● Connection to RCD Series
Note 1 Applicable Connection Cable Model Codes □□□ : Cable Length Example) 030
=
3m
Model Name
Cable
Reference
RCP2
CB-PSEP-MPA□□□
Robot cable from 0.5 to 20m
CB-APSEP-MPA□□□
Robot cable from 0.5 to 20m
RCP3
CB-APSEP-MPA□□□-LC
Standard cable from 0.5 to 20m
CB-CA-MPA□□□-RB
Robot cable from 0.5 to 20m
RCP4 (Other than GR* Type)
RCD (Applicable Controller Symbol : D3) CB-CA-MPA□□□
Standard cable from 0.5 to 20m
CB-CAN-MPA□□□
Standard cable from 0.5 to 20m
RCP4 (GR Type), RCP5, 6
RCD (Applicable Controller Symbol : D5) CB-CAN-MPA□□□-RB
Robot cable from 0.5 to 20m
CB-CFA-MPA□□□
Standard cable for CFA type from 0.5 to 20m
RCP2
CB-CFA-MPA□□□-RB
Robot cable for CFA type from 0.5 to 20m
CB-CFA2-MPA□□□
Standard cable for CFA type from 0.5 to 20m
RCP4
CB-CFA2-MPA□□□-RB
Robot cable for CFA type from 0.5 to 20m
CB-CFA3-MPA□□□
Standard cable for CFA type from 0.5 to 20m
High-Thrust
RCP5, RCP6
CB-CFA3-MPA□□□-RB
Robot cable for CFA type from 0.5 to 20m
RCA, RCL (Incremental Type)
CB-ASEP-MPA□□□
CB-ASEP2-MPA□□□
Robot cable from 0.5 to 20m
RCA (Serial Absolute Type)
RCA2
CB-APSEP-MPA□□□
Robot cable from 0.5 to 20m
(Note) There are some exceptions. See in the general catalog.
Power Supply and Emergency Stop Circuit
This shows the circuit example when the emergency stop switch in the teaching pendant is enabled on the
emergency stop circuit to be built up by the client.
In the example below, uses PCON-CA. It is the same in case of except for PCON-CA.
Note 1 :
The safety categories complied type (CGB Type, etc.) is not equipped with the relay to have the controller
automatically identify that a teaching tool was plugged in and switch the wiring layout. Those other than the safety
categories complied type do the automatic identification and have S1 and S2 short-circuited.
Note 2 :
When the motor driving source is cut off externally for a compliance with the safety category, connect a contact
such as a contactor to the wires between MPI and MPO. Also, the ratings for the emergency stop signal that turns
ON/OFF at the contact CR1 are 24V DC and 10mA or less.
Note 3 :
For CR1, select the one with coil current 0.1A or less.
Caution
If supplying power with using a 24V DC, having it turned ON/OFF, keep the 0V connected and have the
+24V supplied/cut (cut one side only).
[Reference] Example for operating an actuator by using the standard type (CA or CB Type) with optimum wiring layout
(Note) In this example, the emergency stop switch on the teaching pendant would not work.
Operation Modes and Functions (Except for MECHATROLINK-
Ⅲ
)
(Note) Refer to the Section for MECHATROLINK-
Ⅲ
for the operation modes and features of MECHATROLINK-
Ⅲ
.
The machine can be operated selecting one mode from the following five operation modes.
(1) Remote I/O Mode
: This is the method where the operation through PIO (24V I/O) is performed using the fieldbus.
(2) Position/
: This is the method where the machine is operated by means of directly specifying the target
Simple Direct
position using numerical values.
Value Mode
For the speed, acceleration, deceleration, or positioning width, the already registered position
data values are used.
(3) Half Direct Value Mode : In this operation mode, in addition to the target position, the speed, acceleration, deceleration
and push current value are directly specified using numerical values.
(4) Full Direct Value Mode : In this operation mode, all the values related to the position control, are directly specified using
numerical values.
(5) Remote I/O Mode 2
: Additionally, the current position and current speed reading functions are added to the remote I/O mode.
