RCA/RCA2/RCL Positioner Controller ACON-CA

RCD Positioner Controller DCON-CA

Smart & Small

w w w . i n t e l l i g e n t a c t u a t o r. c o m
 Smart & Small
High functionality and performance is packed in
a space-saving, compact body
Shorter cycle time and greater ease of DCON-CA
use achieved by new functions
Micro cylinder capable of multi-point
the load. Furthermore, the simple absolute function has
positioning to 512 positions
been extended to support the absolute encoders of the RCA The ultra-compact micro cylinder is tiny enough to replace a
series. small air cylinder and supports up to 512 positioning points.
Advanced position settings are possible for transfer, push-
motion and up/down applications.
Micro cylinder with an actuator
size of 12 mm
Function ACON-CA DCON-CA
 —

Absolute encoder support  —

Simple absolute function  —

DCON-CA DSEP
Vibration damping control function  —

Servo monitor function  

Number Number
Maintenance function (see below)   of positions: of positions:
512 points 3 points
Calendar function (see below)  

ACON-CA DCON-CA ACON-CA DCON-CA ACON-CA DCON-CA

Maintenance timings can be Alarm timestamps can be Supporting a compre-

checked using the traveled retained by the calendar
distance calculation function function networks
The total distance travelled by the actuator The built-in calendar function (clock DeviceNet, CC-Link, PROFIBUS-DP,
is calculated and recorded in the controller, function) records alarms and other PROFINET-IO, CompoNet, Mechatrolink (*),
and if the preset distance is exceeded, a events with timestamps, which helps EtherCAT and EtherNet/IP are supported.
signal is output from the controller. analyze the causes of troubles should Field network connection allows for
This function can be used to check when they occur. -
to add grease or perform the next periodic
inspection. and current position read, among
others.

function” will help you.

“It’s time to
add grease!”

PLC

Output
signal

A signal is automatically output to the PLC when the

preset maintenance/inspection timing (number of
operations or distance travelled) is reached.

1 (*) Mechatrolink w/o CE conformity yet.

List of Models
Field network type (*) Mechatrolink w/o CE conformity yet.

PIO Pulse-train
I/O type
type type
DeviceNet CC-Link PROFIBUS-DP CompoNet Mechatrolink EtherCAT EtherNet/IP PROFINET-IO
connection connection connection connection connection connection connection connection

I/O type model number NP/PN PLN/PLP DV CC PR CN ML EC EP PRT

         
With absolute  —        
battery (“AB“)
Simple
absolute With absolute
ACON-CA battery unit (“ABU“)  —        
cation No absolute  —        
battery (“ABUN“)
 —        

DCON-CA          

Model Number

ACON CA 0
Series Type Motor type Encoder type I/O type I/O cable length Power supply Simple absolute Controller mounting
voltage

CA Standard type I Incremental 0 No cable 0 DC24V

A Absolute 2 2m
3 3m
Incremental / standard
5 5m (Blank)
2W motor (*) NP
2
(for linear motor control) PN is selected, the I/O cable length
AB
is “0.” (With absolute battery)
5W motor (*) PLN
5
(for linear motor control) PLP ABU
(With absolute battery unit)
5W motor DV
5S
(for RCA2-SA2/RA2) CC ABUN
(No absolute battery / battery unit)
10 10W motor PR
20 20W motor CN only when the encoder type is incremental.
20S 20W motor (**) ML
30 30W motor EC
* RCL series w/o CE conformity yet. EP
** When connecting an (Blank)
RCA-RA3/RGS3/RGD3 or PRT
RCA2-SA4/TA5 actuator.
DN
* Mechatrolink w/o CE conformity yet.

DCON CA I 0
Series Type Motor type Encoder type I/O type I/O cable length Power supply Controller mounting
voltage

CA Standard type I Incremental 0 No cable 0 DC24V

2 2m
3 3m
2.5W motor NP
3 5 5m
(brushless DC motor) PN
PLN is selected, the I/O cable length
is “0.”
PLP
DV
CC (Blank)
PR DN
CN
ML
EC
EP
PRT
* Mechatrolink w/o CE conformity yet.

2
 ACON Configuration
PLC
Option
PC Software
RS232 connection type
<Model: RCM-101-MW-ENG> Option Field network
USB connection type Teaching pendant (*) Mechatrolink w/o
<Model: RCM-101-USB-ENG> <Model: TB-01> CompoNet, Mechatrolink (*), EtherCAT, EtherNet/IP CE conformity yet.

