IAI ACON-C Operation Manual Download

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ACON-C/CG, PCON-C/CG

(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)

Signal type

Bit Symbol

Contents

Details

Current

position

32-bit

data

32-bit signed integer indicating the current position

The setting unit is 0.01mm.

(Example) Reading: 000003FF

=1023 (decimal)

=10.23mm

* When the value is read in hexadecimal notation, the negative

figure is expressed as

a complement of 2.

2.8 (2)

Command

current

32-bit

data

32-bit integer

The electrical current presently specified by a command is indicated.

The setting unit is mA.

(Example) Reading: 000003FF

=1023 (decimal)

=1023mA

2.8 (2)

Current

speed

32-bit

data

32-bit signed integer indicating the current position

The current speed is indicated.

Positive value: The actuator is moving in the direction opposite

home.

Negative value: The actuator is moving in the direction of home.

The setting unit is 0.01mm/sec.

(Example) Reading: 000003FF

=1023 (decimal)

=10.23mm/sec

* When the value is read in hexadecimal notation, the negative

figure is expressed as a complement of 2.

2.8 (2)

Alarm code 16-bit

data

16-bit integer

When an alarm is issued, the alarm code is output.

When any alarm is not issued, it is “0

”.

Refer to the operation manual for the controller main body for the

details of the alarms.

2.8 (2)

b15 EMGS

Emergency stop: An emergency stop is actuated when this signal

turns ON.

2.6.7 (2)

b14

PWR

Controller ready: This signal turns ON when the controller becomes

ready.

2.6.7 (1)

b13 ZONE2

Zone 2: “ON” for the current position within the zone set range

2.6.7 (12)

b12 ZONE1

Zone 1: “ON” for the current position within the zone set range

2.6.7 (12)

b11
b10

Unavailable

RMDS

Operation mode status:

This signal is OFF when the current mode is AUTO, or ON when the

current mode is MANU.

2.6.7 (19)

b7
b6

Unavailable

PSEL

Pressing and a Miss: This signal turns ON when the actuator

missed the work part in pressing operation.

2.6.7 (23)

Operation preparation end: This signal turns ON when the servo

turns ON.

2.6.7 (5)

ALM

Alarm: This signal turns ON when an alarm occurs.

2.6.7 (3)

MOVE

Moving signal: This signal remains ON while the actuator is moving.

2.6.7 (9)

HEND

Home return completion: This signal turns ON when home return is

completed.

2.6.7 (6)

Status

signal

PEND

Positioning completion signal: This signal turns ON when

positioning is completed.

2.6.7 (10)

Summary of Contents for ACON-C

Page 1: ...EtherNet IP IAI America Inc Operation Manual Fourth Edition ACON C CG PCON C CG CA CFA SCON CA ...

Page 2: ......

Page 3: ... in a convenient place so that whoever is handling this product can reference it quickly when necessary Important x This operation manual is original x The product cannot be operated in any way unless expressly specified in this operation manual IAI shall assume no responsibility for the outcome of any operation not specified herein x Information contained in this operation manual is subject to ch...

Page 4: ......

Page 5: ... Mode Number of Occupied Bytes 2 22 2 6 3 Position Simplified Direct Value Mode Number of Occupied Bytes 8 28 2 6 4 Half Direct Value Mode Number of Occupied Bytes 16 33 2 6 5 Full Direct Value Mode Number of Occupied Bytes 32 40 2 6 6 Remote I O Mode 2 Number of Occupied Bytes 12 49 2 6 7 I O Signal Controls and Function 53 2 7 I O Signal Timings 70 2 8 Operation 71 2 9 EtherNet IP Related Parame...

Page 6: ...t Mask 167 4 5 5 Setting the Default Gateway 167 4 6 Communicating with the Master Station 168 4 6 1 Operation Modes and Corresponding PLC I O Areas 168 4 6 2 Remote I O Mode Number of Occupied Bytes 2 172 4 6 3 Position Simplified Direct Value Mode Number of Occupied Bytes 8 177 4 6 4 Half Direct Value Mode Number of Occupied Bytes 16 182 4 6 5 Full Direct Value Mode Number of Occupied Bytes 32 1...

Page 7: ...Example of Connection Settings with Keyence s Master 276 5 2 1 Connection Example 276 5 2 2 Setting the Controller 276 5 2 3 Setting the PLC 277 5 2 4 Checking the I O Data on the PLC 282 Change History 283 ...

Page 8: ......

Page 9: ...t safety parts of machinery Safety device etc Ɣ Do not use the product outside the specifications Failure to do so may considerably shorten the life of the product Ɣ Do not use it in any of the following environments 1 Location where there is any inflammable gas inflammable object or explosive 2 Place with potential exposure to radiation 3 Location with the ambient temperature or relative humidity...

Page 10: ...the safety factor of the hook in such factors as shear strength Ɣ Do not get on the load that is hung on a crane Ɣ Do not leave a load hung up with a crane Ɣ Do not stand under the load that is hung up with a crane 3 Storage and Preservation Ɣ The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensation Ɣ ...

Page 11: ...ooseness Failure to do so may cause a fire electric shock or malfunction of the product Ɣ Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Failure to do so may cause the product to malfunction or cause fire 4 Installation and Start 3 Grounding Ɣ The grounding operation should be performed to prevent an electric shock or ele...

Page 12: ... to secure safety Ɣ Do not insert a finger or object in the openings in the product Failure to do so may cause an injury electric shock damage to the product or fire Ɣ When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity 5 Teaching Ɣ When the work is carried out with 2 or more persons mak...

Page 13: ...minal block or any of the various setting switches in the power ON mode Failure to do so may result in an electric shock or malfunction 7 Automatic Operation Ɣ Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Ɣ Before starting automatic operation make sure that all peripheral equipment is in an automatic operation r...

Page 14: ...lt in a damage to the product Ɣ When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity Ɣ The slider or rod may get misaligned OFF the stop position if the servo is turned OFF Be careful not to get injured or damaged due to an unnecessary operation Ɣ Pay attention not to lose the cover or un...

Page 15: ...e product is not handled correctly will result in death or serious injury Danger Warning This indicates a potentially hazardous situation which if the product is not handled correctly could result in death or serious injury Warning Caution This indicates a potentially hazardous situation which if the product is not handled correctly may result in minor injury or property damage Caution Notice This...

Page 16: ...communication mode of the switching hub Fixed to 10 M Fixed to 100 M EtherNet IP unit Switching hub Auto negotiation Full duplex Half duplex Full duplex Half duplex Auto negotiation recommended X c X c Full duplex X c X X X Fixed to 10 M Half duplex c X c X X Full duplex X X X c X Fixed to 100 M Half duplex c X X X c Connection possible recommended c Connection possible X Connection not possible 2...

Page 17: ...system with minimum wiring Note 1 For detailed explanations of EtherNet IP refer to the operation manual for the programmable controller hereinafter referred to as PLC in which the master unit is installed Use this operation manual along with operation manual of each controller Usage other than the ones described in this operation manual is prohibited x System Configuration Example Master PLC CPU ...

Page 18: ...herNet IP specifications The distance between the hub and each node must be within 100 m Note 1 Number of connections Varies depending on the master unit Applicable node address 0 0 0 0 to 255 255 255 255 Communications cable Category 5e or above Aluminum tape and braided double shielded cable are recommended Connector RJ45 connector 1 per connector Note 1 For details refer to the installation man...

Page 19: ...ssing operation c c c c c Current position read X c c c c Current speed read X X c c X Operation with the position No specified c c X X c Completion position No read c c X X c No of max position tables 512 768 Unused Unused 512 1 For the position data items except for position data operate the system with the position No set up 1 Remote I O mode In this operation method EtherNet IP communications ...

Page 20: ...sition data The settable No of position data items is max 768 points Number of occupied bytes 8 bytes Actuator ACON or PCON applicable to EtherNet IP Target position 100 00mm Position No 0 Speed Acceleration Deceleration Push 3 Half direct value mode In this operation mode Speed Acceleration Deceleration and Pressing Current Values are directly established along with the Target Position Number of ...

Page 21: ...de expands the functionality of Remote I O Mode to include position and command current feedback Number of occupied bytes 12 bytes Target position 100 00 mm Positioning band 0 10 mm Speed setup 100 0 mm s Acceleration 0 30 G Deceleration 0 30 G Pressing current value 50 Load current threshold 0 Zone 50 00 mm Zone 30 00 mm Actuator ACON or PCON applicable to EtherNet IP ACON or PCON applicable to E...

Page 22: ...14 2 2 Model Numbers The Model numbers of ACON and PCON applicable to EtherNet IP are described as follows Ɣ ACON C CG EP Ɣ PCON C CG EP Front panel color Printed series name y ACON y PCON y ACON Dark blue y PCON Dark green ...

Page 23: ...ACON C CG PCON C CG 15 2 3 EtherNet IP Interface 2 3 1 Names of the Parts The names of each section related to EtherNet IP are described as follows 05 5 Status indicator LEDs EtherNet IP port Status LEDs ...

Page 24: ...communication error is present Communication cannot be established because an error such as duplicate IP addresses has been detected NS ڏ Red A communication error is present A communication timeout has been detected Check the IP address setting wiring condition of the communication line power supply for the hub noise measures etc The power is turned off ٤ Green Operation is normal The system is i...

Page 25: ...cessing is not required 2 4 2 Connector Pin Layout Pin number Signal name Signal abbreviation 1 Data transmitted TD 2 Data transmitted TD 3 Data received RD 4 Not used 5 Not used 6 Data received RD 7 Not used 8 Not used Connector hood Grounding pin for security FG RJ45 8 pin modular connector Controller side PLC EtherNet IP master unit Ethernet cable Ethernet cable Ethernet cable Other slaves ACON...

Page 26: ...escribed above will cause an Excessive Input Value Error 2 5 2 Setting the Baud Rate Set parameter No 86 FBRS Fieldbus baud rate Set value Baud rate 0 Factory setting Auto negotiation recommended 1 10 Mbps half duplex 2 10 Mbps full duplex 3 100 Mbps half duplex 4 100 Mbps full duplex Other than the above Baud rate setting error 2 5 3 Setting the IP Address Set parameter No 140 IPAD IP address Ref...

Page 27: ... The factory setting is 255 255 255 0 2 5 5 Setting the Default Gateway If necessary set parameter No 142 DFGW Default gateway Refer to 2 9 EtherNet IP Parameters Settable range 0 0 0 0 to 255 255 255 255 The factory setting is 0 0 0 0 Note After the parameter setting turn on the power to the controller again and return the mode toggle switch on the front of the controller to AUTO side When the sw...

Page 28: ...ccupied bytes 12 n n 1 Port No 0 to 15 Port No 0 to 15 n 2 n 3 Target position Target position Target position n 4 n 5 Specified position number n 6 n 7 Control signal Positioning band Positioning band n 8 n 9 Speed n 10 n 11 Acceleration deceleration Speed setup Occupied area n 12 n 13 Pressing current limiting value n 14 n 15 Control signal Zone boundary n 16 n 17 n 18 n 19 Zone boundary n 20 n ...

Page 29: ...Port No 0 to 15 Port No 0 to 15 n 2 n 3 Current position Current position Current position Occupied area n 4 n 5 Completed position No simple alarm ID n 6 n 7 Status Signal Command current Command current Current position n 8 n 9 n 10 n 11 Current speed Current speed Command current n 12 n 13 Alarm code Alarm code n 14 n 15 Status signal n 16 n 17 n 18 n 19 n 20 n 21 n 22 n 23 n 24 n 25 n 26 n 27 ...

Page 30: ...oning points and two zone output points are available The direct operation command is available for each position No A position complete signal is output for each position number 5 Electromagnetic valve mode 2 3 positioning points and two zone output points are available The actuator is operated by specifying forward backward and intermediate position commands A position complete signal is output ...

Page 31: ... duplicated node addresses 2 I O signal allocation for each axis The I O signals of each axis consist of one input word 1 word 2 bytes and one output word in the I O areas x This is controlled by ON OFF bit signals from the PLC PCL output Address n indicates the first output address of each axis PCL input Address n indicates the first input address of each axis Controller input port number 1 word ...

Page 32: ...itioning start 14 RES Reset RES Reset RES Reset PLC output o ACON input 15 SON Servo ON command SON Servo ON command SON Servo ON command 0 PM1 PM1 PM1 1 PM2 PM2 PM2 2 PM4 PM4 PM4 3 PM8 PM8 PM8 4 PM16 PM16 PM16 5 PM32 Completed position No PM32 Completed position No PM32 6 MOVE Moving signal MOVE Moving signal PM64 7 ZONE1 Zone 1 MODES Teaching mode signal PM128 Completed position No 8 PZONE Posit...

Page 33: ... SON Servo ON command 0 PM1 PE0 Position 0 complete LS0 Retracting end movement command 0 1 PM2 PE1 Position 1 complete LS1 Retracting end movement command 1 2 PM4 PE2 Position 2 complete LS2 Retracting end movement command 2 3 PM8 PE3 Position 3 complete 4 PM16 PE4 Position 4 complete 5 PM32 PE5 Position 5 complete 6 PM64 PE6 Position 6 complete Unavailable 7 PM128 ZONE1 Zone 1 ZONE1 Zone 1 8 PM2...