Operation Modes and Main Functions
Main Functions
Remote I/O
Mode
Position/Simple
Direct Value Mode
Half Direct
Value Mode
Full Direct
Value Mode
Remote I/O
Mode 2
No. of Occupied Channels (DeviceNet)
1
4
8
16
6
Number of occupied stations (CC-Link)
1
1
2
4
1
No. of Occupied Bytes (PROFIBUS)
2
8
16
32
12
No. of Occupied Bytes (CompoNet)
2
8
16
32
12
Operation with the Position No. Specified
○
○
×
×
○
Operation with the Position Data Specified
×
○
(*1)
○
○
×
Speed and Acceleration Direct Setup
×
×
○
○
×
Pressing Operation
○
○
○
○
○
Current Position Read
×
○
○
○
○
Current Speed Read
×
×
○
○
○
Completion Position No. Read
○
○
×
×
○
Max. Number of position table
512
768
Unused
Unused
512
(*1) The actuator is operated by specifying all position data, other than the position, using a position number.
Address Map
The table shows the address maps separately for CC-Link type, CC-Link IE type and those other.
z
CC-Link
•
PLC output → Input in PCON / ACON / DCON (* n is the top register address for each axis.)
DI on the PCON / ACON / DCON side and Input Data Register
Remote I/O Mode
Position/Simple
Direct Value Mode
Half Direct Value
Mode
Full Direct Value
Mode
Remote I/O Mode 2
Parameter No.84 : 0
(Set in delivery)
Parameter No.84 : 1 Parameter No.84 : 2 Parameter No.84 : 3 Parameter No.84 : 4
Address on the
PLC side
Number of occupied
stations : 1 Station
Number of occupied
stations : 1 Station
Number of occupied
stations : 2 Stations
Number of occupied
stations : 4 Stations
Number of occupied
stations : 1 Station
RY n0 to nF
Port No.0 to 15
Occupied Domain
Port No.0 to 15
RY (n+1) 0 to (n+1) F
System Domains
System Domains
Occupied Domain
System Domains
RY (n+2) 0 to (n+2) F
System Domains
RY (n+3) 0 to (n+3) F
RY (n+4) 0 to (n+4) F
RY (n+5) 0 to (n+5) F
RY (n+6) 0 to (n+6) F
Occupied Domain
RY (n+7) 0 to (n+7) F
System Domains
RWw (n+0)
RWw (n+1)
Target Position
Target Position
Target Position
RWw (n+2)
Specified Position No.
RWw (n+3)
Occupied Domain
Control Signal
Positioning Width
Positioning Width
Occupied Domain
RWw (n+4)
Speed
RWw (n+5)
Acceleration/Deceleration
Speed
RWw (n+6)
Push Current Limit Value
RWw (n+7)
Control Signal
Zone Boundary Value+
RWw (n+8)
RWw (n+9)
Zone Boundary Value-
RWw (n+A)
Acceleration
RWw (n+B)
Deceleration
RWw (n+C)
Push Current Limit Value
RWw (n+D)
Load Current Threshold
RWw (n+E)
Control Signal 1
RWw (n+F)
Control Signal 2
•
PCON / ACON / DCON output → PLC input side (* n is the top register address for each axis.)
DO on the PCON / ACON / DCON side and Input Data Register
Remote I/O Mode
Position/Simple
Direct Value Mode
Half Direct Value
Mode
Full Direct Value
Mode
Remote I/O Mode 2
Parameter No.84 : 0
(Set in delivery)
Parameter No.84 : 1 Parameter No.84 : 2 Parameter No.84 : 3 Parameter No.84 : 4
Address on the
PLC side
Number of occupied
stations : 1 Station
Number of occupied
stations : 1 Station
Number of occupied
stations : 2 Stations
Number of occupied
stations : 4 Stations
Number of occupied
stations : 1 Station
RX n0 to nF
Port No.0 to 15
*2
Occupied Domain
Port No.0 to 15
*2
RX (n+1) 0 to (n+1) F
System Domains
System Domains
System Domains
RX (n+2) 0 to (n+2) F
Occupied Domain
RX (n+3) 0 to (n+3) F
System Domains
RX (n+4) 0 to (n+4) F
RX (n+5) 0 to (n+5) F
RX (n+6) 0 to (n+6) F
Occupied Domain
RX (n+7) 0 to (n+7) F
System Domains
RWr (n+0)
RWr (n+1)
Current Position
Current Position
Current Position
Current Position
RWr (n+2)
Completion Position No.
