MCON-C/CG
First Step Guide
Fourth 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 “How to read the model
plate”, “How to read the model No.”
1
Accessories
2
Power Connector
FKC2.5HC/4-ST-5.08
(Supplier : PHOENIX CONTACT)
1
Recommended Cable Size
Control Power Supply
0.5 to 0.3mm
2
(AWG20 to 22)
Motor Driving Power Supply
3.5 to 0.75mm
2
(AWG12 to 18)
*
3
External Brake Input
Connector
FMCD1.5/5-ST-3.5
(Supplier : PHOENIX CONTACT)
1
Recommended cable size
0.5 to 0.2mm
2
(AWG20 to 24)
4
Drive Cutoff/Emergency
Stop Input Connector
FMCD1.5/8-ST-3.5
(Supplier : PHOENIX CONTACT)
1
Recommended Cable Size
Emergency Stop
0.5 to 0.2mm
2
(AWG20 to 24)
Motor Power External Input
1.25 to 0.5mm
2
(AWG16 to 20)
5
System I/O Connector
FMCD1.5/4-ST-3.5
(Supplier : PHOENIX CONTACT)
1
Recommended cable size
0.5 to 0.2mm
2
(AWG20 to 24)
6
Dummy Plug
DP-5
1
For the safety category compliant
type
7
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.
8
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
9
Absolute Battery Box
(Option)
MSEP-ABB (Battery AB-7 Please
purchase separately)
1
For Simple Absolute Type
10 First Step Guide
ME0344
1
11 Instruction Manual (DVD)
1
12 Safety Guide
M0194
1
*
Select the cable thickness allowable for the current figured out in the <Calculation of 24V DC Power Capacity>.
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 A Peripheral Communication Cable)
RCM-101-MW
2 PC Software (Includes USB Exchange A 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).
No.
Name
Manual No.
1 MCON Controller Instruction Manual
ME0341
2 PC Software
RCM-101-MW/RCM-101-USB Instruction Manual
ME0155
3 Touch Panel Teaching TB-01 Applicable for Position Controller Instruction Manual
ME0324
4 Touch Panel Teaching TB-02/TB-03 Applicable for Position Controller/ELECYLINDER Instruction Manual
ME0355/ME0376
5 SSCNET
Ⅲ
/H Applicable for Controller Instruction Manual
ME0352
6 MECHATROLINK-
Ⅲ
Applicable for Controller Instruction Manual
ME0317
7 EtherCAT Motion Applicable for Controller Instruction Manual
ME0367
4. How to read the model plate
Model → MODEL
MCON-C-5-20PWAI-PWAI-20WAl-20WAl-3DI-N-DV-0-0-ABB
Manufactured date → PRODUCT
DATE
2015/09/01
Manual No. → MANUAL
No.
CP
INPUT
24V DC
2.0A
Input power supply →
MP
INPUT
24V DC
7.6A
AXIS No. /OUTPUT
0
24V DC 1.2A
1
2
24V DC 1.6A
3
24V DC 1.6A
4
24V DC 0.4A
5
6
Information of the
connected axes →
(Axis No. 0 to 7)
7
CAUTION
：
Connect the wiring correctly and properly.
use IAI Corporation specified cables.
Made In Japan
5. How to read controller model code
(Example) Consists of 5 axes: 1
st
axis Pulse motor type, 2
nd
axis Ineffective axis, 3
rd
, 4
th
axis Servo motor type, 5
th
Brushless DC
motor and 6
th
No connected axis
MCON-C-5-20PWAI-PWAI-20WAI-20WAI-3DI-N -DV-0-0-ABB-**
Basic Specifications
List of Specifications
Specification Item
Specification Contents
Number of Controlled Axes
8 axes MAX.
Control/Motor Power Supply
Voltage
24V DC
10%
Brake Release Power Supply
Current Consumption
0.15A × Number of axes
Control Power Current
Consumption
1.0A
Control Power In-Rush Current MAX. 5A 30ms or less
Motor Current Consumption Refer to the section “Motor Current Consumption”
Motor Power In-Rush Current Number of slots × MAX. 10A 5ms or less
Heat Generation
26W Max.