Page 34: ...rvo ON command 0 PM1 PM1 PM1 1 PM2 PM2 PM2 2 PM4 PM4 PM4 3 PM8 PM8 PM8 4 PM16 PM16 PM16 5 PM32 Completed position No PM32 Completed position No PM32 6 MOVE Moving signal MOVE Moving signal PM64 7 ZONE1 Zone 1 MODES Teaching mode signal PM128 Completed position No 8 PZONE Position zone PZONE Position zone PZONE Position zone 9 RMDS Operation mode status RMDS Operation mode status RMDS Operation mod...

Page 35: ...Position 0 complete LS0 Retracting end movement command 0 1 PM2 PE1 Position 1 complete LS1 Retracting end movement command 1 2 PM4 PE2 Position 2 complete LS2 Retracting end movement command 2 3 PM8 PE3 Position 3 complete 4 PM16 PE4 Position 4 complete 5 PM32 PE5 Position 5 complete 6 PM64 PE6 Position 6 complete Unavailable 7 PM128 ZONE1 Zone 1 ZONE1 Zone 1 8 PM256 Completed position No PZONE P...

Page 36: ...ontrolled using this mode are as shown in the following table ROBO cylinder function Direct control U Indirect control x Disable Remarks Home return operation Positioning operation Speed and acceleration deceleration setting U Pitch feed inching U Pressing operation U Speed change during the movement U Operation at different acceleration and deceleration U These items must be set in the position d...

Page 37: ...ke range 0 to effective stroke length for the actuator concerned z The specified position No and completed position No are expressed using 1 word 16 bits binary data The figures from 0 to 767 can be set in PLC However set the position No for which the operation conditions have been set in advance using the PC software or teaching tools PLC output Address n indicates the first output address of eac...

Page 38: ... address of each axis When the current position is shown using the negative figure it is expressed using the complement of 2 1 word 2 bytes 16 bits Current position lower word Current position upper word n 0 n 1 n 2 n 3 Completed position No Status signal n 4 n 5 n 6 n 7 ...

Page 39: ... MANU mode is selected when the signal is ON 2 6 7 19 b13 b12 Unavailable b11 PMOD Position simple direct switching The position mode is selected when this signal is OFF and the simple direct mode is selected when the signal is ON 2 6 7 20 b10 MODE Teaching mode command The normal mode is selected when this signal is OFF and the teaching mode is selected when the signal is ON 2 6 7 16 b9 PWRT Posi...

Page 40: ...ler becomes ready 2 6 7 1 b13 ZONE2 Zone 2 ON for the current position within the zone set range 2 6 7 12 b12 ZONE1 Zone 1 ON for the current position within the zone set range 2 6 7 12 b11 PZONE Position zone This signal turns ON when the current position is inside the specified position zone 2 6 7 12 b10 MODES Teaching mode signal This signal is ON while the teaching mode is selected 2 6 7 16 b9...

Page 41: ...deceleration setting Pitch feed inching Pressing operation Speed change during the movement Operation at different acceleration and deceleration x Pause Zone signal output U Parameters must be set PIO pattern selection x 1 PLC address configuration n indicates the first address of each axis Parameter No 84 ACON PCON side input register PLC side output address bytes ACON PCON side output register P...

Page 42: ... 0 to 65535 Unit 1 0mm sec can be set in PLC Set the value that does not exceed the max speed value for the actuator concerned z The Acceleration deceleration is expressed using 1 word 16 bits binary data The figures from 1 to 300 Unit 0 01G can be set in PLC However set the value that does not exceed the max acceleration deceleration value for the actuator in question z The pressing current limit...

Page 43: ...the negative figure it is expressed using the complement of 2 1 word 2 bytes 16 bits Target position Lower word Target position Upper word n 2 n 3 n 0 n 1 Positioning band lower word Speed Acceleration deceleration Pressing current limitin Control signal Positioning band upper word n 12 n 13 n 10 n 11 n 8 n 9 n 6 n 7 n 4 n 5 n 14 n 15 ...

Page 44: ...ment of 2 When the current speed is shown using the negative figure it is expressed using the complement of 2 Current position lower word Current position upper word 1 word 2 bytes 16 bits n 2 n 3 n 0 n 1 Alarm code Status signal Command current lower word Command current upper word Current speed upper word Current speed lower word n 12 n 13 n 10 n 11 n 8 n 9 n 6 n 7 n 4 n 5 n 14 n 15 ...

Page 45: ... on the operation type 1 In the case of positioning operation it shows the allowable range from the target position that is regarded as the positioning completion 2 In the case of pressing operation it shows the pressing width value Specify the normal operation or pressing operation using the PUSH control signal setting 2 8 2 Speed 16 bit data 16 bit integer Specify the speed at which to move the ...

Page 46: ...ion 2 6 7 22 b12 PUSH Pressing specification Positioning operation is performed when this signal is OFF and pressing operation is performed when the signal is ON 2 6 7 21 b11 b10 b9 Unavailable b8 JOG Jog ON for movement in the opposite direction of home 2 6 7 13 b7 JOG Jog ON for movement in the home direction 2 6 7 13 b6 JVEL Jog speed inch distance switching The values set in parameter No 26 Jo...

Page 47: ...eger When an alarm is issued the alarm code is output When any alarm is not issued it is 0H Refer to the operation manual for the controller main body for the details of the alarms 2 8 2 b15 EMGS Emergency stop An emergency stop is actuated when this signal turns ON 2 6 7 2 b14 PWR Controller ready This signal turns ON when the controller becomes ready 2 6 7 1 b13 ZONE2 Zone 2 ON for the current p...

Page 48: ...es the first address of each axis Parameter No 84 ACON PCON side input register PLC side output address bytes ACON PCON side output register PLC side input address bytes n n 1 n n 1 Target position n 2 n 3 Current position n 2 n 3 n 4 n 5 n 4 n 5 Positioning band n 6 n 7 Command current n 6 n 7 n 8 n 9 n 8 n 9 Speed n 10 n 11 Current speed n 10 n 11 n 12 n 13 Alarm code n 12 n 13 Zone boundary n 1...

Page 49: ...1 to 300 Unit 0 01G can be set in PLC However set the value that does not exceed the max acceleration deceleration value for the actuator in question z The pressing current limiting value is expressed using 1 word 16 bits binary data The figures from 0 0 to 255 100 can be set in PLC However set the value within the settable range for the pressing current limiting value Refer to the Catalog or oper...

Page 50: ... of 2 When the zone boundary is shown using the negative figure it is expressed using the complement of 2 1 word 2 bytes 16 bits Target position lower word Target position upper word n 2 n 3 n 0 n 1 Positioning band lower word Positioning band upper word Speed lower word Zone boundary lower word Speed upper word Zone boundary upper word n 12 n 13 n 10 n 11 n 8 n 9 n 6 n 7 n 4 n 5 n 14 n 15 ...

Page 51: ...gnment for b7 and b6 of n 28 n 29 Symbol Symbol Controller ACON PCON Controller ACON PCON b10 SMOD b7 MOD1 b6 MOD0 3 This is a dedicated function for PCON controllers It is not available with ACON controllers 1 word 2 bytes 16 bits Control signal 2 Acceleration Deceleration Pressing current limiti ng value Load current threshold 3 Control signal 1 n 28 n 29 n 26 n 27 n 24 n 25 n 22 n 23 n 20 n 21 ...

Page 52: ...ve figure it is expressed using the complement of 2 1 Signal assignment for b10 and b9 of n 30 n 31 Symbol Controller ACON PCON b10 LOAD b9 TRQS Current position lower word 1 word 2 bytes 16 bits n 0 n 1 Current position upper word n 2 n 3 Command current lower word n 4 n 5 Command current upper word n 6 n 7 Current speed lower word n 8 n 9 Current speed upper word n 10 n 11 Alarm code n 12 n 13 U...

Page 53: ...ning completion 2 In the case of pressing operation it shows the pressing width value Specify the normal operation or pressing operation using the PUSH control signal setting 2 8 3 Speed 32 bit data 32 bit integer Specify the speed at which to move the actuator The unit is 0 01 mm sec and the settable range is 0 to 999999 Example When it is 25 41mm sec set it as 2541 When the movement command is s...

Page 54: ...ccur 2 8 3 Load current threshold 16 bit data 16 bit integer Set the current threshold in this register when whether or not the load current exceeds the threshold is judged The allowable specification range is 0 0 to 255 100 If threshold judgment is not required enter 0 2 8 3 b15 b14 b13 b12 b11 Unavailable ACON Unavailable b10 PCON SMOD Stopping control mode When this signal is ON servo control i...

Page 55: ...FF and the MANU mode is selected when the signal is ON 2 6 7 19 b13 b12 b11 b10 b9 Unavailable b8 JOG Jog ON for Movement in the Opposite Direction of Home 2 6 7 13 b7 JOG Jog ON for Movement in the Home Direction 2 7 7 13 b6 JVEL Jog speed inch distance switching The values set in parameter No 26 Jog speed and parameter No 48 Inch distance are used when this signal is OFF and the values set in pa...

Page 56: ...ithin the zone set range 2 6 7 12 b12 ZONE1 Zone 1 ON for the current position within the zone set range 2 6 7 12 b11 PZONE Position zone This signal turns ON when the current position is inside the specified position zone 2 6 7 12 ACON Unavailable ON OFF is undefined b10 PCON LOAD Load output judgment When this signal is ON the specified load has been reached When the signal is OFF the load has n...

Page 57: ...e no zone outputs 4 Electromagnetic valve mode 1 7 positioning points and two zone output points are available The direct operation command is available for each position No A position complete signal is output for each position number 5 Electromagnetic valve mode 2 3 positioning points and two zone output points are available The actuator is operated by specifying forward backward and intermediat...

Page 58: ... The areas denoted by Occupied area cannot be used for any other purpose Also exercise caution to avoid node address duplication 2 I O signal allocation for each axis The I O signals of each axis consist of 6 input words channels and 6 output words 6 words 12 bytes in the I O areas z The areas controlled by port number are controlled using ON OFF bit signals z The current position is a 2 word 32 b...

Page 59: ...position is shown using the negative figure it is expressed using the complement of 2 1 word 2 bytes 16 bits Controller output port number Unavailable Current position lower word Current position upper word n 6 n 7 n 4 n 5 n 2 n 3 n 0 n 1 Command current upper word Command current lower word n 10 n 11 n 8 n 9 ...

Page 60: ...nal type Bit Symbol Contents Details Current position 32 bit data 32 bit signed integer indicating the current position The setting unit is 0 01mm Example Reading 000003FFH 1023 decimal 10 23mm When the value is read in hexadecimal notation the negative figure is expressed as a complement of 2 PLC input Command current 32 bit data 32 bit integer The value of electrical current specified by the cur...

Page 61: ...ON When the emergency stop status is cleared it is turned OFF 3 Alarm ALM PLC input signal When any error is detected using the controller protection circuit function it is turned ON ŶFunction When any error is detected and the protection circuit function is activated this signal is turned ON When the cause of the alarm is eliminated and the reset signal is turned ON the alarm is turned OFF in the...

Page 62: ...ned ON the Status Indicator LED Refer to 2 3 EtherNet IP Interface on the front surface of the controller illuminates in green The SV signal is synchronized with this LED ŶFunction Using the SON signal the turning ON OFF of the controller is available While the SV signal is ON the controller s servo motor is turned ON and the operation becomes available The relationship between the SON signal and ...

Page 63: ...Even after the completion of the home return operation when the HOME signal is turned ON the home return operation can be performed Caution In the Remote I O mode Remote I O mode 2 and Position Simplified Direct Value Mode when the positioning command is issued without performing the home return operation after the power is applied the positioning is performed after the automatic home return opera...

Page 64: ...erformed automatically Turn OFF this signal after confirming that the Positioning Completion Signal PEND signal has been turned OFF 8 Positioning command DSTR Used in the half direct mode and full direct mode PLC output signal This signal is processed at the startup ON edge and the positioning to the target position input in the PLC s target position register is performed When this signal is issue...

Page 65: ...uator is stopped at the target position the PEND signal is turned OFF temporarily Then when the servo motor is turned ON and the actuator is within the positioning band the PEND signal is turned ON again When the positioning is completed with the CSTR signal or DSTR signal turned ON the PEND signal is not turned ON 11 Pause STP PLC output signal When this signal is turned ON the actuator movement ...

Page 66: ... set using the parameter No 23 Zone Boundary 2 Side and No 24 Zone Boundary 2 Side The Zone 1 Signal and Zone 2 Signal become effective when the home return operation is completed After that even during the servo OFF it is effective 2 Position zone Each zone is set in the position table or using the zone boundary resister In the case of the Position Simplified Direct Value Mode the PZONE signal is...

Page 67: ... the actuator is decelerated and stopped 2 Inch operation The inching operation is available while the JISL signal is turned ON Once it is turned ON the actuator is moved as much as the inching distance When the JOG is turned ON the movement is to the opposite of the home and when the JOG is turned ON the movement is to the home The operation is performed based on the set values of the following p...

Page 68: ...ted and performs the inching operation When the JISL signal is turned OFF jog while the actuator is moving by inching the actuator will complete the movement and then switch to the jog function The table below summarizes the relationship of the ON OFF statuses of the JISL signal and jog speed inch distance switching JVEL signal Jog operation Inch operation JISL OFF ON Speed Parameter No 26 Jog spe...