(Simple Alarm ID)
RWr (n+3)
Occupied Domain
Status Signal
Command Current
Command Current
Command Current
RWr (n+4)
RWr (n+5)
Current Speed
Current Speed
RWr (n+6)
Alarm Code
Alarm Code
RWr (n+7)
Status Signal
RWr (n+8)
RWr (n+9)
Occupied Domain
RWr (n+A)
RWr (n+B)
Total Number of
Movement
RWr (n+C)
RWr (n+D)
Total Number of
Drive
RWr (n+E)
Status Signal 1
RWr (n+F)
Status Signal 2
*1 The Occupied Domain stands for the domain occupied depending on the setting of the remote device station quantity.
Therefore, this domain cannot be used for any other purpose. Also, take care to avoid shared use of the data register.
*2 When an alarm is sounded, the completion position No. (4 bits for PM1 to PM8) shows the simple alarm code.
z
CC-Link IE
•
PLC output → Input in PCON / ACON / DCON (* n is the top register address for each axis.)
DI on the PCON / ACON / DCON side and Input Data Register
Remote I/O Mode
Position/Simple
Direct Value Mode
Half Direct Value
Mode
Full Direct Value
Mode
Remote I/O Mode 2
Parameter No.84 : 0
(Set in delivery)
Parameter No.84 : 1
Parameter No.84 : 2 Parameter No.84 : 3 Parameter No.84 : 4
Address on the
PLC side
Number of Occupied
Words : 4
Number of Occupied
Words : 4
Number of Occupied
Words : 8
Number of Occupied
Words : 16
Number of Occupied
Words : 4
RY n0 to nF
Port No.0 to 15
Port No.0 to 15
RY
(n+1) 0 to (n+1) F
Occupied Domain
Occupied Domain
Occupied Domain
RWw (n+0)
RWw (n+1)
Target Position
Target Position
Target Position
RWw (n+2)
Specified Position No.
RWw (n+3)
Occupied Domain
Control Signal
Positioning Width
Positioning Width
Occupied Domain
RWw (n+4)
Speed
RWw (n+5)
Acceleration/
Deceleration
Speed
RWw (n+6)
Push Current Limit
Value
RWw (n+7)
Control Signal
Zone Boundary
Value+
RWw (n+8)
RWw (n+9)
Zone Boundary
Value-
RWw (n+A)
Acceleration
RWw (n+B)
Deceleration
RWw (n+C)
Push Current Limit
Value
RWw (n+D)
Load Current
Threshold
RWw (n+E)
Control Signal 1
RWw (n+F)
Control Signal 2
•
PCON / ACON / DCON output → PLC input side (* n is the top register address for each axis.)
DO on the PCON / ACON / DCON side and Input Data Register
Remote I/O Mode
Position/Simple
Direct Value Mode
Half Direct Value
Mode
Full Direct Value
Mode
Remote I/O Mode 2
Parameter No.84 : 0
(Set in delivery)
Parameter No.84 : 1
Parameter No.84 : 2 Parameter No.84 : 3 Parameter No.84 : 4
Address on the
PLC side
Number of Occupied
Words : 4
Number of Occupied
Words : 4
Number of Occupied
Words : 8
Number of Occupied
Words : 16
Number of Occupied
Words : 4
RX n0 to nF
Port No.0 to 15
*2
Port No.0 to 15
*2
RX
(n+1) 0 to (n+1) F
Occupied Domain
Occupied Domain
Occupied Domain
Occupied Domain
RWr (n+0)
RWr (n+1)
Current Position
Current Position
Current Position
Current Position
RWr (n+2)
Completion Position No.
(Simple Alarm ID)
RWr (n+3)
Occupied Domain
Status Signal
Command Current
Command Current
Command Current
RWr (n+4)
RWr (n+5)
Current Speed
Current Speed
RWr (n+6)
Alarm Code
Alarm Code
RWr (n+7)
Status Signal
RWr (n+8)
RWr (n+9)
Occupied Domain
RWr (n+A)
RWr (n+B)
Total Number of
Movement
RWr (n+C)
RWr (n+D)
Total Number of
Drive
RWr (n+E)
Status Signal 1
RWr (n+F)
Status Signal 2
*1 The Occupied Domain describes the domains occupied for each mode.