PIO cable
<Model: CB-PAC-PIO020>
Standard length: 2m

DC24V
Power Supply
5m 24V
0V
Controller
FG
<Model: ACON-CA>
Standard: 0.5m
Simple absolute battery unit
DIN rail mount type <Model: SEP-ABU> Absolute battery
Screw mount type <Model: SEP-ABUS> <Model: AB-5 without case>
Supplied with the simple absolute <Model: AB-5-CS with case>
Supplied with the standard

Simple absolute battery

<Model: AB-7> Motor/encoder integrated cable
<Model: CB-APSEP-MPA>
Supplied with the simple absolute Comes with the actuator

Motor/encoder integrated cable

<Model: CB-APSEP2-MPA> Actuator
Comes with the actuator RCA2 series
RCL series (w/o CE conformity yet)

Actuator
RCA series

 If the RCA/RCA2 actuator is operated with the ACON-CA, specify “A5” as the applicable controller for the RCA/RCA2.
RCA(2) SA5C I 20 12 500 A5 M
Series Type Encoder Motor Lead Stroke Applicable controller Cable length

DCON Configuration
PLC
Option
PC Software
RS232 connection type
<Model: RCM-101-MW-ENG> Option Field network
USB connection type Teaching pendant (*) Mechatrolink w/o
<Model: RCM-101-USB-ENG> <Model: TB-01> CompoNet, Mechatrolink (*), EtherCAT, EtherNet/IP CE conformity yet.

PIO cable
<Model: CB-PAC-PIO020>
Standard length: 2m
DC24V
Power Supply
24V
5m
0V
Controller FG
<Model: DCON-CA>

Applicable controllers for RCD actuator are shown below:

Motor/encoder integrated cable (*) Applicable controller "D3" for DSEP-C/CW
<Model: CB-CA-MPA>
Comes with the actuator
<Model: CB-CA-MPA-RB> (robot cable)
Applicable controller "D5" for DCON-CA
<Model: CB-CAN-MPA>
<Model: CB-CAN-MPA-RB> (robot cable)
Actuator
RCD series The standard is "D5".

 When the actuator RCD is moved by DCON-CA, the call-out for the applicable controller of RCD is “D5”.
RCD RA1D I 3 2 10 D5 M
Series Type Encoder Motor Lead Stroke Applicable controller Cable length

3
 PIO I/O Interface (Common to ACON-CA/DCON-CA)
 Input Part  Output Part
Item ation Item ation
Input voltage 24 VDC ± 10% Load voltage 24 VDC
Input current 5mA, 1 circuit Maximum load current 50mA, 1 circuit
ON voltage: 18 VDC min.
ON/OFF voltage OFF voltage: 6 VDC max. Leak current 2mA max. per point

External power
supply P24
DC24V P24 Internal
circuit Output terminal
680 Internal Load
5.6k circuit
15
Input terminal External power
N supply DC24V

Input terminal P24

Internal External power
5.6k Internal circuit supply
680 circuit Output DC24V
terminal Load
External power N
supply 15
DC24V N

Types of PIO Patterns (Control Patterns) (Common to ACON-CA/DCON-CA)

This controller supports seven types of control methods. Select in Parameter No. 25,
“PIO pattern selection” the PIO pattern that best suits your purpose of use.
Type Set value of Parameter No. 25 Mode Overview
• Number of positioning points: 64 points
Positioning mode • Position number command: Binary Coded
PIO pattern 0 0 (factory setting)
(standard type) • Zone signal output*1: 1 point
• Position zone signal output*2: 1 point
• Number of positioning points: 64 points
Teaching mode • Position number command: Binary Coded
PIO pattern 1 1
(teaching type) • Position zone signal output*2: 1 point • Jog (inching) operation using PIO signals is supported.
• Current position data can be written to the position table using PIO signals.
• Number of positioning points: 256 points
256-point mode (256
PIO pattern 2 2 • Position number command: Binary Coded
positioning points)
• Position zone signal output*2: 1 point
• Number of positioning points: 512 points
512-point mode (512
PIO pattern 3 3 • Position number command: Binary Coded
positioning points)
• No zone signal output
• Number of positioning points: 7 points
Solenoid valve mode 1 • Position number command: Individual number signal ON
PIO pattern 4 4
(7-point type) • Zone signal output*1: 1 point
• Position zone signal output*2: 1 point
• Number of positioning points: 3 points
• Position number command: Individual number signal ON
Solenoid valve mode 2
PIO pattern 5 5 • Completion signal: A signal equivalent to a LS (limit switch) signal can be output.
(3-point type)
• Zone signal output*1: 1 point
• Position zone signal output*2: 1 point
• Differential pulse input (200 kpps max.)
PIO pattern 6 Pulse-train • Home return function
6
(Note) control mode • Zone signal output*1: 2 points
• No feedback pulse output
*1 Zone signal output: A desired zone is set by Parameter Nos. 1 and 2 or 23 and 24, and the set zone always remains effective once home return has completed.
*2 Position zone signal output: This function is available as part of a position number. A desired zone is set in the position table and
becomes effective only when the corr d, but not with commands specifying other positions.
(Note) Pulse Train Control Model is available only if the pulse train control type is indicated (from ACON/DCON-CA-*-PLN and -PLP) at the time of purchase.