Page 69: ... signal Position data import complete WEND PLC input signal The PWRT signal is available when the teaching mode signal MODES is turned ON Turn the PWRT signal ON 1 and the data of the current position will be written to the Position field under the position number set to the specified position number resister of the PLC 2 When the data writing is completed the WEND signal is turned ON After the WE...

Page 70: ...able for the target position in the movement and the use of the value specified in the PLC s target position register PMOD OFF Use the position table PMOD ON Use the value of the target position resister 21 Pressing specification PUSH PLC output signal When the movement command signal is output after this signal is turned ON the pressing operation is performed When this signal is set to OFF the no...

Page 71: ...ued while this signal is turned ON the actuator is moved to the position expressed as the value input in the PLC s target position register based on the current position Incremental move When this signal is turned OFF the actuator is moved to the position expressed as the value set in the PLC s target position register 25 Pressing in progress PUSHS PLC input signal This signal is turned ON during ...

Page 72: ...ter No 50 Load Output Judgment Time Period x Set the parameter No 51 Torque Inspected Range to 0 enabled x Set the threshold inspected width using the PLC s Zone Boundary Register or Zone Boundary Register x Set the threshold using the PLC s Load Current Threshold Register x Set the positioning band using the PLC s Positioning Band Register Set it a bit longer from the backmost position considerin...

Page 73: ...d When the machine is delivered it has been individually set depending on the actuator characteristics Set an appropriate speed considering the work part material and shape x Set the parameter No 50 Load Output Judgment Time Period x Set the parameter No 51 Torque Inspected Range to 1 disable x Set the threshold using the PLC s Load Current Threshold Register x Set the positioning band using the P...

Page 74: ...is used in the standby condition SMOD OFF Standby condition x Full servo control mode By means of servo control of the pulse motor the holding current can be reduced The reduction level varies depending on the actuator type or load conditions However generally the holding current will be 1 2 to 1 4 The actual holding current can be confirmed in the current monitor window in the PC software Note Un...

Page 75: ...tion deceleration mode field in the position table is set to 1 S shaped motion the S shaped motion degree is defined by parameter No 56 The setting unit is and the setting range is from 0 to 100 This is set to 0 S shaped motion disabled in the factory setting An S shaped motion becomes a sine waveform after one cycle of the acceleration time Specify the degree of amplitude by parameter No 56 Param...

Page 76: ...t the speed will accelerate significantly at around the mid point of the acceleration deceleration time Do not exceed the rated acceleration deceleration time of the actuator First order lag filter This describes a much gentler acceleration deceleration curve than that for the linear acceleration deceleration trapezoid pattern Use it when it is not desired to give any slight vibration to the work ...

Page 77: ...on manual for the controller for more information ASO1 ASO0 Functions Reference OFF OFF Disabled Set in delivery OFF ON Automatic Servo OFF Method Parameter No 36 is valid for T ON OFF Automatic Servo OFF Method Parameter No 37 is valid for T ON ON Automatic Servo OFF Method Parameter No 38 is valid for T T T Movement Command Actuator Moving Target Position Servo Condition In automatic servo OFF d...

Page 78: ...PLC s sequence program the response status is returned to the PLC The maximum response time is expressed using the following formula Maximum response time msec 䋽Yt Xt 3 command processing time operation time etc Yt Master stationoslave transmission delay time Xt Slaveomaster station transmission delay time Master Station o For the master station o slave transmission delay Yt and slave omaster stat...

Page 79: ...ontroller at the startup ON edge of the CSTR signal 4 After the CSTR signal is turned ON the PEND signal is turned OFF after tdpf 5 After confirming that the PEND signal is turned OFF or MOVE signal is turned ON turn OFF the CSTR signal Do not change the value in the target position register until the CSTR signal is turned OFF 6 At the same time when the PEND signal is turned OFF the MOVE signal i...

Page 80: ...ning time of the host controller set it so that T1 0ms Yt Xt tdpf Yt Xt 3 msec 7 1 2 3 4 5 6 Set value of target position data Specific position number Positioning start Positioning completion Current position Moving Positioning band Actuator moving ...

Page 81: ...dge of the DSTR signal 9 After the DSTR signal is turned ON the PEND signal is turned OFF after tdpf 10 After confirming that the PEND signal is turned OFF or the MOVE signal is turned ON turn OFF the DSTR signal Do not change any value in each register until the DSTR signal has been turned OFF 11 At the same time when the PEND signal is turned OFF the MOVE signal is turned ON 12 The current posit...

Page 82: ...rget position data Set value of positioning band data Set value of speed data Set value of acceleration deceleration data Set value of pressing current limiting value Pressing specification Push direction specification Positioning command Positioning completion pressing and a miss PEND PSFL Current position Moving Actuator operation Pressing Actuator operation Normal positioning T1 Pressing ...

Page 83: ...The data items set in Steps 1 through 8 are read in the controller at the startup ON edge of the DSTR signal 12 After the DSTR signal is turned ON the PEND signal is turned OFF after tpdf 13 After confirming that the PEND signal is turned OFF or the MOVE signal is turned ON turn OFF the DSTR signal Do not change any value in each register until the DSTR signal has been turned OFF 14 At the same ti...

Page 84: ... position data Set value of positioning band data Set value of speed data Set value of position zone boundary data Set value of acceleration data Set value of deceleration data Set value of pressing current limiting value Set value of load current threshold data ...

Page 85: ...T1 0ms Yt Xt tdpf Yt Xt 3 msec 9 10 11 12 13 17 16 15 14 Pressing specification Push direction specification Positioning command Positioning completion pressing and a miss PEND PSFL Current position Moving Actuator operation Normal positioning Actuator operation Pressing Pressing Positioning band ...

Page 86: ...me for twcsON twcsOFF or more until the next DSTR is turned ON The example is shows as follows where the speed and acceleration deceleration data items have been changed twcsON Yt Xt 3 msec twcsOFF Yt Xt 3 msec Yt Xt tpdf Yt Xt 3 msec Caution 1 When the speed has not been set or it is set to 0 the actuator is not moved but an alarm is not issued 2 When the speed setting is changed to 0 during the ...

Page 87: ...eration using PIOs 24 V I Os is performed via EtherNet IP 1 Position simple direct mode 8 The target position can be set directly using the value or the operation can be performed using position data value The other values required for the operation are set on the position data 2 Half direct value mode 16 In addition to the target position the speed acceleration deceleration and pressing current v...

Page 88: ... in parameter No 90 Contents 0 Data exchange is not performed The data is sent directly to the PLC Refer to Example i 1 The host bytes are exchanged with slave bytes in the host words and slave words Refer to Example ii 2 In the case of word register the host words are exchanged with the slave words Refer to Example iii 3 Factory setting The host bytes are exchanged with slave bytes in the host wo...

Page 89: ...ON C CG 81 Example ii Set value 1 z indicates ON while c indicates OFF ACON PCON Input resister ACON PCON Output resister Hexadecimal data Hexadecimal data Hexadecimal data Hexadecimal data PLC Output CH PLC Input CH ...

Page 90: ...N C CG 82 Example iii Set value 2 z indicates ON while c indicates OFF ACON PCON Input resister ACON PCON Output resister Hexadecimal data Hexadecimal data Hexadecimal data Hexadecimal data PLC Output CH PLC Input CH ...

Page 91: ...ON C CG 83 Example iv Set value 3 z indicates ON while c indicates OFF ACON PCON Input resister ACON PCON Output resister Hexadecimal data Hexadecimal data Hexadecimal data Hexadecimal data PLC Output CH PLC Input CH ...

Page 92: ... simple alarm code is output to the n 4 n 5 bytes In half direct mode 1 2 or 3 or in the full direct mode this alarm code is output to the n 12 n 13 bytes 1 Check the alarm code using the monitor function of the PLC etc or connect the RC PC software or other teaching tool and check the status monitor screen 2 Search the alarm list in the operation manual for your controller to find the section cor...

Page 93: ...eration c c c c c Current position read X c c c c Current speed read X X c c X Operation with the position No specified c c X X c Completion position No read c c X X c No of max position tables 512 768 Unused Unused 512 1 For the position data items except for position data operate the system with the position No set up 1 Remote I O mode In this operation method EtherNet IP communications is used ...

Page 94: ...ion data The settable No of position data items is max 768 points Number of occupied bytes 8 bytes Actuator PCON CA CFA applicable to EtherNet IP Target position 100 00mm Position No 0 Speed Acceleration Deceleration Push 3 Half direct value mode In this operation mode Speed Acceleration Deceleration and Pressing Current Values are directly established along with the Target Position Number of occu...

Page 95: ... expands the functionality of Remote I O Mode to include position and command current feedback Number of occupied bytes 12 bytes Target position 100 00 mm Positioning band 0 10 mm Speed setup 100 0 mm s Acceleration 0 30 G Deceleration 0 30 G Pressing current value 50 Load current threshold 0 Zone 50 00 mm Zone 30 00 mm Actuator PCON CA CFA applicable to EtherNet IP PCON CA CFA applicable to Ether...

Page 96: ...8 3 2 Model Numbers The Model numbers of PCON CA CFA applicable to EtherNet IP are described as follows Ɣ PCON CA EP Ɣ PCON CFA EP Front panel color Printed series name y PCON yPCON CA Dark green yPCON CFA Light green ...

Page 97: ...ng A communication error is present Communication cannot be established because an error such as duplicate IP addresses has been detected NS RED Flashing A communication error is present A communication timeout has been detected Check the IP address setting wiring condition of the communication line power supply for the hub noise measures etc OFF The power is turned off GN㧔Illuminating Operation i...

Page 98: ...sing is not required 3 4 2 Connector Pin Layout Pin number Signal name Signal abbreviation 1 Data transmitted TD 2 Data transmitted TD 3 Data received RD 4 Not used 5 Not used 6 Data received RD 7 Not used 8 Not used Connector hood Grounding pin for security FG RJ45 8 pin modular connector Controller side PLC EtherNet IP master unit Ethernet cable Ethernet cable Ethernet cable Other slaves ACON C ...

Page 99: ...ve Input Value Error 3 5 2 Setting the Baud Rate Set parameter No 86 FBRS Fieldbus baud rate Set value Baud rate 0 Factory setting Auto negotiation recommended 1 10 Mbps half duplex 2 10 Mbps full duplex 3 100 Mbps half duplex 4 100 Mbps full duplex Other than the above Baud rate setting error 3 5 3 Setting the IP Address Set parameter No 140 IPAD IP address Refer to 3 9 EtherNet IP Parameters Set...

Page 100: ... factory setting is 255 255 255 0 3 5 5 Setting the Default Gateway If necessary set parameter No 142 DFGW Default gateway Refer to 3 9 EtherNet IP Parameters Settable range 0 0 0 0 to 255 255 255 255 The factory setting is 0 0 0 0 Note After the parameter setting turn on the power to the controller again and return the mode toggle switch on the front of the controller to AUTO side When the switch...

Page 101: ...mber of occupied bytes 12 n n 1 Port No 0 to 15 Port No 0 to 15 n 2 n 3 Target position Target position Target position n 4 n 5 Specified position number n 6 n 7 Control signal Positioning band Positioning band n 8 n 9 Speed n 10 n 11 Acceleration deceleration Speed setup Occupied area n 12 n 13 Pressing current limiting value n 14 n 15 Control signal Zone boundary n 16 n 17 n 18 n 19 Zone boundar...

Page 102: ... 2 n 3 Current position Current position Current position Occupied area n 4 n 5 Completed position No simple alarm ID n 6 n 7 Status Signal Command current Command current Current position n 8 n 9 n 10 n 11 Current speed Current speed Command current n 12 n 13 Alarm code Alarm code n 14 n 15 Status signal n 16 n 17 n 18 n 19 Occupied area n 20 n 21 n 22 n 23 Total moving count n 24 n 25 n 26 n 27 ...

Page 103: ...g points and two zone output points are available The direct operation command is available for each position No A position complete signal is output for each position number 5 Electromagnetic valve mode 2 3 positioning points and two zone output points are available The actuator is operated by specifying forward backward and intermediate position commands A position complete signal is output sepa...

Page 104: ...uplicated node addresses 2 I O signal allocation for each axis The I O signals of each axis consist of one input word 1 word 2 bytes and one output word in the I O areas x This is controlled by ON OFF bit signals from the PLC PCL output Address n indicates the first output address of each axis PCL input Address n indicates the first input address of each axis Controller input port number 1 word 2 ...

Page 105: ...command SON Servo ON command SON Servo ON command 0 PM1 PM1 PM1 1 PM2 PM2 PM2 2 PM4 PM4 PM4 3 PM8 PM8 PM8 4 PM16 PM16 PM16 5 PM32 Completed position No PM32 Completed position No PM32 6 MOVE Moving signal MOVE Moving signal PM64 7 ZONE1 Zone 1 MODES Teaching mode signal PM128 Completed position No 8 PZONE ZONE2 Position zone Zone 2 PZONE ZONE1 Position zone Zone 1 PZONE ZONE1 Position zone Zone 1 ...

