulation
Insulation Strength
500V DC 10M
Mass 80g
External Dimensions 30W×115H×45D
Specification of Environment (Built-in Controller, Gateway Unit and Hub Unit in Common)
Specification Item Details of Specifications
Surrounding Air
Temperature
0 to 40C
Surrounding Humidity 85%RH or less (non-condensing)
Surrounding Environment Refer to Installation Environment
Surrounding Storage
Temperature
-20 to 70C
Usage Altitude 85%RH or less (non-condensing)
Protection Class 1,000m or lower above sea level
Vibration Durability
Frequency 10 to 57Hz / Swing width: 0.075mm
Frequency 57 to 150Hz / Acceleration: 9.8m/s
2
XYZ Each direction Sweep time: 10 min. Number of sweep: 10 times
Shock Resistance Dropping height 800mm 1 corner, 3 edges and 6 surfaces
Pollution Degree Pollution degree 2
Environment
Protection Class IP20
<The Calculation of 24V DC Power Capacity, Number of Connectable Axes>
To calculate the number of axes connectable to one unit of the gateway unit and the current amperage of 24V DC, figure
out (1) to (4) below and follow (5).
(1) The Calculation of Number of Connectable Axes, and Motor Current Consumption
Condition 1: Sum total of motor current consumption connectable to one unit of hub unit
Condition 2: Number of controlled axes connectable to corresponding 1 unit: 4-axes or less
* By adjusting the number of connected axes or motor type, select the connected axes so each hub unit satisfies the
formulas below.
● Sum total of motor current consumption for hub unit= Motor current consumption of 1st axis
+ Motor current consumption of 2nd axes (if connected)
+ Motor current consumption of 3rd axes (if connected)
+ Motor current consumption of 4th axes (if connected) ≤ 12.8A ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 1)
● Sum total of motor current consumption = Motor current consumption of hub unit 1st unit
+ Motor current consumption of hub unit 2nd units (if connected)
+ Motor current consumption of hub unit 3rd units (if connected)
+ Motor current consumption of hub unit 4th units (if connected) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2)
(2) Control Power Current Consumption:
0.3A × Number of actuator + 0.6A (Gateway unit) + 0.3A × Number of hub unit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3)
(3) Rush Current: 8.3A (RCP6S Motor type 28P, 35P, 42P, 56P and RCM-P6PC) /
10A (RCP6S Motor type 56SP, 60P, RCM-P6AC and RCM-P6DC) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4)
(4) Current Consumption of Brake Release Power (RCP6 and RCP6S): Number of actuators with brake × 0.07A ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5)
* When servo is on, it should be 0.5sec or less, after that retaining of released status should be 0.1A/axis.
When using the control power source and the motor power source in common, calculate with the number of
brake-equipped actuators × 0.1A.
(5) Selection of Power Supply: Usually, the rated current is to be approximately 1.2 times higher than the total of Control Power
2) + 3) + 5) above considering approximately 30% of margin to the load current.
However, considering the inrush currents 4), even though it is a short time, select a power supply with “sufficient peak load capacity.
Inrush current of 4) from occurring at the same time by having the timing of emergency stop release (turning the motor
power on) and timing to turn the servo on shifted (Note 1) from each other and so on. Huge current flow of the same time
may cause a transient voltage drop.
Be careful especially when selecting a power source equipped with remote sensing.
Note 1 The timing to turn the servo on can be tuned in Parameter No. 165 “Latency after Shutdown Release”.
(Note) Ensure motor and control power supplies reference the same potential when using multiple power supplies.
No. Part Name Model
1 Instruction Manual for the RCP6S Fieldbus Communication ME0349
2 Instruction Manual for the Serial Communication [for Modbus] ME0162
3 Instruction Manual for the RCP6 (S) (CR) Slider Type and Wide Slider Type ME3749 and ME3750
4 Instruction Manual for the RCP6 (S) Rod Type and Wide Rod Type ME3751 and ME3752
5 Instruction Manual for the RCP6 (S) Radial Cylinder Type and Table Type ME3753 and ME3754
6 Instruction Manual for the RCP6 (S) W Rod, Wide Rod and Radial Cylinder Dust proof/Splash proof Type ME3759 to ME3761
7 PC Software RCM-101-MW/RCM-101-USB Instruction Manual ME0155
8 Touch Panel Teaching TB-01 Applicable for Position Controller Instruction Manual
ME0324
9
Touch Panel Teaching TB-02/TB-03 Applicable for Position Controller/ELECYLINDER Instruction
Manual
ME0355/ME0376
Model RCM-P6GW-CC
SER NO. 12345678 00
Input DC24V, 44.6A
Output DC24V, 44A
Applicable Fieldbus
(DeviceNet, CC-Link, PROFIBUS-DP,
EtherNet/IP, EtherCAT, PROFINET-IO)
Gateway Unit
Model code
Serial number
Hub
Unit
Model code
Serial number
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 Ste
p
Guide.
Model RCM-P6HUB-DN
SER NO.
12345678 00
Input
DC24V, max 11A
Output DC24V, max 10.7A
RCP6
S
3B

IAI RCM-P6GW Specifications

General

Brand	IAI
Model	RCM-P6GW
Category	Conference System
Language	English