4
 PIO Patterns and Signal Assignments (Common to ACON-CA/DCON-CA)

Connect an external device (such as a PLC) according to this table.

Parameter No. 25, “PIO pattern selection”
0 1 2 3 4 5
Category PIO function
Positioning Teaching 256-point 512-point Solenoid valve mode Solenoid valve mode
mode mode mode mode 1 2
Number of
positioning points 64 points 64 points 256 points 512 points 7 points 3 points

Home return signal —

Pin
number Input Jog signal — — — — —
Teaching signal (writing
of current position) — — — — —

Brake release —
Moving signal — — — —
Output Zone signal  (Note 1)  (Note 1) —
Position zone signal —
1A 24V P24
2A 24V P24
3A Pulse —
4A input —
5A IN0 PC1 PC1 PC1 PC1 ST0 ST0
6A IN1 PC2 PC2 PC2 PC2 ST1 ST1(JOG+)
7A IN2 PC4 PC4 PC4 PC4 ST2 ST2 (Note 2)
8A IN3 PC8 PC8 PC8 PC8 ST3 —
9A IN4 PC16 PC16 PC16 PC16 ST4 —
10A IN5 PC32 PC32 PC32 PC32 ST5 —
11A IN6 — MODE PC64 PC64 ST6 —
12A IN7 — JISL PC128 PC128 — —
Input
13A IN8 — JOG+ — PC256 — —
14A IN9 BKRL JOG- BKRL BKRL BKRL BKRL
15A IN10 RMOD RMOD RMOD RMOD RMOD RMOD
16A IN11 HOME HOME HOME HOME HOME —
17A IN12 *STP *STP *STP *STP *STP —
18A IN13 CSTR CSTR/PWRT CSTR CSTR — —
19A IN14 RES RES RES RES RES RES
20A IN15 SON SON SON SON SON SON
1B OUT0 PM1(ALM1) PM1(ALM1) PM1(ALM1) PM1(ALM1) PE0 LSO
2B OUT1 PM2(ALM2) PM2(ALM2) PM2(ALM2) PM2(ALM2) PE1 LS1(TRQS)
3B OUT2 PM4(ALM4) PM4(ALM4) PM4(ALM4) PM4(ALM4) PE2 LS2 (Note 2)
4B OUT3 PM8(ALM8) PM8(ALM8) PM8(ALM8) PM8(ALM8) PE3 —
5B OUT4 PM16 PM16 PM16 PM16 PE4 —
6B OUT5 PM32 PM32 PM32 PM32 PE5 —
7B OUT6 MOVE MOVE PM64 PM64 PE6 —
8B OUT7 ZONE1 MODES PM128 PM128 ZONE1 ZONE1
Output
9B OUT8 (Note 1) PZONE/ZONE2 PZONE/ZONE1 PZONE/ZONE1 PM256 PZONE/ZONE2 PZONE/ZONE2
10B OUT9 RMDS RMDS RMDS RMDS RMDS RMDS
11B OUT10 HEND HEND HEND HEND HEND HEND
12B OUT11 PEND PEND/WEND PEND PEND PEND —
13B OUT12 SV SV SV SV SV SV
14B OUT13 *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS
15B OUT14 *ALM *ALM *ALM *ALM *ALM *ALM
16B OUT15 *BALM (Note 3)/*ALML *BALM (Note 3)/*ALML *BALM (Note 3)/*ALML *BALM (Note 3)/*ALML *BALM (Note 3)/*ALML *BALM (Note 3)/*ALML
17B Pulse —
18B input —
19B 0V N
20B 0V N
(Note) In the table above, asterisk * symbol accompanying each code indicates a negative logic signal. PM1 to PM8 are alarm binary code output signals that are used when an alarm generates.
(Note 1) In all PIO patterns other than 3, this signal can be switched with PZONE by setting Parameter No. 149 accordingly.