Page 106: ...ommand 0 1 PM2 PE1 Position 1 complete LS1 Retracting end movement command 1 2 PM4 PE2 Position 2 complete LS2 Retracting end movement command 2 3 PM8 PE3 Position 3 complete 4 PM16 PE4 Position 4 complete 5 PM32 PE5 Position 5 complete 6 PM64 PE6 Position 6 complete Unavailable 7 PM128 ZONE1 Zone 1 ZONE1 Zone 1 8 PM256 Completed position No PZONE ZONE2 Position zone Zone2 PZONE ZONE2 Position zon...

Page 107: ...led using this mode are as shown in the following table ROBO cylinder function Direct control U Indirect control x Disable Remarks Home return operation Positioning operation Speed and acceleration deceleration setting U Pitch feed inching U Pressing operation U Speed change during the movement U Operation at different acceleration and deceleration U These items must be set in the position data ta...

Page 108: ...ange 0 to effective stroke length for the actuator concerned z The specified position No and completed position No are expressed using 1 word 16 bits binary data The figures from 0 to 767 can be set in PLC However set the position No for which the operation conditions have been set in advance using the PC software or teaching tools PLC output Address n indicates the first output address of each ax...

Page 109: ...ss of each axis When the current position is shown using the negative figure it is expressed using the complement of 2 1 word 2 bytes 16 bits Current position lower word Current position upper word n 0 n 1 n 2 n 3 Completed position No Status signal n 4 n 5 n 6 n 7 ALML ...

Page 110: ...U mode is selected when the signal is ON 3 6 7 19 b13 b12 Unavailable b11 PMOD Position simple direct switching The position mode is selected when this signal is OFF and the simple direct mode is selected when the signal is ON 3 6 7 20 b10 MODE Teaching mode command The normal mode is selected when this signal is OFF and the teaching mode is selected when the signal is ON 3 6 7 16 b9 PWRT Position...

Page 111: ...b12 ZONE1 Zone 1 ON for the current position within the zone set range 3 6 7 12 b11 PZONE Position zone This signal turns ON when the current position is inside the specified position zone 3 6 7 12 b10 MODES Teaching mode signal This signal is ON while the teaching mode is selected 3 6 7 16 b9 WEND Position data read complete This signal turns ON when reading is complete 3 6 7 17 b8 RMDS Operation...

Page 112: ...ration setting Pitch feed inching Pressing operation Speed change during the movement Operation at different acceleration and deceleration x Pause Zone signal output U Parameters must be set PIO pattern selection x 1 PLC address configuration n indicates the first address of each axis Parameter No 84 PCON CA CFA side input register PLC side output address bytes PCON CA CFA side output register PLC...

Page 113: ...t exceed the max speed value for the actuator in question The unit can be established in Parameter No 159 FB Half Direct Mode Speed Unit Parameter No 159 Setting Value Indicated Speed Unit 0 1 0mm sec 1 0 1mm sec z The Acceleration deceleration is expressed using 1 word 16 bits binary data The figures from 1 to 300 Unit 0 01G can be set in PLC However set the value that does not exceed the max acc...

Page 114: ...negative figure it is expressed using the complement of 2 1 word 2 bytes 16 bits Target position Lower word Target position Upper word n 2 n 3 n 0 n 1 Positioning band lower word Speed Acceleration deceleration Pressing current limitin Control signal Positioning band upper word n 12 n 13 n 10 n 11 n 8 n 9 n 6 n 7 n 4 n 5 n 14 n 15 ...

Page 115: ...f 2 When the current speed is shown using the negative figure it is expressed using the complement of 2 Current position lower word Current position upper word 1 word 2 bytes 16 bits n 2 n 3 n 0 n 1 Alarm code Status signal Command current lower word Command current upper word Current speed upper word Current speed lower word n 12 n 13 n 10 n 11 n 8 n 9 n 6 n 7 n 4 n 5 n 14 n 15 ALML ...

Page 116: ...ration it shows the allowable range from the target position that is regarded as the positioning completion 2 In the case of pressing operation it shows the pressing width value Specify the normal operation or pressing operation using the PUSH control signal setting 3 8 2 Speed 16 bit data 16 bit integer Specify the speed at which to move the actuator The unit is 1 0mm sec or 0 1mm sec and settabl...

Page 117: ... 3 6 7 22 b12 PUSH Pressing specification Positioning operation is performed when this signal is OFF and pressing operation is performed when the signal is ON 3 6 7 21 b11 b10 b9 Unavailable b8 JOG Jog ON for movement in the opposite direction of home 3 6 7 13 b7 JOG Jog ON for movement in the home direction 3 6 7 13 b6 JVEL Jog speed inch distance switching The values set in parameter No 26 Jog s...

Page 118: ...eration manual for the controller main body for the details of the alarms 3 8 2 b15 EMGS Emergency stop An emergency stop is actuated when this signal turns ON 3 6 7 2 b14 PWR Controller ready This signal turns ON when the controller becomes ready 3 6 7 1 b13 ZONE2 Zone 2 ON for the current position within the zone set range 3 6 7 12 b12 ZONE1 Zone 1 ON for the current position within the zone set...

Page 119: ... each axis Parameter No 84 PCON CA CFA side input register PLC side output address bytes PCON CA CFA side output register PLC side input address bytes n n 1 n n 1 Target position n 2 n 3 Current position n 2 n 3 n 4 n 5 n 4 n 5 Positioning band n 6 n 7 Command current n 6 n 7 n 8 n 9 n 8 n 9 Speed n 10 n 11 Current speed n 10 n 11 n 12 n 13 Alarm code n 12 n 13 Zone boundary n 14 n 15 n 14 n 15 n ...

Page 120: ...not exceed the max acceleration deceleration value for the actuator in question z The pressing current limiting value is expressed using 1 word 16 bits binary data The figures from 0 0 to 255 100 can be set in PLC However set the value within the settable range for the pressing current limiting value Refer to the Catalog or operation manual for the actuator for the actuator concerned Set value Pre...

Page 121: ...2 When the zone boundary is shown using the negative figure it is expressed using the complement of 2 1 word 2 bytes 16 bits Target position lower word Target position upper word n 2 n 3 n 0 n 1 Positioning band lower word Positioning band upper word Speed lower word Zone boundary lower word Speed upper word Zone boundary upper word n 12 n 13 n 10 n 11 n 8 n 9 n 6 n 7 n 4 n 5 n 14 n 15 ...

Page 122: ...sing the negative figure it is expressed using the complement of 2 1 word 2 bytes 16 bits Control signal 2 Acceleration Deceleration Pressing current limiti ng value Load current threshold Control signal 1 n 28 n 29 n 26 n 27 n 24 n 25 n 22 n 23 n 20 n 21 n 18 n 19 n 16 n 17 n 30 n 31 ASO1 ASO0 MOD1 SMOD MOD0 ...

Page 123: ... of 2 When the current speed is shown using the negative figure it is expressed using the complement of 2 Current position lower word 1 word 2 bytes 16 bits n 0 n 1 Current position upper word n 2 n 3 Command current lower word n 4 n 5 Command current upper word n 6 n 7 Current speed lower word n 8 n 9 Current speed upper word n 10 n 11 Alarm code n 12 n 13 Unavailable n 14 a n 19 ...

Page 124: ...8 262 144 131 072 65 536 n 24 n 25 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Total moving distance Slave Word 32 768 16 384 8 192 4 096 2 048 1 024 512 256 128 64 32 16 8 4 2 1 n 26 n 27 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Total moving distance Host Word 524 288 262 144 131 072 65 536 n 28 n 29 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status Signal 1 ALML...

Page 125: ...g completion 2 In the case of pressing operation it shows the pressing width value Specify the normal operation or pressing operation using the PUSH control signal setting 3 8 3 Speed 32 bit data 32 bit integer Specify the speed at which to move the actuator The unit is 0 01 mm sec and the settable range is 0 to 999999 Example When it is 25 41mm sec set it as 2541 When the movement command is set ...

Page 126: ...urrent threshold in this register when whether or not the load current exceeds the threshold is judged The allowable specification range is 0 0 to 255 100 If threshold judgment is not required enter 0 3 8 3 b15 b14 b13 b12 b11 Unavailable b10 SMOD Stopping control mode When this signal is ON servo control is performed during stopping 3 6 7 28 b9 ASO1 Stop Mode 1 b8 ASO0 Stop Mode 0 Select stop mod...

Page 127: ...b8 JOG Jog ON for Movement in the Opposite Direction of Home 3 6 7 13 b7 JOG Jog ON for Movement in the Home Direction 3 7 7 13 b6 JVEL Jog speed inch distance switching The values set in parameter No 26 Jog speed and parameter No 48 Inch distance are used when this signal is OFF and the values set in parameter No 47 Jog speed 2 and parameter No 49 Inch distance 2 are used when the signal is ON 3 ...

Page 128: ...oving in the direction opposite home Negative value The actuator is moving in the direction of home The setting unit is 0 01mm sec Example Reading 000003FFH 1023 decimal 10 23mm sec When the value is read in hexadecimal notation the negative figure is expressed as a complement of 2 3 8 3 Alarm code 16 bit data 16 bit integer When an alarm is issued the alarm code is output When any alarm is not is...

Page 129: ...he specified load has been reached When the signal is OFF the load has not been reached yet Refer to operation manual for the controller main body for more information 3 6 7 27 b8 RMDS Operation mode status This signal is OFF when the current mode is AUTO or ON when the current mode is MANU 3 6 7 19 b7 GHMS Under Home return Operation This signal remains ON while home return is in progress 3 6 7 6...

Page 130: ...o zone outputs 4 Electromagnetic valve mode 1 7 positioning points and two zone output points are available The direct operation command is available for each position No A position complete signal is output for each position number 5 Electromagnetic valve mode 2 3 positioning points and two zone output points are available The actuator is operated by specifying forward backward and intermediate p...

Page 131: ...he areas denoted by Occupied area cannot be used for any other purpose Also exercise caution to avoid node address duplication 2 I O signal allocation for each axis The I O signals of each axis consist of 6 input words channels and 6 output words 6 words 12 bytes in the I O areas z The areas controlled by port number are controlled using ON OFF bit signals z The current position is a 2 word 32 bit...

Page 132: ...ition is shown using the negative figure it is expressed using the complement of 2 1 word 2 bytes 16 bits Controller output port number Unavailable Current position lower word Current position upper word n 6 n 7 n 4 n 5 n 2 n 3 n 0 n 1 Command current upper word Command current lower word n 10 n 11 n 8 n 9 ...

Page 133: ...type Bit Symbol Contents Details Current position 32 bit data 32 bit signed integer indicating the current position The setting unit is 0 01mm Example Reading 000003FFH 1023 decimal 10 23mm When the value is read in hexadecimal notation the negative figure is expressed as a complement of 2 PLC input Command current 32 bit data 32 bit integer The value of electrical current specified by the current...

Page 134: ...hen the emergency stop status is cleared it is turned OFF 3 Alarm ALM PLC input signal When any error is detected using the controller protection circuit function it is turned ON ŶFunction When any error is detected and the protection circuit function is activated this signal is turned ON When the cause of the alarm is eliminated and the reset signal is turned ON the alarm is turned OFF in the cas...

Page 135: ...rned ON the Status Indicator LED Refer to 3 3 EtherNet IP Interface on the front surface of the controller illuminates in green The SV signal is synchronized with this LED ŶFunction Using the SON signal the turning ON OFF of the controller is available While the SV signal is ON the controller s servo motor is turned ON and the operation becomes available The relationship between the SON signal and...

Page 136: ...ut again Even after the completion of the home return operation when the HOME signal is turned ON the home return operation can be performed Caution In the Remote I O mode Remote I O mode 2 and Position Simplified Direct Value Mode when the positioning command is issued without performing the home return operation after the power is applied the positioning is performed after the automatic home ret...

Page 137: ...ration is performed automatically Turn OFF this signal after confirming that the Positioning Completion Signal PEND signal has been turned OFF 8 Positioning command DSTR Used in the half direct mode and full direct mode PLC output signal This signal is processed at the startup ON edge and the positioning to the target position input in the PLC s target position register is performed When this sign...

Page 138: ...r is stopped at the target position the PEND signal is turned OFF temporarily Then when the servo motor is turned ON and the actuator is within the positioning band the PEND signal is turned ON again When the positioning is completed with the CSTR signal or DSTR signal turned ON the PEND signal is not turned ON 11 Pause STP PLC output signal When this signal is turned ON the actuator movement is d...

Page 139: ... using the parameter No 23 Zone Boundary 2 Side and No 24 Zone Boundary 2 Side The Zone 1 Signal and Zone 2 Signal become effective when the home return operation is completed After that even during the servo OFF it is effective 2 Position zone Each zone is set in the position table or using the zone boundary resister In the case of the Position Simplified Direct Value Mode the PZONE signal is set...

Page 140: ... actuator is decelerated and stopped 2 Inch operation The inching operation is available while the JISL signal is turned ON Once it is turned ON the actuator is moved as much as the inching distance When the JOG is turned ON the movement is to the opposite of the home and when the JOG is turned ON the movement is to the home The operation is performed based on the set values of the following param...