Control System
Driver for Pulse Motor
: Weak field-magnet vector control
Driver for Servo Motor
: Vector control
Driver for Brushless DC Motor : Rectangular waveform drive
Specification Item
Specification Contents
Encoder Resolution
Refer to the section “Encoder Resolution”
Motor/Encoder Cable Length
MAX. 20m
(Note) It is 10m at maximum for Simple Absolute Type and when connecting to RCD.
Serial Communication
Interface
(SIO Port: Only for teaching)
RS485 1CH (based on Modbus Protocol) Speed 9.6 to 230.4kbps
External Interface
DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, EtherNet/IP, EtherCAT, PROFINET IO,
CC-Link IE Field, SSCNET
Ⅲ
/H, MECHATROLINK-
Ⅲ
, EtherCAT Motion
Data Setting and Input
PC Software, Touch Panel Teaching, Gateway Parameter Setting Tool
Data Retention Memory
Position data and parameters are saved in the nonvolatile memory.
(There is no limitation in number of writing)
Number of Positioning Points
256 points (There is no limit for simple direct and direct indication modes)
(The number of positioning points differs depending on the operation mode select by the
parameter setting.)
LED Display
(Mounted on Front Panel)
Status LED for driver 8 points (for each driver board)
Status LED for fieldbus 7 points
Electromagnetic Brake
Compulsory Release
Brake release available for each axis by compulsory release signal input (24V DC input)
Protective functions
(Note1)
Overcurrent Protection (Equipped with a built-in cutoff circuit using a semiconductor for each
slot)
Protection Function against
Electric Shock
Class I basic insulation
Insulation Resistance
500V DC 10M
Mass
Incremental Type : 620g, Absolute Type : 690g, Absolute Battery box : 1950g
Cooling Method
Forced air-cooling
External Dimensions
123W × 115H × 95D
Oversea Certifications
CE Mark, UL Standards
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
0 to 40
C for absolute battery
Surrounding storage
humidity
85%RH or less (non-condensing)
Usable Altitude
1000m or lower above sea level
Vibration Durability
Frequency 10 to 57Hz/ Swing width : 0.075mm
Frequency 57 to 150Hz/ Acceleration : 9.8m/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
Envi
ro
nm
en
t
Protection Class
IP20
Note 1 For servo-motor, the protection is triggered with the current greater in 1.4 times than the maximum load current.
<Motor Current Consumption> See below for the motor current consumption of the connectable actuators.
(Rated current, Max. current)
Max. Current [A]
Actuator Type
Rated
Current [A]
Power
Saving Type
Standard
Type
20P to 28P
2.0
RCP2, 3
28SP to 56P
2.0
High output
invalid
2.0
Pulse Motor
(Note 2)
RCP4, 5, 6
28P
to
56P
High-Output
Type
(Note 3)
3.5
4.2
2W
0.8
4.6
5W
1.0
6.4
10W (RCL)
1.3
6.4
10W (RCA, RCA2)
1.3
2.5
4.4
20W
1.3
2.5
4.4
20W (20S Type)
1.7
3.4
5.1
Servo Motor
(Note 4)
30W
1.3
2.2
4.4
Brushless DC Motor
3W
0.7
1.5
Note 2 The current is maximized at the excitation phase detection conducted in the first servo ON process after the power is
supplied (ordinary 100ms).
Note 3 High-output type driver board can control one axis per board.
Note 4 The current becomes maximum when the excitation phase of the servo-motor is detected, which is performed during the
initial servo ON processing after the power is injected. (Normal: Approx. 1 to 2 sec, MAX.: 10 sec).
<Calculation of 24V DC Power Capacity>
For the calculation of 24V DC power capacity, figure out the numbers for (1) to (6) below, and then follow Step (7).