(Note 3) This signal is dedicated only for ACON-CA.

Reference) Negative logic signal
Signals denoted by * are negative logic signals. Negative logic input signals are processed when turned OFF. Negative logic output signals normally remain ON while the power is supplied,
and turn OFF when the signal is output.
Note: The names of the signals above inside () are functions before the unit returns home.

5
 Pulse-train Control Circuit (Common to ACON-CA/DCON-CA)
 Host Unit = D erential Type  Pulse Converter: AK-04
Host unit PCON Open-collector command pulses are
Host unit ACON/DCON PIO connector
Positioning unit
PIO connector 3A
Positioning unit Pulse command
PP pulses.
3A 4A
Pulse command
(corresponding
to line driver 26C31) 4A
PP
17B
/PP Use this converter if the host controller
(corresponding /PP NP
to line driver 26C31) 17B 18B outputs open-collector pulses.
NP /NP
18B
/NP
19B
0V 0V
19B 20B
0V 0V 0V 0V
0V
20B
0V
Item
Input power 24 VDC ±10% (max. 50mA)
Input pulse Open-collector (Collector current: max. 12mA)
Input frequency 200kHz or less
Output pulse
 Host Unit = Open Collector Type The AK-04 (optional) is needed to input pulses. Mass 10g or less (excluding cable connectors)
Accessories 37104-3122-000L
Pulse converter PCON (e-CON connector) x 2
Host unit Pulse converter
DC
ACON/DCON
AK-04 (sold separately)
Host unit DC 24V 0V PIO connector
Positioning unit AK-04 (sold separately) PIO
Applic. wire: AWG No. 24~26
24V 0V 1 1 connector 3A
Positioning unit 24V PP PP
1 1 2 3A 2 4A
24V PP 0V *PP PP /PP
2 2 3 4A 3 17B
0V *PP PP NP /PP NP Opencollector Differential
Pulse command 3 3 4 17B 4 18B Input Output
PP NP NP *NP
Pulse command 4 NP *NP 4 18B
NP /NP 1 24V AK–04 PP 1

20
/NP 2 GND /PP 2
19B 3 PP NP 3
0V 4 NP /NP 4
19B 20B
0V 0V
0V 0V 20B
0V
0V 0V

10
50

Caution: Use the same power supply for open collector input/output to/from the host and for the AK-04.

Command Pulse Input Patterns

Command pulse-train pattern Input terminal Forward Reverse

Forward pulse-train PP·/PP

Reverse pulse-train NP·/NP

A forward pulse-train indicates the amount of motor rotation in the forward direction, while a reverse pulse-train indicates the amount of motor rotation in the reverse direction.

Pulse-train PP·/PP
Negative
logic Sign NP·/NP Low High

The command pulses indicate the amount of motor rotation, while the sign indicates the rotating direction.

PP·/PP
Phase A/B pulse-train
NP·/NP

Command phases A and B ha erence (multiplier is 4) indicate the amount of rotation and the rotating direction.

Forward pulse train PP·/PP

Reverse pulse-train NP·/NP

Pulse-train PP·/PP
Positive
logic
Sign NP·/NP High Low

PP·/PP
Phase A/B pulse-train
NP·/NP

6
 I/O Signals in Pulse-train Control Mode (Common to ACON-CA/DCON-CA)

Connect an external device (such as PLC) according to this table.

Pin Signal
number Category I/O number abbreviation Signal name Function description