Page 141: ... and performs the inching operation When the JISL signal is turned OFF jog while the actuator is moving by inching the actuator will complete the movement and then switch to the jog function The table below summarizes the relationship of the ON OFF statuses of the JISL signal and jog speed inch distance switching JVEL signal Jog operation Inch operation JISL OFF ON Speed Parameter No 26 Jog speed ...

Page 142: ...tput signal Position data import complete WEND PLC input signal The PWRT signal is available when the teaching mode signal MODES is turned ON Turn the PWRT signal ON 1 and the data of the current position will be written to the Position field under the position number set to the specified position number resister of the PLC 2 When the data writing is completed the WEND signal is turned ON After th...

Page 143: ... for the target position in the movement and the use of the value specified in the PLC s target position register PMOD OFF Use the position table PMOD ON Use the value of the target position resister 21 Pressing specification PUSH PLC output signal When the movement command signal is output after this signal is turned ON the pressing operation is performed When this signal is set to OFF the normal...

Page 144: ...while this signal is turned ON the actuator is moved to the position expressed as the value input in the PLC s target position register based on the current position Incremental move When this signal is turned OFF the actuator is moved to the position expressed as the value set in the PLC s target position register 25 Pressing in progress PUSHS PLC input signal This signal is turned ON during the ...

Page 145: ...utput Judgment Time Period x Set the parameter No 51 Torque Inspected Range to 0 enabled x Set the threshold inspected width using the PLC s Zone Boundary Register or Zone Boundary Register x Set the threshold using the PLC s Load Current Threshold Register x Set the positioning band using the PLC s Positioning Band Register Set it a bit longer from the backmost position considering the mechanical...

Page 146: ...ne is delivered it has been individually set depending on the actuator characteristics Set an appropriate speed considering the work part material and shape x Set the parameter No 50 Load Output Judgment Time Period x Set the parameter No 51 Torque Inspected Range to 1 disable x Set the threshold using the PLC s Load Current Threshold Register x Set the positioning band using the PLC s Positioning...

Page 147: ...tandby condition SMOD OFF Standby condition x Full servo control mode By means of servo control of the pulse motor the holding current can be reduced The reduction level varies depending on the actuator type or load conditions However generally the holding current will be 1 2 to 1 4 The actual holding current can be confirmed in the current monitor window in the PC software Note Under the conditio...

Page 148: ...n mode field in the position table is set to 1 S shaped motion the S shaped motion degree is defined by parameter No 56 The setting unit is and the setting range is from 0 to 100 This is set to 0 S shaped motion disabled in the factory setting An S shaped motion becomes a sine waveform after one cycle of the acceleration time Specify the degree of amplitude by parameter No 56 Parameter No 56 setti...

Page 149: ...e speed will accelerate significantly at around the mid point of the acceleration deceleration time Do not exceed the rated acceleration deceleration time of the actuator First order lag filter This describes a much gentler acceleration deceleration curve than that for the linear acceleration deceleration trapezoid pattern Use it when it is not desired to give any slight vibration to the work part...

Page 150: ...No 36 is valid for T ON OFF Automatic Servo OFF Method Parameter No 37 is valid for T ON ON Automatic Servo OFF Method Parameter No 38 is valid for T T T Movement Command Actuator Moving Target Position Servo Condition In automatic servo OFF duration Green LED blinks Servo ON Condition Waiting time sec before servo is turned OFF after the positioning is completed 31 Light error status ALML PLC Inp...

Page 151: ...sequence program the response status is returned to the PLC The maximum response time is expressed using the following formula Maximum response time msec 䋽Yt Xt 3 command processing time operation time etc Yt Master stationoslave transmission delay time Xt Slaveomaster station transmission delay time Master Station o For the master station o slave transmission delay Yt and slave omaster station tr...

Page 152: ...e controller at the startup ON edge of the CSTR signal 4 After the CSTR signal is turned ON the PEND signal is turned OFF after tdpf 5 After confirming that the PEND signal is turned OFF or MOVE signal is turned ON turn OFF the CSTR signal Do not change the value in the target position register until the CSTR signal is turned OFF 6 At the same time when the PEND signal is turned OFF the MOVE signa...

Page 153: ... so that T1 0ms Yt Xt tdpf Yt Xt 3 msec 7 1 2 3 4 5 6 Set value of target position data PLC o PCON Specific position number PLC o PCON Positioning start CSTR PLC o PCON Positioning completion Current position Moving Positioning band Actuator moving PCON o PLC PCON o PLC PCON o PLC ...

Page 154: ... of the DSTR signal 9 After the DSTR signal is turned ON the PEND signal is turned OFF after tdpf 10 After confirming that the PEND signal is turned OFF or the MOVE signal is turned ON turn OFF the DSTR signal Do not change any value in each register until the DSTR signal has been turned OFF 11 At the same time when the PEND signal is turned OFF the MOVE signal is turned ON 12 The current position...

Page 155: ...e of speed data Set value of acceleration deceleration data Set value of pressing current limiting value Pressing specification Push direction specification Positioning command Positioning completion pressing and a miss PEND PSFL Current position Moving Actuator operation Pressing Actuator operation Normal positioning T1 Pressing PLC o PCON PLC o PCON PLC o PCON PLC o PCON PLC o PCON PLC o PCON PL...

Page 156: ... data items set in Steps 1 through 8 are read in the controller at the startup ON edge of the DSTR signal 12 After the DSTR signal is turned ON the PEND signal is turned OFF after tpdf 13 After confirming that the PEND signal is turned OFF or the MOVE signal is turned ON turn OFF the DSTR signal Do not change any value in each register until the DSTR signal has been turned OFF 14 At the same time ...

Page 157: ...a Set value of speed data Set value of position zone boundary data Set value of acceleration data Set value of deceleration data Set value of pressing current limiting value Set value of load current threshold data PLC o PCON PLC o PCON PLC o PCON PLC o PCON PLC o PCON PLC o PCON PLC o PCON PLC o PCON ...

Page 158: ...11 12 13 17 16 15 14 Pressing specification Push direction specification Positioning command Positioning completion pressing and a miss PEND PSFL Current position Moving Actuator operation Normal positioning Actuator operation Pressing Pressing Positioning band PCON o PLC PCON o PLC PCON o PLC PLC o PCON PLC o PCON PLC o PCON ...

Page 159: ...more until the next DSTR is turned ON The example is shows as follows where the speed and acceleration deceleration data items have been changed twcsON Yt Xt 3 msec twcsOFF Yt Xt 3 msec Yt Xt tpdf Yt Xt 3 msec Caution 1 When the speed has not been set or it is set to 0 the actuator is not moved but an alarm is not issued 2 When the speed setting is changed to 0 during the movement the actuator is ...

Page 160: ...g Remote I O mode 2 Operation using PIOs 24 V I Os is performed via EtherNet IP 1 Position simple direct mode 8 The target position can be set directly using the value or the operation can be performed using position data value The other values required for the operation are set on the position data 2 Half direct value mode 16 In addition to the target position the speed acceleration deceleration ...

Page 161: ...et in parameter No 90 Contents 0 Data exchange is not performed The data is sent directly to the PLC Refer to Example i 1 The host bytes are exchanged with slave bytes in the host words and slave words Refer to Example ii 2 In the case of word register the host words are exchanged with the slave words Refer to Example iii 3 Factory setting The host bytes are exchanged with slave bytes in the host ...

Page 162: ... CA CFA 154 Example ii Set value 1 z indicates ON while c indicates OFF PCON Input resister PCON Output resister Hexadecimal data Hexadecimal data Hexadecimal data Hexadecimal data PLC Output CH PLC Input CH ...

Page 163: ... CA CFA 155 Example iii Set value 2 z indicates ON while c indicates OFF PCON Input resister PCON Output resister Hexadecimal data Hexadecimal data Hexadecimal data Hexadecimal data PLC Output CH PLC Input CH ...

Page 164: ... CA CFA 156 Example iv Set value 3 z indicates ON while c indicates OFF PCON Input resister PCON Output resister Hexadecimal data Hexadecimal data Hexadecimal data Hexadecimal data PLC Output CH PLC Input CH ...

Page 165: ...r bits four bits of PM1 to PM8 in remote I O mode 1 2 or 3 In position simple direct mode 1 or 2 this simple alarm code is output to the n 4 n 5 bytes In half direct mode 1 2 or 3 or in the full direct mode this alarm code is output to the n 12 n 13 bytes 1 Check the alarm code using the monitor function of the PLC etc or connect the RC PC software or other teaching tool and check the status monit...

Page 166: ...sing operation Current position read x Current speed read x x x x x Operation by position number specification x x x x Completed position number read x x x x Maximum position table size 512 768 Not used Not used 512 768 Not used 512 Not used Force control U 2 x x U 2 U 2 x Vibration damping control x x Servo gain switching x 1 The actuator is operated by specifying all position data other than pos...

Page 167: ...ed Up to 768 position data points can be set Number of occupied bytes 8 bytes Target position 100 00 mm Position No 0 SCON CA supporting EtherNet IP Actuator Speed Acceleration Push Deceleration 3 Half direct mode In this mode the actuator is operated by specifying the speed acceleration deceleration and pressing current in addition to the target position directly as values Number of occupied byte...

Page 168: ...e 2 In this mode the actuator is operated by specifying position numbers In this mode the force control function is available instead of the teaching function and zone function available in mode 2 Number of occupied bytes 8 bytes Target position 100 00 mm Positioning band 0 10 mm Speed specification 100 0 mm sec Acceleration 0 30 G Deceleration 0 30 G Pressing current 50 Load current threshold 0 Z...

Page 169: ...or is operated by EtherNet IP instead of PIO 24 V I O Current position and command current function is added to the function 1 Number of occupied bytes 12 bytes 9 Half direct mode 3 In this mode the actuator is operated by specifying the speed acceleration deceleration and pressing current in addition to the target position directly as values In this mode the vibration damping function is supporte...

Page 170: ...4 SCON CA 162 4 2 Model Numbers The model numbers of SCON CA controller supporting EtherNet IP are indicated as follows respectively z SCON CA EP ...

Page 171: ...4 SCON CA 163 4 3 EtherNet IP Interface 4 3 1 Names of the Parts The names of each section related to EtherNet IP are described as follows NS LED EtherNet IP Port ...

Page 172: ...ication error is present Communication cannot be established because an error such as duplicate IP addresses has been detected NS ڏ Red A communication error is present A communication timeout has been detected Check the IP address setting wiring condition of the communication line power supply for the hub noise measures etc The power is turned off ٤ Green Operation is normal The system is in the ...

Page 173: ...not required 4 4 2 Connector Pin Layout Pin number Signal name Signal abbreviation 1 Data transmitted TD 2 Data transmitted TD 3 Data received RD 4 Not used 5 Not used 6 Data received RD 7 Not used 8 Not used Connector hood Grounding pin for security FG SCON CA SCON CA RJ45 8 pin modular connector Controller side PLC EtherNet IP master unit Ethernet cable Ethernet cable Ethernet cable Other slaves...

Page 174: ...peration mode Number of occupied bytes 0 Factory setting Remote I O mode 2 1 Position Simplified direct value mode 8 2 Half direct value mode 16 3 Full direct value mode 32 4 Remote I O mode 12 5 Position Simplified direct value mode2 8 6 Half direct value mode 2 16 7 Remote I O mode 3 12 8 Half direct value mode 3 16 Entering any value except for the ones described above will cause an Excessive I...

Page 175: ...1 SNMK Subnet mask Set the same value you have set in the master unit and other slaves on the same network Refer to 4 9 EtherNet IP Parameters Settable range 0 0 0 0 to 255 255 255 255 The factory setting is 255 255 255 0 4 5 5 Setting the Default Gateway If necessary set parameter No 142 DFGW Default gateway Refer to 4 9 EtherNet IP Parameters Settable range 0 0 0 0 to 255 255 255 255 The factory...

Page 176: ...upied bytes 12 n 0 n 1 Port No 0 to 15 Port No 0 to 15 n 2 n 3 Target position Target position Target position n 4 n 5 Specified position number n 6 n 7 Control signal Positioning band Positioning band n 8 n 9 Speed n 10 n 11 Acceleration Deceleration Speed setup Occupied area n 12 n 13 Pressing current limiting value n 14 n 15 Control signal Zone boundary n 16 n 17 n 18 n 19 Zone boundary n 20 n ...

Page 177: ...position Target position Target position n 4 n 5 Specified position number n 6 n 7 Control signal Positioning band Positioning band n 8 n 9 Speed Speed n 10 n 11 Acceleration Deceleration Occupied area Acceleration Deceleration n 12 n 13 Pressing current limiting value Pressing current limiting value n 14 n 15 Control signal Control signal n 16 n 17 n 18 n 19 n 20 n 21 n 22 n 23 n 24 n 25 n 26 n 2...

Page 178: ...tion Current position Current position Occupied area n 4 n 5 Completed position No simple alarm ID n 6 n 7 Status signal Command current Command current Current position n 8 n 9 n 10 n 11 Current speed Current speed Command current n 12 n 13 Alarm code Alarm code n 14 n 15 Status signal Occupied area n 16 n 17 n 18 n 19 Force feedback data n 20 n 21 n 22 n 23 Total moving count n 24 n 25 n 26 n 27...

