IAI PCON-CA First Step Manual Download Page 4

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● EtherCAT® Connector

Pin No.

Signal Name

Abbreviated Code

Data s

Data sending -

−

Data rec

Not used

Data receiving -

−

Not used

Connector Hood

Security grounding

●  Operation Mode Setting and Address Allocation
  The operation mode is set using the parameters.
  Set the mode change switch on the controller front panel to “MANU” side and set the parameter No.84

“FMOD: Fieldbbus Operation Mode” using the teaching tool such as PC software for RC.
[Refer to the Instruction Manual for the details]

●  Node address setting
  Node address can be set with the parameter.
  Set Parameter No.85 “NADR: Fieldbus Node Address” with a teaching tool such as PC software for RC.
  Settable Range: 0 to 127 (It is set to 17 which is the I/O slave top address of EtherCAT® at the delivery.)
●  Communication Speed Setting

The setting for the communication speed is not required because it automatically follows the master’s

communication speed.

(Note) After parameter setting, reset the controller mode change witch to “AUTO” side, and then cycle the controller power.

EtherNet/IP

● Specification

Item

Specification

Communication Protocol

IEC61158 (IEEE802.3)

Communication Speed

10BASE-T/100BASE-T (Autonegotiation setting is recommended)

Communication Cable Length

Depends on EtherNet/IP Type
(Distance between hub and each node: 100m max.)

Number of Connection

Depends on the master unit

Applicable Node Address

0.0.0.0 to 255.255.255.255

Communication Cable

Category 5 or more
(Double shielded cable braided with aluminum foil recommended)

Connector

RJ45 Connector

1pc

● Interface Section

(Note) Refer to the troubleshooting or the Instruction Manual for the details of LED displays.

● EtherNet/IP Connector

Pin No.

Signal Name

Abbreviated Code

Data s

Data sending -

−

Data rec

Not used

Data receiving -

−

Not used

Connector Hood

Security grounding

“FMOD: Fieldbus Operation Mode” using the teaching tool such as PC software for RC.
[Refer to the Instruction Manual for the details]

● Communication Speed Setting

The Communication speed can be set with the parameter. A special setting is not necessary since it is set

to automatic negotiation when the product is delivered. However, when a fixed speed is required, change
the setting to the desired speed in Parameter No.86 “FBRS: Fieldbus Communication Speed” of the
teaching tool in the PC software for RC.
[Refer to the Instruction Manual for the details]

●  IP Address Setting
  IP Address can be set with the parameter.
  Set Parameter No.140 “IPAD: IP Address” with a teaching tool such as PC software for RC.
  Settable Range: 0.0.0.0 to 255.255.255.255 (It is set to “192.168.0.1” when the machine is delivered from

the factory.)

●  Settings for Subnet Mask
  Subnet Mask can be set with the parameter.
  Set Parameter No.141 “SNMK: Subnet Mask” with a teaching tool such as PC software for RC.
  Settable Range: 0.0.0.0 to 255.255.255.255 (It is set to “255.255.255.0” when the machine is delivered

from the factory.)

● Settings for Default Gateway

  Default Gateway can be set with the parameter.
  Set Parameter No.142 “DFGW: Default Gateway” with a teaching tool such as PC software for RC.
  Settable Range: 0.0.0.0 to 255.255.255.255 (It is set to “0.0.0.0” when the machine is delivered from the

factory.)

(Note) After parameter setting, reset the controller mode change witch to “AUTO” side, and then cycle the controller power.

PROFINET-IO

● Specification

Item

Specification

Communication protocol

IEC61158 (IEEE802.3), IEC61748

Communication Speed

100Mbps

Communication cable length

Depends on PROFINET-IO Specification
(Distance between each segment: 100m Max.)

Number of Connection

Depends on the master unit

Applicable node address

0.0.0.0 to 255.255.255.255

Communication cable

Category 5 or more
(Double shielded cable braided with aluminum foil recommended)

Connector

RJ45 Connector

1pc

● Interface Section

(Note) Refer to the troubleshooting or the Instruction Manual for the details of LED displays.

● EherNet/IP Connector

Pin No.

Signal Name

Abbreviated Code

Data sending

−

Data receiving

Not used

Data receiving

−

Not used

Connector Hood

Security grounding

● Operation Mode Setting and Address Allocation

The operation mode is set using the parameters.
Set the mode change switch on the controller front panel to “MANU” side and set the parameter No. 84
“FMOD: Field Bus Operation Mode” using the teaching tool such as PC software for RC.
[Refer to the Instruction Manual for the details]

● Communication Speed Setting

It is not necessary to establish setting. It is fixed at 100Mbps.