1A 24V P24 Power supply I/O power supply +24 V

2A 24V P24 Power supply I/O power supply +24 V
3A Pulse PP erential pulse-train input (+) erential pulses are input from the host.
4A input /PP erential pulse-train input (-) Up to 200 kpps can be input.
5A IN0 SON Servo ON The servo is ON while this signal is ON, and OFF while
the signal is OFF.
6A IN1 RES Reset Present alarms are reset when this signal is turned ON.
7A IN2 HOME Home return Home return operation is performed when this signal is
turned ON.
8A IN3 TL Torque limit selection When this signal is turned ON, the motor torque is
limited to the value set by the parameter.
The actuator is forcibly stopped when this signal has
9A IN4 CSTP Forced stop remained ON for 16 ms or more.
The actuator decelerates to a stop at the torque set in
the controller and the servo turns OFF.
10A IN5 DCLR Deviation counter clear This signal clears the deviation counter.
11A Input IN6 BKRL Forced brake release The brake is forcibly released.
The operation mode can be switched when the MODE
12A IN7 RMOD Operation mode switching switch on the controller is set to AUTO. (AUTO when
this signal is OFF, and to MANU when the signal is ON.)
13A IN8 NC — Not used
14A IN9 NC — Not used
15A IN10 NC — Not used
16A IN11 NC — Not used
17A IN12 NC — Not used
18A IN13 NC — Not used
19A IN14 NC — Not used
20A IN15 NC — Not used
1B OUT0 PWR System ready This signal turns ON when the controller becomes
ready after the main power has been turned on.
2B OUT1 SV Servo ON status This signal turns ON when the servo is ON.
This signal turns ON when the amount of remaining
3B OUT2 INP Positioning complete travel pulses in the deviation counter falls within the
in-position band.
4B OUT3 HEND Home return complete This signal turns ON upon completion of home return.
5B OUT4 TLR Torque limited This signal turns ON upon reaching the torque limit
while the torque is limited.
6B OUT5 *ALM Controller alarm status This signal turns ON when the controller is normal, and
turns OFF when an alarm generates.
This signal turns ON when the emergency stop of the
7B Output OUT6 *EMGS Emergency stop status controller is cancelled, and turns OFF when an emergency
stop is actuated.
8B OUT7 RMDS Operation mode status The operation mode status is output. This signal turns
ON when the controller is in the manual mode.
9B OUT8 ALM1
10B OUT9 ALM2 An alarm code is output when an alarm generates.
Alarm code output signal For details, refer to the operation manual.
11B OUT10 ALM4
12B OUT11 ALM8
13B OUT12 *ALML Minor failure alarm This signal is output when a message-level alarm generates.
14B OUT13 NC — Not used
15B OUT14 ZONE1 Zone signal 1 This signal turns ON when the current position of the
16B OUT15 ZONE2 Zone signal 2 actuator falls within the parameter-set range.
17B Pulse NP erential pulse-train input (+) erential pulses are input from the host.
18B input /NP erential pulse-train input (-) Up to 200 kpps can be input.
19B 0V N Power supply I/O power supply 0 V
20B 0V N Power supply I/O power supply 0 V
(Note) * indicates a negative logic signal. Negative logic signals are normally ON while the power is supplied, and turn OFF when the signal is output.

7
 (Common to ACON-CA/DCON-CA)

to operate the actuator.

Take note that the required data areas on the PLC side vary depending on the mode.
 Explanation of Modes

Mode Description
In this mode, the actuator is operated by controlling the ON/OFF of bits via the network, just like
0 Remote
I/O mode
operation patterns (PIO patterns) that can be set by the controller’s parameter.
Position/simple
1 direct numerical (speed, acceleration, etc.) are set by specifying the desired position number corresponding to the
mode desired operating conditions already input to the position data table.
Half direct The actuator is operated by specifying the speed, acceleration/deceleration and push current, in
2 numerical mode addition to the target position, by directly entering values.
The actuator is operated by specifying the target position, speed, acceleration/deceleration, push
3 Full direct current control value, etc., by directly entering values.
numerical mode
The current position, current speed, command current, etc., can also be read.
Remote I/O Same as the above remote I/O mode, plus the current position read function and command
4 mode 2 current read function.

 Required Data Size for Each Network (*) Mechatrolink w/o CE conformity yet.

DeviceNet CC-Link PROFIBUS-DP CompoNet MECHATROLINK (*) EtherCAT EtherNet/IP PROFINET

Remote 2 bytes
0 I/O mode 1CH 1 station 2 bytes 2 bytes ¤ 2 bytes 2 bytes

Position/simple
1 direct numerical 4CH 1 station 8 bytes 8 bytes ¤ 8 bytes 8 bytes 8 bytes
mode

2 Half direct 8CH 2 stations 16 bytes 16 bytes 16 bytes 16 bytes 16 bytes

numerical mode ¤

3 Full direct 16CH 4 stations 32 bytes 32 bytes 32 bytes 32 bytes 32 bytes

numerical mode ¤

Remote 12 bytes
4 I/O mode 2 6CH 1 station 12 bytes 12 bytes ¤ 12 bytes 12 bytes

* “¤“ indicates that no required data size is set for MECHATROLINK I and II.

 List of Functions by Operation Mode

Remote Position/simple Half direct Full direct Remote

direct numerical numerical numerical
I/O mode mode mode mode I/O mode 2
Number of positioning points 512 points 768 points Not limited Not limited 512 points
—    —

— —   —

Push-motion operation     
Current position read —    
Current speed read — —   —

  — — 
Completed position number read   — — 
* “O“ indicates that the operation is supported, and “—“ indicates that it is not supported.