Page 179: ... n 3 Current position Current position Occupied area Current position n 4 n 5 Completed position number simple alarm ID n 6 n 7 Status signal Force feedback data Current position Command current n 8 n 9 n 10 n 11 Current speed Force feedback data Current speed n 12 n 13 Alarm code Alarm code n 14 n 15 Status signal Status signal n 16 n 17 n 18 n 19 n 20 n 21 n 22 n 23 n 24 n 25 n 26 n 27 n 28 n 29...

Page 180: ...agnetic valve mode 2 3 positioning points and two zone output points are available The actuator is operated by specifying forward backward and intermediate position commands A position complete signal is output separately for the front end rear end and intermediate position 6 Force control mode 1 when a dedicated load cell is used 32 positioning points one zone output point 7 Force control mode 2 ...

Page 181: ...de addresses 2 I O Signal Allocation for each Axis The I O signals of each axis consist of one input 1 word 2 bytes and one output word channel in the I O areas x Each address is controlled by ON OFF bit signals PLC output Address n indicates the node address of each axis PLC input Address n indicates the node address of each axis n 0 ޔ n 1 n 0 ޔ n 1 Controller input port number 1 word 2 bytes 16 ...

Page 182: ... Reset PLC output ĺ SCON CA input 15 SON Servo ON command SON Servo ON command SON Servo ON command 0 PM1 PM1 PM1 1 PM2 PM2 PM2 2 PM4 PM4 PM4 3 PM8 PM8 PM8 4 PM16 PM16 PM16 5 PM32 Completed position No PM32 Completed position No PM32 6 MOVE Moving signal MOVE Moving signal PM64 7 ZONE1 Zone 1 MODES Teaching mode Signal PM128 Completed position No 8 PZONE ZONE2 Position zone Zone 2 PZONE ZONE1 Posi...

Page 183: ...Position 0 complete LS0 Retracting end movement command 0 1 PM2 PE1 Position 1 complete LS1 Retracting end movement command 1 2 PM4 PE2 Position 2 complete LS2 Retracting end movement command 2 3 PM8 PE3 Position 3 complete 4 PM16 PE4 Position 4 complete 5 PM32 PE5 Position 5 complete 6 PM64 PE6 Position 6 complete Unavailable 7 PM128 ZONE1 Zone 1 ZONE1 Zone 1 8 PM256 Completed Position No PZONE Z...

Page 184: ...on number 0 1 PM2 PE1 Completed position number 1 2 PM4 PE2 Completed position number 2 3 PM8 PE3 Completed position number 3 4 PM16 Completed position number PE4 Completed position number 4 5 TRQS Torque level status TRQS Torque level status 6 LOAD Load output judgment status LOAD Load output judgment status 7 CEND Load cell calibration complete CEND Load cell calibration complete 8 PZONE ZONE1 P...

Page 185: ...g table ROBO cylinder function Direct control U Indirect control x Disable Remarks Home return operation Positioning operation Speed and acceleration deceleration setting U Pitch feed inching U Pressing Operation U Speed change during the movement U Operation at different acceleration and deceleration U These items must be set in the position data table Pause Zone signal output U Zones are set usi...

Page 186: ...ke length for the actuator concerned z The specified position No and completed position No are expressed using 1 word 16 bits binary data The figures from 0 to 767 can be set in PLC However set the position No for which the operation conditions have been set in advance using the teaching tools such as PC software for RC PLC output Address n indicates the node address of each axis When the target p...

Page 187: ...current position is shown using the negative figure it is expressed using the complement of 2 n 4 ޔ n 5 n 6 ޔ n 7 Completed position number Status signal n 6 n 7 n 4 n 5 1 word 2 bytes 16 bits n 0 ޔ n 1 n 2 ޔ n 3 Current position lower word Current position upper word n 2 n 3 n 0 n 1 ...

Page 188: ...s selected when the signal is ON 4 6 11 19 b13 b12 Unavailable b11 PMOD Position simple direct switching The position mode is selected when this signal is OFF and the simple direct mode is selected when the signal is ON 4 6 11 20 b10 MODE Teaching Mode Command The normal mode is selected when this signal is OFF and the teaching mode is selected when the signal is ON 4 6 11 16 b9 PWRT Position Data...

Page 189: ...ent position within the zone set range 4 6 11 12 b12 ZONE1 Zone 1 ON for the current position within the zone set range 4 6 11 12 b11 PZONE Position zone This signal turns ON when the current position is inside the specified position zone 4 6 11 12 b10 MODES Teaching mode Signal This signal is ON while the teaching mode is selected 4 6 11 16 b9 WEND Position data read complete This signal turns ON...

Page 190: ...eration setting Pitch feed inching Pressing operation Speed change during the movement Operation at different acceleration and deceleration x Pause Zone signal output U Parameters must be set PIO pattern selection x 1 PLC address configuration n indicates the node address of each axis Parameter No 84 SCON CA side input register PLC side output address bytes SCON CA side output register PLC side in...

Page 191: ... the maximum speed of the applicable actuator Parameter No 159 FB Half Direct Mode Speed Unit determines the unit of measure Parameter No 159 setting value Speed setting unit 0 1 0 mm sec 1 0 1 mm sec z The Acceleration Deceleration is expressed using 1 word 16 bits binary data The figures from 1 to 300 Unit 0 01G can be set in PLC However set the value that does not exceed the max acceleration de...

Page 192: ...figure it is expressed using the complement of 2 1 word 2 bytes 16 bits Target position lower word Target position upper word n 2 n 3 n 0 n 1 Positioning band lower word Positioning band upper word Speed Acceleration deceleration Pressing current limiting value Control signal n 14 n 15 n 12 n 13 n 10 n 11 n 8 n 9 n 6 n 7 n 4 n 5 ...

Page 193: ... When the current speed is shown using the negative figure it is expressed using the complement of 2 1 word 2 bytes 16 bits Current position lower word Current position upper word n 2 n 3 n 0 n 1 Command current lower word Command current upper word Current speed lower word Current speed upper word n 10 n 11 n 8 n 9 n 6 n 7 n 4 n 5 Alarm code Status signal n 14 n 15 n 12 n 13 ...

Page 194: ...allowable range from the target position that is regarded as the positioning completion 2 In the case of pressing operation it shows the pressing width value Specify the normal operation or pressing operation using the PUSH control signal setting 4 8 2 Speed 16 bit data 16 bit integer Specify the speed at which to move the actuator Designate the unit of 1 0mm sec or 0 1mm sec The settable range is...

Page 195: ...ignal is ON 4 6 11 21 b11 GSL1 Servo gain parameter set selection 1 b10 GSL0 Servo gain parameter set selection 0 Select the servo gain parameter set to be used GSL1 GSL0 Function OFF OFF Select parameter set 0 OFF ON Select parameter set 1 ON OFF Select parameter set 2 ON ON Select parameter set 3 4 6 11 33 b9 Cannot be used b8 JOG Jog ON for Movement in the Opposite Direction of Home 4 6 11 13 b...

Page 196: ...y alarm is not issued it is 0H Refer to the Operation Manual for the controller main body for the details of the alarms 4 8 2 b15 EMGS Emergency stop An emergency stop is actuated when this signal turns ON 4 6 11 2 b14 PWR Controller ready This signal turns ON when the controller becomes ready 4 6 11 1 b13 ZONE2 Zone 2 ON for the current position within the zone set range 4 6 11 12 b12 ZONE1 Zone ...

Page 197: ... Parameter No 84 SCON CA side input register PLC side output address bytes SCON CA side output register PLC side input address bytes n 0 n 1 n 0 n 1 Target position n 2 n 3 Current position n 2 n 3 n 4 n 5 n 4 n 5 Positioning band n 6 n 7 Command current n 6 n 7 n 8 n 9 n 8 n 9 Speed n 10 n 11 Current speed n 10 n 11 n 12 n 13 Alarm code n 12 n 13 Zone boundary n 14 n 15 Occupied area n 14 n 15 n ...

Page 198: ...leration value for the actuator in question z The pressing current limiting value is expressed using 1 word 16 bits binary data The figures from 0 0 to 510 200 can be set in PLC However set the value within the settable range for the pressing current limiting value Refer to the Catalog or Operation Manual for the actuator for the actuator concerned Set Value Pressing current limiting value z Set t...

Page 199: ...ive figure it is expressed using the complement of 2 n 4 ޔ n 5 n 6 ޔ n 7 n 8 ޔ n 9 n 10 ޔ n 11 n 12 ޔ n 13 n 14 ޔ n 15 Positioning band lower word Positioning band upper word Speed lower word Speed upper word Zone boundary lower word Zone boundary upper word n 14 n 15 n 12 n 13 n 10 n 11 n 8 n 9 n 6 n 7 n 4 n 5 1 word 2 bytes 16 bits n 0 ޔ n 1 n 2 ޔ n 3 Target position lower word Target position u...

Page 200: ... 2 n 20 ޔ n 21 n 22 ޔ n 23 n 24 ޔ n 25 n 26 ޔ n 27 n 28 ޔ n 29 n 30 ޔ n 31 Acceleration Deceleration Pressing current limiting Load current threshold 3 Control signal 1 Control signal 2 n 30 n 31 n 28 n 29 n 26 n 27 n 24 n 25 n 22 n 23 n 20 n 21 1 word 2 bytes 16 bits n 16 ޔ n 17 n 18 ޔ n 19 Zone boundary lower word Zone boundary upper word n 18 n 19 n 16 n 17 ...

Page 201: ...egative figure it is expressed using the complement of 2 n 12 ޔ n 13 n 14 ޔ n 15 Cannot be used Alarm code n 14 n 15 n 12 n 13 n 4 ޔ n 5 n 6 ޔ n 7 n 8 ޔ n 9 n 10 ޔ n 11 Command current lower word Command current upper word Current speed lower word Current speed upper word n 10 n 11 n 8 n 9 n 6 n 7 n 4 n 5 1 word 2 bytes 16 bits n 0 ޔ n 1 n 2 ޔ n 3 Current position lower word Current position upper...

Page 202: ...0 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 524 288 262 144 131 072 65 536 n 26 n 27 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 EMGS PWR ZONE1 ZONE2 PZONE LOAD TRQS RMDS GHMS PUSHS PSFL SV ALM MOVE HEND PEND CEND BALM b15 n 28 n 29 n 30 n 31 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 n 16 n 17 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 If the force feedback data is a negative valu...

Page 203: ...completion 2 In the case of pressing operation it shows the pressing width value Specify the normal operation or pressing operation using the PUSH control signal setting 4 8 3 Speed 32 bit data 32 bit integer Specify the speed at which to move the actuator The unit is 0 01 mm sec and the settable range is 0 to 999999 Example When it is 25 41mm sec set it as 2541 When the movement command is set wi...

Page 204: ...selection 0 Select the vibration damping control parameter set to be used NTC1 NTC0 Function OFF OFF Do not use vibration damping control OFF ON Select parameter set 1 ON OFF Select parameter set 2 ON ON Select parameter set 3 4 6 11 29 b11 b10 Cannot be used b9 ASO1 Stop mode 1 b8 ASO0 Stop mode 0 Select the stop mode during standby ASO1 ASO0 Function OFF OFF Invalid The servo is always on OFF ON...

Page 205: ...e when the signal is ON 4 6 11 19 b13 b12 b11 b10 Cannot be used b9 CLBR Load cell calibration command Calibration is performed when this signal turns ON 4 6 11 32 b8 JOG Jog The actuator moves in the direction opposite home when the signal is ON 4 6 11 13 b7 JOG Jog The actuator moves in the direction of home when the signal is ON 4 6 11 13 b6 JVEL Jog speed inching distance switching Parameter N...

Page 206: ...n the direction of home The unit is 0 01 mm sec Example Reading 000003FFH 1023 decimal 10 23 mm sec If this data is read as a hexadecimal value a negative value is indicated by a compliment of 2 4 8 3 Alarm code 16 bit data 16 bit integer If an alarm occurs an alarm code will be output 0 is output when no alarm is present For details on alarms refer to the operation manual for the controller 4 8 3...

Page 207: ...orque level Reached when the signal is ON or not yet reached when the signal is OFF For details refer to the operation manual for the controller 4 6 11 27 b8 RMDS Operation mode The signal is OFF when the current mode AUTO or ON when the current mode is MANU 4 6 11 19 b7 GHMS Home return in progress The signal is ON while the home return is in progress 4 6 11 6 b6 PUSHS Pressing operation in progr...

Page 208: ... complete signal is output for each position number 5 Electromagnetic valve mode 2 3 positioning points and two zone output points are available The actuator is operated by specifying forward backward and intermediate position commands A position complete signal is output separately for the front end rear end and intermediate position 6 Force control mode 1 when a dedicated load cell is used 32 po...

Page 209: ... Note The areas denoted by Occupied area cannot be used for any other purpose Also exercise caution to avoid node address duplication 2 I O Signal Allocation for each Axis The I O signals of each axis consist of one input word 6 words 12 bytes and one output word in the I O areas z The areas controlled by port number are controlled using ON OFF bit signals z The current position is a 2 word 32 bit...

Page 210: ...re it is expressed using the complement of 2 Command current lower word Command current upper word n 8 ޔ n 9 n 10 ޔ n 11 n 10 n 11 n 8 n 9 Controller output port number Cannot be used Current position lower word Current position upper word 1 word 2 bytes 16 bits n 0 ޔ n 1 n 2 ޔ n 3 n 4 ޔ n 5 n 6 ޔ n 7 n 6 n 7 n 4 n 5 n 2 n 3 n 0 n 1 ...