● Node address setting

It is not necessary to establish setting on the IAI controller side as it should be established on the master
side.

(Note) After parameter setting, reset the controller mode change witch to “AUTO” side, and then cycle the controller power.

Starting Procedure

When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to
the procedure below.
This section explains how to start up an EtherCAT®, EtherNet/IP and PROFINET-IO complaint PCON,
ACON and DCON (described as the “controller” in the following diagram). 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.

Trouble Shooting

If an error has occurred, it is possible to check the operation condition on the status LEDs on the front panel.

● Status LED Displays of EtherCAT® Type

{

: Illuminating,

: OFF,

☆

: Flashing

Name

Indication Color

Description

Initial condition (EtherCAT® communication in “INIT” condition) or the
power is OFF

{

(GN)

In normal operation (EtherCAT® communication in “OPERATION”
condition)

☆

(GN)

(ON: 200ms/OFF: 200ms)

(EtherCAT® communication in “PRE-OPERATION” condition)

☆

(GN)

(ON: 200ms/OFF: 1000ms)

(EtherCAT® communication in “SAFE-OPERATION” condition)

RUN

{

(OR)

Communication component (module) error

No abnormality or the power is OFF

☆

(OR)

(ON: 200ms/OFF: 200ms)

Construction information (settings) error
(Information received from the master cannot be set)

☆

(OR)

(ON: 200ms

2 times/

OFF: 1000ms)

Communication section circuit error
(Watchdog timer timeout)

ERR

{

(OR)

Communication component (module) error

Link status not detected or the power is OFF

{

(GN)

Linked (No network congestion)

Link/

Activity

☆

(GN)

(ON: 50ms/OFF: 50ms)

Linked (Network in congestion)

RJ45 8-pin
Modular Connector
(Controller side)

NS LED

MS LED

EtherNet/IP Port

Status LED

Status Diplay LED

Check of Packed Items
Has everything been received?

Installation and Wiring
Follow Instruction Manual and this manual to install the
controller and connect to the network.
Also, perform the wirings of the motor and encoder
cables for the power supply unit and the actuators
following the Instruction Manual of each controller.

To turn ON the controller
1) Set the mode switch on the front panel to MANU side.
2) Set the brake release switch on the front panel to NOM side.
3) Connect a teaching tool such as the PC software.
4) Turn the power ON and start up the teaching tool with
“Teaching Mode Safety Speed Valid” setting.

Controller Initial Settings
Refer to each fieldbus section to perform the necessary parameter settings of the modes, addresses, etc.
• Set Parameter No.35 Safety Speed if necessary. [Initial Value: 100mm/s]

Servo ON
Turn the servo ON by operating the teaching tool.

Point Check Item
• Is frame ground (FG) connected?
• Has the noise countermeasure been taken?

Important Check Item
Is the status display LED on
the front panel turned OFF?

Check the detail of the alarm on
the teaching tool and remedy
any errors.

Yes↓

No↓

→

No→

↓Yes

←Yes

↓

Note (In the case that the actuator is in vertical mount)
When the machine is turned ON/OFF repeatedly at the same
position, the actuator position may lower slightly due to its own
weight. Take care not to catch your hand or damage the work.

Check of Safety Circuit
Check that the emergency stop circuit (or motor drive-power cutoff circuit)
operates normally to turn OFF the servo.

Important Check Item
Is the status display LED
turned ON in green?

If an alarm is generated (status display
LED is ON in red), check the detail of
the alarm on the teaching tool and
remedy any errors.

Settings on Host System
Refer to PLC Instruction Manual to perform the communication settings and so on.

Refer to the Instruction Manual
for each unit, controller and PLC
to check each setting.

No↓

Yes↓

↓Yes

↓

→

No→

Communication is now established. Perform an operation check and adjustment for the system.

Confirming Communication Establishment
• Confirm the communication is established on the status LED on the front
panel. [Refer to the troubleshooting]
• Is the LED status in normal condition? Is PLC (master unit) side also
in normal condition?
(Note) Refer to PLC and master unit Instruction Manuals for how to check
the master unit side.

RJ45 8-pin
Modular Connector
(Controller Side)

PROFINET-IO Port

Monitoring LED

SV/ALM Status Display LED