8
 External Dimensions (Common to ACON-CA/DCON-CA)
Scr Scr
35 84.8 84.8
5
ø35 ø5 69.6 69.1
93.3 93.3

width: 35mm)

(DIN rail width: 35mm)

35 35 77.6 78.1
8.5 8.5

104 from DIN

104 from DIN

rail center

center
35.4

35.4
railrail
(DIN
178.5

178.5
170.5

170.5

178.5

178.5
185

185
4 4

M3 (for fixing
the FG line)

5 5

(5)

(5)
withWith
absolute
absolute battery Scr Scr
battery With with
absolute
absolute
battery
battery
84.8 84.8 93.3 93.3
35 ø5
35 ø5 69.6 69.1 35 35 77.6 78.1

width: 35mm)

(DIN rail width: 35mm)

8.5 8.5

104 from DIN

from DIN
rail center

railcenter
10435.4

35.4
(DINrail
178.5

178.5
Absolute batterybattery
Absolute
178.5

178.5
170.5

170.5

Absolute battery

185

185
Absolute battery
M3 (for fixing the FG line) 4 4

* The *absolute
The absolute
battery battery * The *absolute
The absolute
battery battery
is installed
is installed on theon the is installed
is installed
on theon the
leftwhen
left side side when
the the left side
leftwhen
side when
the the
controller
controller is viewed
is viewed controller
controller
is viewed
is viewed (58)
from
from the the side.
front front side. (58) (58)5 5 from the
from front
the side.
front side.

(5)

(5)
withWith
absolute
absolute
battery
battery
unit unitScr Scr With with
absolute battery
absolute unit unit
battery
Absolut 73.5 73.5 93.3 93.3
5 ø5

35mm)

(DIN rail width: 35mm)

35 ø35 84.8 84.8 battery ø5 ø5 66.2 66.2 (7.3) (7.3) 77.6 78.1 * The *above
The absolute
absolutebattery

50 from DIN

50 from DIN
35 35

width: 35mm)

(DIN rail width: 35mm)

69.6 69.1

rail center

rail center
unit 8.5 8.5
battery
unit
unit
comes
comes
with battery

(DIN rail width:

with the
andcontroller.
connection cable.

35.4

35.4
104 from DIN

DIN
Absolut

104 from35.4

35.4
72.2 72.2

rail center

center
Absolute
battery
batteryunit (6)
66.2 66.2 (6)

railrail
122
130
122
130

(DIN
178.5

178.5
170.5

170.5

178.5

178.5
185

185
4 4

100

100
110

110
M3 (for
fixing the
FG line)
5 5

5
15 15 * The *absolute
The above
battery
absolute
unit battery
comes DIN securing
DIN securing
tab tab
30 30 30 30
with battery
unit comes
and connection
with the controller.
cable.

(10)

(10)
5 5 movingmoving
width: width:
5mm 5mm
(5)

(5)
35 ø5 84.8 93.3
69.6 78.1
35 8.5

35.4 (DIN rail width: 35mm)

104 from DIN rail center
178.5
170.5

178.5
185 4

17 17
M3 (for fixing
the FG line)

5
52
(5)

52

Item ACON-CA DCON-CA

Number of controlled axes 1 axis
Power supply voltage 24VDC ± 10%
Rush current from power supply 10 A (Rush current limiting circuit is provided)
Cooling method Natural air cooling
Simple tuning Available (RCA only) Not available
Support of absolute function Standard absolute, simple absolute Not available
Backup memory FRAM (256 kbit) Number of rewrite: No limit
I/O power supply 24VDC ± 10%
Number of I/Os 16IN / 16OUT

Available
Serial communication RS485: 1 channel (conforming to Modbus protocol)
Ambient operating temperature 0 to 40°C
Ambient operating humidity 85% RH or less (non-condensing)
Protection degree IP20
Incremental spec.: 230 g, simple absolute spec.: 240 g (incl. battery: 430 g)
Weight Standard absolute spec.: 240 g (including battery: 260 g)

 Motor power capacity

Standard/High-acceleration Power-saving
Motor type Rated [A] Max. [A] Rated [A] Max. [A]
10W 1.3 4.4 1.3 2.5
RCA/RCA2 20W 1.3 4.4 1.3 2.5
30W 1.3 4 1.3 2.2
ACON-CA 20W(20S) 1.7 5.1 1.7 3.4
2W 0.8 4.6
RCL (w/o CE conformity yet) 5W 1 6.4
10W 1.3 6.4
DCON-CA RCD 3W 0.7 1.5