(1) Control Power Current Consumption: 1.0Aꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ1)
(2) Current Consumption of Motor Power Supply:
Total of motor current consumption of connected actuator ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ2)
(3) Current Consumption at Excitation Phase Detection:
Maximum current in the total of maximum motor current to turn the servo ON at the same timeꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3)
(4) Control Power In-Rush Current: 5Aꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ4)
(5) Motor Power In-Rush Current: Number of slots × 10A ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ5)
(6) Brake Release Power Supply Current Consumption: Number of actuators with brake × 0.15A ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ6)
(7) Selection of Power Supply:
Usually, the rated current is to be approximately 1.3 times higher than 1) + 2) + 6) above considering approximately 30% of
margin to the load current. However, considering the current of 3) to 5), even though it is a short time, select a power supply
with “peak load corresponding” type or that with enough capacity. Avoid current of 3) to 5) 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 5)
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 5 The timing to turn the servo ON can be shifted in Driver Shutdown Release Delay Time in the gateway parameter
setting tool.
(Note) Make short-circuit on 0V side when separate power sources are used for the control power and motor power.
(Reference)
Selection of Power Supply Protection Circuit Breaker
It is recommended that the power supply protection is conducted on the primary side (AC power side) of the 24V DC power
supply unit.
Pay attention to the in-rush current of 24V DC power supply unit and rated cutoff current of the circuit breaker.
• Rated Breaking Current > Short-circuit Current = Primary Power Supply Capacity/Power Voltage
• (Reference) In-rush Current of IAI Power Supply Unit PS241 = 50 to 60A, 3msec
Applicable Fieldbus
(
DeviceNet, CC-Link, PROFIBUS-DP, CompoNet,
EtherNet/IP, EtherCAT, PROFINET IO, CC-Link IE Field,
SSCNET
Ⅲ
/H, MECHATROLINK-
Ⅲ
, EtherCAT Motion
)
<Series>
<Type>
C : Standard Type
CG : Safety Category
Compliant Type
<Connected Axes>
1 to 8: Number of driver axes
<Detail of Connected Axis>
[Pulse Motor Type]
[Servo Motor Type]
20P : 20□ pulse motor
2
: 2W servo motor
20SP : 20□ pulse motor
5
: 5W servo motor
28P : 28□ pulse motor
5S : 5W servo motor
28SP : 28□ pulse motor
10 : 10W servo motor
35P : 35□ pulse motor
20 : 20W servo motor
42P : 42□ pulse motor
20S : 20W servo motor
42SP : 42□ pulse motor
30 : 30W servo motor
56P : 56□ pulse motor
3D : 3W brushless DC electric motor
P : Ineffective axis (Pulse motor) A
: Ineffective axis (Servo motor)
D : Ineffective axis (brushless DC motor) N : Not connected
[Encoder Type]
WAI : Incremental / Battery-less Absolute Shared (Pulse Motor/Servo Motor Type)
I
: Incremental (Brushless DC Motor)
SA
: Simple Absolute (Pulse Motor / Servo Motor Type)
[Option]
HA
: High Acceleration/Deceleration Type (when servo motor selected)
LA
: Low Power Consumption Type (when servo motor selected)
T
: High-Output Setting Type (when actuator selected)
)
<Identification for IAI use only>
* There is no identification in some cases
<Applicable for Simple Absolute Type>
ABB
: Simple Absolute Type
(with absolute battery)
ABBN
: Simple Absolute Type
(with no absolute battery)
No indication : Incremental/
Battery-less Absolute
<Power Voltage>
0 : 24V DC
<I/O Cable Length>
0 : No cable
<I/O Type>
CC : CC-Link Type
CIE : CC-Link IE Field Type
CN : CompoNet Type
DV : DeviceNet Type
EC : EtherCAT Type
EP : EtherNet/IP Type
PR : PROFIBUS-DP Type
PRT : PROFINET IO Type
SSN : SSCNET
Ⅲ
/H Type
ML3 : MECHATROLINK-
Ⅲ
Type
ECM : EtherCAT Motion Type
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.
Drive Cutoff/Emergency
Stop Input Connector (4)
Power Connector (2)
External Brake
Input Connector (3)
System I/O Connector (5)
CC-Link Connector (8)
CC-Link Connector Enclosed
Terminal Resistance (8)
DeviceNet Connector (7)
Absolute Battery Box (Option) (9)
Please purchase separately
Absolute Battery AB-7 (9)
Dummy Plug DP-5 (6)
4B