Page 211: ...pe Bit Symbol Contents Details Current position 32 bit data 32 bit signed integer indicating the current position The setting unit is 0 01mm Example Reading 000003FFH 1023 decimal 10 23mm When the value is read in hexadecimal notation the negative figure is expressed as a complement of 2 PLC input Command current 32 bit data 32 bit integer The value of electrical current specified by the current c...

Page 212: ...ontrolled using this mode are as shown in the following table ROBO cylinder function Direct control U Indirect control x Disable Remarks Home return operation Positioning operation Speed and acceleration deceleration setting U Pitch feed inching U Pressing operation U Speed change during the movement U Operation at different acceleration and deceleration U These items must be set in the position d...

Page 213: ...oke length for the actuator concerned z The specified position No and completed position No are expressed using 1 word 16 bits binary data The figures from 0 to 767 can be set in PLC However set the position No for which the operation conditions have been set in advance using the teaching tools such as PC software PLC output Address n indicates the node address of each axis When the target positio...

Page 214: ... b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Completed position number ʊ ʊ ʊ ʊ ʊ ʊ PM512 PM256 PM128 PM64 PM32 PM16 PM8 PM4 PM2 PM1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status signal EMGS PWR CEND ZONE1 PZONE ZONE2 LOAD TRQS RMDS BALM PUSHS PSFL SV ALM MOVE HEND PEND Current position lower word Current position upper word 1 word 2 bytes 16 bits n 0 ޔ n 1 n 2 ޔ n 3 n 2 n 3 n 0 n 1 n 4 n 5 n 6 n ...

Page 215: ...release The brake is released when the signal turns ON 4 6 11 18 b14 RMOD Operation mode AUTO mode when the signal is OFF or MANU mode when the signal is ON 4 6 11 19 b13 b12 Cannot be used b11 PMOD Position simple direct switching Position mode when the signal is OFF or simple direct mode when the signal is ON 4 6 11 20 b10 Cannot be used b9 CLBR Load cell calibration command Calibration is perfo...

Page 216: ...ON when the current Position zone position is inside the specified position zone No 149 1 This signal turns ON when the Zone2 current position is inside the specified zone 4 6 11 12 b10 LOAD Load output judgment When this signal is ON the specified load output judgment has been reached If the signal is OFF it is not yet reached For details refer to the operation manual for your controller 4 6 11 2...

Page 217: ...ration Positioning operation Speed and acceleration deceleration setting Pitch feed inching Pressing operation Speed change during the movement Operation at different acceleration and deceleration x Pause Zone signal output U Parameters must be set PIO pattern selection x 1 PLC address configuration n indicates the node address of each axis Parameter No 84 SCON CA side input register PLC side outp...

Page 218: ...eding the maximum speed of the applicable actuator Parameter No 159 FB Half Direct Mode Speed Unit determines the unit of measure Parameter No 159 setting value Speed setting unit 0 1 0 mm sec 1 0 1 mm sec z The Acceleration Deceleration is expressed using 1 word 16 bits binary data The figures from 1 to 300 Unit 0 01G can be set in PLC However set the value that does not exceed the max accelerati...

Page 219: ...nt of 2 Target position lower word Target position upper word 1 word 2 bytes 16 bits n 0 ޔ n 1 n 2 ޔ n 3 n 2 n 3 n 0 n 1 Positioning band lower word Positioning band upper word Speed Acceleration deceleration Pressing current limiting l Control signal n 4 ޔ n 5 n 6 ޔ n 7 n 8 ޔ n 9 n 10 ޔ n 11 n 12 ޔ n 13 n 14 ޔ n 15 n 10 n 11 n 8 n 9 n 6 n 7 n 4 n 5 n 12 n 13 n 14 n 15 ...

Page 220: ...rent speed is a negative value it is expressed using the complement of 2 Current speed lower word Current speed upper word n 8 ޔ n 9 n 10 ޔ n 11 n 10 n 11 n 8 n 9 1 Word 2 bytes 16 bits Force feedback data lower word Force feedback data upper word n 4 ޔ n 5 n 6 ޔ n 7 n 6 n 7 n 4 n 5 1 word 2 bytes 16 bits Current position lower word Current position upper word n 0 ޔ n 1 n 2 ޔ n 3 n 2 n 3 n 0 n 1 A...

Page 221: ...allowable range from the target position that is regarded as the positioning completion 2 In the case of pressing operation it shows the pressing width value Specify the normal operation or pressing operation using the PUSH control signal setting 4 8 2 Speed 16 bit data 16 bit integer Specify the speed at which to move the actuator Designate the unit of 1 0mm sec or 0 1mm sec The settable range is...

Page 222: ...operation is performed when this signal is OFF and pressing operation is performed when the signal is ON 4 6 11 21 b11 b10 Unavailable b9 CLBR Load cell calibration command Calibration is performed when this signal turns ON 4 6 11 32 b8 JOG Jog ON for Movement in the Opposite Direction of Home 4 6 11 13 b7 JOG Jog ON for Movement to the Home Direction 4 6 11 13 b6 JVEL Jog speed inch distance swit...

Page 223: ...the details of the alarms 4 8 2 b15 EMGS Emergency stop An emergency stop is actuated when this signal turns ON 4 6 11 2 b14 PWR Controller ready This signal turns ON when the controller becomes ready 4 6 11 1 b13 ZONE2 Zone 2 ON for the current position within the zone set range 4 6 11 12 b12 ZONE1 Zone 1 ON for the current position within the zone set range 4 6 11 12 b11 b10 Unavailable b9 CEND ...

Page 224: ...umber 5 Electromagnetic valve mode 2 3 positioning points and two zone output points are available The actuator is operated by specifying forward backward and intermediate position commands A position complete signal is output separately for the front end rear end and intermediate position 6 Force control mode 1 when a dedicated load cell is used 32 positioning points one zone output point 7 Force...

Page 225: ...10 n 11 Note The areas denoted by Occupied area cannot be used for any other purpose Also exercise caution to avoid node address duplication 2 I O Signal Allocation for each Axis The I O signals of each axis consist of one input word 6 words 12 bytes and one output word in the I O areas z The areas controlled by port number are controlled using ON OFF bit signals z The current position is a 2 word...

Page 226: ...he complement of 2 When the force feedback data is shown using the negative figure it is expressed using the complement of 2 1 word 2 bytes 16 bits Controller output port number Cannot be used Current position lower word Current position upper word n 6 n 7 n 4 n 5 n 2 n 3 n 0 n 1 Force feedback data lower word Force feedback data upper word n 10 n 11 n 8 n 9 ...

Page 227: ...owing table Signal type Bit Symbol Contents Details Current position 32 bit data 32 bit signed integer The setting unit is 0 01mm Example Reading 000003FFH 1023 decimal 10 23mm When the value is read in hexadecimal notation the negative figure is expressed as a complement of 2 PLC input Force feedback data 32 bit data 32 bit signed integer The setting unit is 0 01N When the value is read in hexade...

Page 228: ...ion setting Pitch feed inching Pressing Operation Speed change during the movement Operation at different acceleration and deceleration x Pause Zone signal output U Parameters must be set PIO pattern selection x 1 PLC address configuration n indicates the node address of each axis Parameter No 84 SCON CA side input register PLC side output address bytes SCON CA side output register PLC side input ...

Page 229: ... the maximum speed of the applicable actuator Parameter No 159 FB Half Direct Mode Speed Unit determines the unit of measure Parameter No 159 setting value Speed setting unit 0 1 0 mm sec 1 0 1 mm sec z The Acceleration Deceleration is expressed using 1 word 16 bits binary data The figures from 1 to 300 Unit 0 01G can be set in PLC However set the value that does not exceed the max acceleration de...

Page 230: ...ve figure it is expressed using the complement of 2 Target position lower word Target position upper word 1 word 2 bytes 16 bits n 2 n 3 n 0 n 1 Positioning band lower word Positioning band upper word Speed Acceleration deceleration Pressing current limitin Control signal n 13 n 14 n 11 n 12 n 10 n 11 n 8 n 9 n 6 n 7 n 4 n 5 ...

Page 231: ... When the current speed is shown using the negative figure it is expressed using the complement of 2 1 word 2 bytes 16 bits Current position lower word Current position upper word n 2 n 3 n 0 n 1 Command current lower word Command current upper word Current speed lower word Current speed upper word n 10 n 11 n 8 n 9 n 6 n 7 n 4 n 5 Alarm code Status signal n 11 n 12 n 13 n 14 ...

Page 232: ...allowable range from the target position that is regarded as the positioning completion 2 In the case of pressing operation it shows the pressing width value Specify the normal operation or pressing operation using the PUSH control signal setting 4 8 2 Speed 16 bit data 16 bit integer Specify the speed at which to move the actuator Designate the unit of 1 0mm sec or 0 1mm sec The settable range is...

Page 233: ... ON 4 6 11 21 b11 GSL1 Servo gain parameter set selection 1 b10 GSL0 Servo gain parameter set selection 0 Select the servo gain parameter set to be used GSL1 GSL0 Function OFF OFF Select parameter set 0 OFF ON Select parameter set 1 ON OFF Select parameter set 2 ON ON Select parameter set 3 4 6 11 33 b9 NTC1 Vibration damping control mode selection 1 b8 NTC0 Vibration damping control mode selectio...

Page 234: ...any alarm is not issued it is 0H Refer to the Operation Manual for the controller main body for the details of the alarms 4 8 2 b15 EMGS Emergency stop An emergency stop is actuated when this signal turns ON 4 6 11 2 b14 PWR Controller ready This signal turns ON when the controller becomes ready 4 6 11 1 b13 ZONE2 Zone 2 ON for the current position within the zone set range 4 6 11 12 b12 ZONE1 Zon...

Page 235: ...When the emergency stop status is cleared it is turned OFF 3 Alarm ALM PLC input signal When any error is detected using the controller protection circuit function it is turned ON ŶFunction When any error is detected and the protection circuit function is activated this signal is turned ON When the cause of the alarm is eliminated and the reset signal is turned ON the alarm is turned OFF in the ca...

Page 236: ...tor is turned ON the Status Indicator LED Refer to 4 3 EtherNet IP Interface on the front surface of the controller illuminates in green The SV signal is synchronized with this LED ŶFunction Using the SON signal the turning ON OFF of the controller is available While the SV signal is ON the controller s servo motor is turned ON and the operation becomes available The relationship between the SON s...

Page 237: ...he HOME signal is input again Even after the completion of the home return operation when the HOME signal is turned ON the home return operation can be performed Caution In the Remote I O Modes 1 to 3 and Position Simplified Direct Value Modes 1 and 2 when the positioning command is issued without performing the home return operation after the power injection the positioning is performed after the...

Page 238: ...formed after the home return operation is performed automatically Turn OFF this signal after confirming that the Positioning Completion Signal PND signal has been turned OFF 8 Positioning command DSTR Used in the half direct mode and full direct mode PLC output signal This signal is processed at the startup ON edge and the positioning to the target position input in the PLC s target position regis...

Page 239: ...estart or the deceleration in stopping operation is expressed as the value for the acceleration deceleration for the position No set using the specified position No resister in the Position Simplified Direct Value Modes 1 and 2 and as the value set in the acceleration deceleration register in the Half Direct Value Modes 1 to 3 In the Full Direct Value Mode the value is expressed as the value set i...

Page 240: ... Zone 1 Signal and Zone 2 Signal become effective when the home return operation is completed After that even during the servo OFF it is effective 2 Position zone Each zone is set in the position table or using the zone boundary resister In the case of the Position Simplified Direct Value Modes 1 and 2 the PZONE signal is set using the position table In the case of the Full Direct Value Mode the P...

Page 241: ...actuator is decelerated and stopped 2 Inch operation The inching operation is available while the IISI signal is turned ON Once it is turned ON the actuator is moved as much as the inching distance When the JOG is turned ON the movement is to the opposite of the home and when the JOG is turned ON the movement is to the home The operation is performed based on the set values of the following parame...

Page 242: ... the inching operation When the JISL signal is turned OFF jog while the actuator is moving by inching the actuator will complete the movement and then switch to the jog function The table below summarizes the relationship of the ON OFF statuses of the JISL signal and jog speed inch distance switching JVEL signal JVEL signal Jog operation Inch operation JISL OFF ON Speed Parameter No 26 Jog speed P...

Page 243: ...nd PWRT PLC output signal Position data import complete WEND PLC input signal The PWRT signal is available when the teaching mode signal MODES is turned ON Turn the PWRT signal ON 1 and the data of the current position will be written to the Position field under the position number set to the specified position number resister of the PLC 2 When the data writing is completed the WEND signal is turn...

Page 244: ...ition register PMOD OFF Use the position table PMOD ON Use the value of the target position resister 21 Pressing specification PUSH PLC output signal When the movement command signal is output after this signal is turned ON the pressing operation is performed When this signal is set to OFF the normal positioning operation is performed Refer to Item 2 Operation in Half Direct Value Mode in 4 8 Oper...