9
 Option (Common to ACON-CA/DCON-CA)
Teaching pendant
❚ Summary A teaching device that has position input, test operation, monitoring function, etc.
❚ Model TB-01- Rated voltage 24 VDC
3.6 W or less (150 mA or less)
210 88.6 Power consumption
❚ Setting Ambient operating 0 to 50°C
temperature
Ambient operating 20 to 85%RH (Non-condensing)
humidity

169.5
Environmental IP40 (initial state)
5m resistance
Weight 507 g (TB-01 only)

❚ Types This teaching pendant supports all of the controllers listed below, but the cable(s) must be selected according to each controller.
Model kit: teaching pendant + cable set (model number of teaching pendant: TB-01-N-ENG)
Model kit Supplied cable Applicable controller
Position controller cable Position controller
TB-01-SC-ENG
Program controller cable + conversion cable PSEL, ASEL, SSEL, XSEL-K/P/Q/R/S, TT, TTA
TB-01-C-ENG Position controller cable Position controller

PC software (Windows only)

❚ Summary A startup support software for inputting positions, performing test runs, and monitoring.
With enhancements for adjustment functions, the startup time is shortened.

❚ Model RCM-101-MW-ENG (External device communication cable + RS232 conversion unit)

❚ Setting ACON-CA/DCON-CA is supported by Ver.9.05.00.00 or later

RS232 conversion adapter

RCB-CV-MW
5m

0.3m External device

PC software (CD) communication cable
CB-RCA-SIO050

❚ Model RCM-101-USB-ENG (External device communication cable + USB converter adaptor

+ USB cable)
ACON-CA/DCON-CA is supported by Ver.9.05.00.00 or later
❚ Setting
USB conversion adapter
RCB-CV-USB
3m 5m

USB cable External device

PC software (CD) CB-SEL-USB030 communication cable
CB-RCA-SIO050

Absolute Battery Unit Replacement battery

❚ Summary Battery unit that comes with a simple absolute controller, ❚ Summary
used to back up the current controller position. The replacement battery for the
❚ Model SEP-ABU ❚ Absolute data retention time
SEP-ABUS Up to 20 days
❚ ❚ Model AB-7
Item SEP-ABU / SEP-ABUS

Operating ambient temperature, humidity

0 to 40°C (desirably around 20°C), Replacement battery
95% RH or below (non-condensing)
❚ Summary
Operating ambience Free from corrosive gases
The replacement battery for the
Absolute battery Model: AB-7 (Ni-MH battery / Life: ca. 3 years)
Controller / absolute battery Model: CB-APSEP-AB005
unit link cable (Length: 0.5m) ❚ Absolute data retention time
Up to 2 years
Battery box: 140g or less
Mass
Battery: 140g or less ❚ Model AB-5
❚ External Dimensions (Refer to P.9)

10
CJ0211-1A-UST-2-0914

Maintenance parts
Integrated Motor-Encoder Robot Cable for [RCA]-[ACON-CA] Connection

Model CB-ASEP2-MPA Actuator end

Pin number
1 Red [U]
Controller end
Pin number
1
2 Yellow [V] 2
* The default specification of this cable is robot cable. * Please indicate cable length (L) in , NC 3
maximum 20m. Example: 080=8m 3
NC
Black [W]
4
5
NC 6
18 Orange [BK+] 7
(Front (20) L 17 Gray [BK-] 8
view) 7 Black [LS+] 9
16 Brown [LS-] 10
(10)

(ø8.5)
1 White [A+] 11
(10) 2 Yellow [A-] 12
(25) (14)

3 Red [B+] 13
4 Green [B-] 14

(26)
10 15
11 16
14 17
13 18
(15) (14) 15 19
Minimum bend radius R: r = 68 mm or larger (for movable use) 6
5
Green (ident. tape) [(Preparation)]
NC
20
21
Actuator end Controller end 8 NC 22
12 NC 23
9 Shield [FG] 24

Integrated Motor-Encoder Robot Cable for [RCA2/RCL]-[ACON-CA] Connection

Model CB-APSEP-MPA Actuator end

Pin number
A1
[PCON] (ACON)
Black [ A] (U)
Controller end
Pin number
1
B2 White [VMM] (V) 2
* The default specification of this cable is robot cable. * Please indicate cable length (L) in , A2 Brown [ ] (W) 5
maximum 20m. Example: 080=8m B2 Green [ ] (-) 3
A3 Yellow [VMM] (-) 4
B3 Red [ /B] (-) 6
L A4 Orange [LS+] (BK+) 7
Gray [LS-] (BK-) 8
(Front B4 White [-] (A+) 11
A6
(ø8.5)

view) B6
Yellow [-] (A-)
Red [A+] (B+)
12
13
A7 Green [A-] (B-) 14
B7 Black [B+] (Z+) 15