Therefore, this domain cannot be used for any other purpose. Also, take care to avoid shared use of the data register.
*2 When an alarm is sounded, the completion position No. (4 bits for PM1 to PM8) shows the simple alarm code.
z
Other than CC-Link (DeviceNet / PROFIBUS-DP / CompoNet / MECHATROLINK-
Ⅰ
/
Ⅱ
)
•
PLC output → Input in PCON / ACON / DCON
DI on the PCON / ACON / DCON side and Input Data Register
Remote I/O Mode
Position / Simple
Direct Value Mode
Half Direct Value
Mode
Full Direct Value
Mode
*4
Remote I/O Mode 2
Parameter No.84 : 0
(Set in delivery)
Parameter No.84 : 1 Parameter No.84 : 2 Parameter No.84 : 3 Parameter No.84 : 4
PLC Output
Area
*3
Number of Occupied
Channels : 1CH
Number of Occupied
Channels : 4CH
Number of Occupied
Channels : 8CH
Number of Occupied
Channels : 16CH
Number of Occupied
Channels : 6CH
n
Port No.0 to 15
Port No.0 to 15
n+1
Target Position
Target Position
Target Position
n+2
Specified Position No.
n+3
Control Signal
Positioning Width
Positioning Width
n+4
Speed
n+5
Acceleration/
Deceleration
Speed Setup
Occupied Domain
n+6
Push Current Limit
Value
n+7
Control Signal
Zone Boundary
Value+
n+8
n+9
Zone Boundary
Value-
n+10
Acceleration
n+11
Deceleration
n+12
Push Current Limit
Value
n+13
Load Current
Threshold
n+14
Control Signal 1
n+15
Control Signal 2
•
PCON / ACON / DCON output → PLC input side
DO on the PCON / ACON / DCON side and Output Data Register
Remote I/O Mode
Position / Simple
Direct Value Mode
Half Direct Value
Mode
Full Direct Value
Mode
*4
Remote I/O Mode2
Parameter No.84 : 0
(Set in delivery)
Parameter No.84 : 1 Parameter No.84 : 2 Parameter No.84 : 3 Parameter No.84 : 4
PLC Output
Area
*3
Number of Occupied
Channels : 1CH
Number of Occupied
Channels : 4CH
Number of Occupied
Channels : 8CH
Number of Occupied
Channels : 16CH
Number of Occupied
Channels : 6CH
n
Port No.0 to 15
*2
Port No.0 to 15
*2
n+1
Current Position
Current Position
Current Position
Occupied Domain
n+2
Completion Position No.
(Simple Alarm ID)
n+3
Status Signal
Command Current
Command Current
Current Position
n+4
n+5
Current Speed
Current Speed
Command Current
Connection
Cable
(Note1)
DCON
Motor/
Encoder Connector
S1
S2
MPI
MPO
24V
0V
24V
0V
EMG-
BKLS
Power Supply
Connector
Emergency-stop
Switch on the
Teaching Pendant
Control
Power
Supply
SIO Connector
Wiring Condected
at Delivery
24V DC
Power Supply
Motor Power Supply
Emergency Stop Control Circuit
Brake Release Power Supply
(Note) Supply 24V when connecting actuator
equipped with brake and release brake
compulsorily
Emergency
-stop Switch
24V
0V
0V
Emergency
Stop Reset
Switch
Emergency
Stop Switch
CR1
S1
S2
MPI
MPO
24V
EMG-
BKLS
CR1
(Note 3)
Brake Forced
Release Switch
Power Supply
Connector
PCON-CA
Emergency-stop
Switch on the
Teaching Pendant
Control
Power
Supply
SIO Connector
(Note 1)
Motor Power Supply
CR1
(Note 2)
Emergency Stop Control Circuit
Brake Release Power Supply
(Note) Supply 24V when connecting actuator
equipped with brake and release brake
compulsorily