(26)
(30)

A8 Brown [B-] (Z-) 16

B8 9
A5 10
(23) (11) B5 20
A9 18
(10) 17
(18) B9 19
A10
Minimum bend radius R: r = 68 mm or larger (for movable use) B10
NC 21
24
Shield [FG] (FG)
Actuator end Controller end A11 NC 22
B11 NC 23

Integrated Motor-Encoder Cable / Integrated Motor-Encoder Robot Cable for [RCD]-[DCON-CA] Connection

Model CB-CAN-MPA / CB-CAN-MPA-RB Pin no. Signal name

3
5
øA/U
VMM/V
Pin no. Signal name
1
2
øA/U
VMM/V
10 ø_A/W 3 ø_A/W
* Please indicate cable length (L) in , 9 øB/- 4 øB/-
maximum 20m. Example: 080=8m 4 VMM/- 5 VMM/-
15 ø_B/- 6 ø_B/-
8 LS+/BK+ 7 LS+/BK+
(Front 14
12
LS-/BK-
-/A+
S
11
LS-/BK-
-/A+
view) L 17 -/A- 12 -/A-
(10) 1 A+/B+ 13 A+/B+
(ø8.5) (Note 1)
(18)

(12) 6 A-/B- 14 A-/B-

11 B+/Z+ 15 B+/Z+
16 B-/Z- 16 B-/Z-
(26)
(13)

20 BK+/LS+ 9 BK+/LS+
2 BK-/LS- 10 BK-/LS-
21 LS_GND 17 LS_GND
7 VPS 19 VPS
Actuator end Minimum bend radius R: r = 68 mm or larger (for movable use) Controller end 1S VCC 1S VCC
13 GND 20 GND
* Robot cables are cables resistant to flexing forces. 19
22
—
—
22
21
—
—
If the cable must be guided in a cable track, use a robot cable. 23 — 23 —
24 FG 24 FG
(Note 1) If the cable length is 5 m or more, the diameter of the non-robot cable becomes ø9.1,
while that of the robot cable becomes ø10.

I/O Flat Cable

Model CB-PAC-PIO HIF6-40D-1.27R

No. Signal
name
Cable
color Wiring No. Signal
name
Cable
color Wiring
1A 24V Brown-1 1B OUT0 Brown-3
* Please indicate cable length (L) in , 2A 24V Red-1 2B OUT1 Red-3
maximum 10m. Example: 080=8m 3A Pulse Orange-1 3B OUT2 Orange-3
4A input Yellow-1 4B OUT3 Yellow-3
L 5A IN0 Green-1 5B OUT4 Green-3
6A IN1 Blue-1 6B OUT5 Blue-3
7A IN2 Purple-1 7B OUT6 Purple-3
8A IN3 Gray-1 8B OUT7 Gray-3
9A IN4 White-1 9B OUT8 White-3 Flat cable
Flat cable
No 10A IN5 Black-1 10B OUT9 Black-3 (crimped)
connector B 20A 20B 11A IN6 Brown-2
(crimped)
11B OUT10 Brown-4 AWG 28
12A IN7 Red-2 12B OUT11 Red-4
13A IN8 Orange-2 13B OUT12 Orange-4
14A IN9 Yellow-2 14B OUT13 Yellow-4
15A IN10 Green-2 15B OUT14 Green-4
No 16A IN11 Blue-2 16B OUT15 Blue-4
connector 1A 1B
A 17A IN12 Purple-2 17B Pulse Purple-4
Half-pitch MIL socket: 18A IN13 Gray-2 18B input Gray-4
HIF6-40D-1.27R (Hirose) 19A IN14 White-2 19B 0V White-4
Flat cable (20 cores) x 2 20A IN15 Black-2 20B 0V Black-4

IAI America, Inc. IAI Industrieroboter GmbH

Headquarters: 2690 W. 237th Street, Torrance, CA 9050 (800) 736-1712 Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
Chicago Office: 110 East State Parkway, Schaumburg, IL 60173 (800) 944-0333 IAI Robot (Thailand), CO., Ltd.
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066 (888) 354-9470 825 PhairojKijja Tower 12th Floor, Bangna-Trad RD.,
www.intelligentactuator.com Bangna, Bangna, Bangkok 10260, Thailand
The information contained in this product brochure may change without prior notice due to product improvements.