Page 245: ...ed while this signal is turned ON the actuator is moved to the position expressed as the value input in the PLC s target position register based on the current position Incremental move When this signal is turned OFF the actuator is moved to the position expressed as the value set in the PLC s target position register 25 Pressing in progress PUSHS PLC input signal This signal is turned ON during t...

Page 246: ...lly set depending on the actuator characteristics Set an appropriate speed considering the work part material and shape x Set the parameter No 50 Load Output Judgment Time Period x Set the threshold inspected width using the PLC s Zone Boundary Register or Zone Boundary Register x Set the threshold using the PLC s Load Current Threshold Register x Set the positioning band using the PLC s Positioni...

Page 247: ...nsidering the work part material and shape x Set the parameter No 50 Load Output Judgment Time Period x Set the threshold using the PLC s Load Current Threshold Register x Set the positioning band using the PLC s Positioning Band Register Set it a bit longer from the backmost position considering the mechanical dispersion of the work part Refer to the Operation Manual for the controller for more i...

Page 248: ...gnals The vibration damping control function suppresses the load vibration induced by IAI s actuator Measure the vibration frequency and set it in a parameter In another parameter select and set an appropriate option based on a combination of these signals For details refer to the operation manual for your controller NTC1 NTC0 Function Remarks OFF OFF Do not use vibration damping control Factory s...

Page 249: ...able is set to 1 S shaped motion the S shaped motion degree is defined by parameter No 56 The setting unit is and the setting range is from 0 to 100 This is set to 0 S shaped motion disabled in the factory setting An S shaped motion becomes a sine waveform after one cycle of the acceleration time Specify the degree of amplitude by parameter No 56 Parameter No 56 setting Degree of amplitude 0 Facto...

Page 250: ...sing the teaching tools such as PC Caution 1 Even if a position command or direct value command with S shaped motion setting is issued when the actuator is running S shaped motion control will not be executed Issue these commands when the actuator is stopped 2 When the index mode is set on the rotary actuator S shaped motion is not executed and instead trapezoid control will be executed 3 Set the ...

Page 251: ...operation manual for your controller ASO1 ASO0 Function Remarks OFF OFF Disabled Factory setting OFF ON Automatic servo OFF method Parameter No 36 is enabled for T in the figure below ON OFF Automatic servo OFF method Parameter No 37 is enabled for T in the figure below ON ON Automatic servo OFF method Parameter No 38 is enabled for T in the figure below Movement command Servo ON status Auto servo...

Page 252: ...s not successful a 0E1 load cell calibration error alarm generates Caution Normal operation commands are not accepted while the CLBR signal is ON 1 If the CLBR is turned OFF during this period the signal is not recognized and therefore calibration is not performed 2 If the CLBR is turned OFF during this period an alarm generates 33 Servo gain parameter set selection GSL0 GSL1 PLC output signals Th...

Page 253: ...r Stationĺslave transmission delay time Xt SlaveĺMaster Station Transmission Delay Time Master Stationĺ For the master station o slave transmission delay Yt and slave o master station transmission delay Xt refer to the Operation Manuals for the EtherNet IP master unit and PLC installed in the master unit Filed Network Transmission Delay Time Command processing time PLC sequence program Control sig...

Page 254: ... in the controller at the startup ON edge of the CSTR signal 4 After the CST signal is turned ON the PEND signal is turned OFF after tdpf 5 After confirming that the PEND signal is turned OFF or MOVE signal is turned ON turn OFF the CSTR signal Do not change the value in the target position register until the CSRT signal is turned OFF 6 At the same time when the PEND signal is turned OFF the MOVE ...

Page 255: ... 2 Set value of target position data Specified position number Positioning start Positioning complete Current position Moving Positioning band 3 4 5 6 7 Actuator movement Normal positioning Work part missed in pressing operation Pressing operation in progress Actuator operation push Pressing Actuator movement T1 tdpf ...

Page 256: ...ge of the DSTR signal 9 After the DSTR signal is turned ON the PEND signal is turned OFF after tdpf 10 After confirming that the PEND signal is turned OFF or the MOVE signal is turned ON turn OFF the DSTR signal Do not change any value in each register until the DSTR signal has been turned OFF 11 At the same time when the PEND signal is turned OFF the MOVE signal is turned ON 12 The current positi...

Page 257: ...ositioning band data Set value of speed data Set value of acceleration deceleration data Set value of pressing current limiting value Push specification Pressing direction specification Positioning command Positioning complete missed load during pressing operation Current position Moving Actuator operation push Actuator operation normal positioning operation Push 13 12 2 3 4 5 6 7 8 T1 tdpf ...

Page 258: ...ata items set in Steps 1 through 8 are read in the controller at the startup ON edge of the DSTR signal 12 After the DSTR signal is turned ON the PEND signal is turned OFF after tpdf 13 After confirming that the PEND signal is turned OFF or the MOVE signal is turned ON turn OFF the DSTR signal Do not change any value in each register until the DSTR signal has been turned OFF 14 At the same time wh...

Page 259: ...alue of positioning band data Set value of speed data 3 4 5 6 7 8 Set value of position zone boundary data Set value of acceleration data Set value of deceleration data Set value of pressing current limiting value data Set value of load current threshold data ...

Page 260: ...t tdpf Yt Xt 3 msec 9 Positioning band Push specification Push direction specification Positioning command Positioning complete missed load during pressing operation Current position Moving Actuator operation push Actuator operation normal positioning operation Push 11 13 15 16 17 10 12 14 T1 tdpf ...

Page 261: ...llows where the speed and acceleration deceleration data items have been changed twcsON Yt Xt 3 msec twcsOFF Yt Xt 3 msec Yt Xt tpdf Yt Xt 3 msec Caution 1 When the speed has not been set or it is set to 0 the actuator is not moved but an alarm is not issued 2 When the speed setting is changed to 0 during the movement the actuator is decelerated and stopped but an alarm is not issued 3 Even when t...

Page 262: ...ion simple direct mode 8 The target position can be set directly using the value or the operation can be performed using position data value The other values required for the operation are set on the position data 2 Half direct value mode 16 In addition to the target position the speed acceleration deceleration and pressing current value are set directly using the values to perform the operation 3...

Page 263: ...d rate 0 Factory setting Auto negotiation recommended 1 10 Mbps half duplex 2 10 Mbps full duplex 3 100 Mbps half duplex 4 100 Mbps full duplex Other than the above Baud rate setting error z Network type No 87 NTYP The network module type is set for the parameter No 87 Do not change the default value ...

Page 264: ...rmed The data is sent directly to the PLC Refer to Example i 1 The host bytes are exchanged with slave bytes in the host words and slave words Refer to Example ii 2 In the case of word register the host words are exchanged with the slave words Refer to Example iii 3 Factory setting The host bytes are exchanged with slave bytes in the host words and slave words In addition the upper word and lower ...

Page 265: ...ON CA 257 Example ii Set value 1 z indicates ON while c indicates OFF SCON Input resister SCON Output resister Hexadecimal data PLC Output CH PLC Input CH Hexadecimal data Hexadecimal data Hexadecimal data ...

Page 266: ... 258 Example iii Set value 2 z indicates ON while c indicates OFF ACON PCON Input resister ACON PCON Output resister Hexadecimal data PLC Output CH PLC Input CH Hexadecimal data Hexadecimal data Hexadecimal data ...

Page 267: ...ON CA 259 Example iv Set value 3 z indicates ON while c indicates OFF SCON Input resister SCON Output resister Hexadecimal data PLC Output CH PLC Input CH Hexadecimal data Hexadecimal data Hexadecimal data ...

Page 268: ...able range 0 0 0 0 to 255 255 255 255 Factory setting 255 255 255 0 z Default gateway No 142 DFGW Specify the default gateway in parameter No 142 Settable range 0 0 0 0 to 255 255 255 255 Factory setting 192 168 0 0 z FB Half Direct Mode Speed Unit No 159 FBVS Determines the unit of measure when operating the unit in Half Direct Mode Parameter No 159 setting value Speed setting unit 0 Set in deliv...

Page 269: ...aching tool and check the status monitor screen 2 Search the alarm list in the operation manual for your controller to find the section corresponding to the identified alarm code 3 Take an appropriate action according to the explanation of the alarm code For the alarm codes listed below take the corresponding actions Code Error name ID 1 RES 2 Cause action 0F2 Fieldbus module error 05 x Cause A fi...

Page 270: ...ned on the following pages is based on the following settings Item Controller PLC Remarks IP address 192 168 0 1 192 168 0 10 Subnet mask 255 255 255 0 255 255 255 0 Default gateway 0 0 0 0 0 0 0 0 Disable the default gateway Baud rate Set automatically Set automatically 100 Mbps full duplex when link is established The specific settings vary depending on the switching hub specification 5 1 2 Sett...

Page 271: ...t the PLC 2 Start CX Programmer and click the Connect Directly button on the toolbar to connect to the PLC 3 When the following message appears select the Also transfer I O table and high function unit settings check box and click the Yes button 4 Click the Program Mode button to switch the PLC to the program mode 5 Double click I O Table Unit Settings in the workspace ...

Page 272: ...Parameters dialog box select the TCP IP tab and set as follows and then click the Transfer PC Æ Unit button to transfer the parameters to the PLC Keep the default settings on other tabs After the parameters have been transferred follow the onscreen instructions to complete all necessary steps until restarting of the PLC and then click the OK button ...

Page 273: ...k the Connect button on the toolbar to connect to the PLC 2 In the Select Connection Network Port dialog box select TCP 2 and click the OK button 3 Right click CJ2M EIP21 OMRON PLC and Anybus CC EtherNet IP Controller in the hardware list and select Add to Network in the pop up menu for each device ...

Page 274: ...5 Appendix 266 4 Right click each device in the main window and select Change Node Address in the pop up menu to set the IP address ...

Page 275: ...5 Appendix 267 PLC s IP Address Controller s IP Address ...

Page 276: ...ce parameters as follows Item Set value 0001 Output Size 2 0002 Input Size 2 0003 RPI Range 10000 default value 6 Double click CJ2M EIP21 in the main window to open the PLC s Edit Device Parameters dialog box and select Anybus CC EtherNet IP under List of Unregistered Devices and register the device ...

Page 277: ...5 Appendix 269 7 Once the device is registered Anybus CC EtherNet IP moves to List of Registered Devices Double click Anybus CC EtherNet IP you have just registered ...

Page 278: ...5 Appendix 270 8 In the Assign Connection dialog box click the Edit Tag Set button next to Input Tag Set in the Originator Device area ...

Page 279: ...5 Appendix 271 9 In the Edit Tag Set dialog box click the Edit Tag button 10 In the Edit Tag dialog box click the New button ...

Page 280: ... close the Set Tag dialog box No other tag is registered continuously Click the OK button in the Edit Tag dialog box and again in the Edit Tag Set dialog box to close each dialog box 13 Register a tag from Output Tag Set in the Originator Device area just like you did from Input Tag Set For the output tag set set as follows in the Set Tag dialog box ...

Page 281: ...in Assign Connection is complete the Assign Connection dialog box opens again Click the Close button to close the dialog box 16 In the Edit Device Parameters dialog box click the OK button Click the Download to Network button on the toolbar to start writing the parameters to the PLC after which the PLC is restarted Wait for several seconds and link will be established between the PLC and controlle...

Page 282: ...hange their statuses as follows LED statuses on PLC LED statuses on Controller LED Status LED Status MS Steady green light MS Steady green light NS Steady green light NS Steady green light COMM Steady orange light Link Activity Blinking green light 100M Steady orange light 10M Unlit ...

Page 283: ...lds of the Watch Window and the current values of the registered tags will appear in the Value fields The description of each device is given below Tag name Description W0 Controller PLC output W1 PLC Controller output 4 Change the value of W1 in the Watch Window and also change the controller output data and check if the controller s I O port data match the values of tags W0 and W1 ...

Page 284: ...192 168 9 10 Subnet mask 255 255 255 0 255 255 255 0 Default gateway 0 0 0 0 0 0 0 0 Disable the default gateway Baud rate Set automatically Set automatically 100 Mbps full duplex when link is established The specific settings vary depending on the switching hub specification 5 2 2 Setting the Controller Actuate an emergency stop on the controller and then start the controller with the MODE switch...

Page 285: ...e IP address setting method IP address subnet mask and default gateway on the CPU Unit Settings 2 tab When all items have been set click the button to start EtherNet IP Setup 3 When EtherNet IP Setup has started select Anybus CC EtherNet IP on the Device List 1 tab and drag drop it in the scan list area on the left side of the screen ...

Page 286: ...ears Set the IP address and node address here The node address is an internal address used by the PLC It has nothing to do with the IP address Assign a unique value to each PLC 5 Select Anybus CC EtherNet IP you have just registered in the scan list area and then click the right mouse button and select Set Connection ...

Page 287: ... trigger 7 Click the Set Parameters button in the Set Connection dialog box and set the numbers of input and output bytes In this example the fieldbus operation mode is Remote I O Mode 1 so there are two input bytes and two output bytes When the setting is complete click the OK button to close the Set Parameters dialog box Click the OK button again to close the Set Connection dialog box ...

Page 288: ... box In this dialog box set the devices to assign I O data to In this example set W0000 for IN data and W0002 for OUT data using the Auto Setting function 9 Click the File menu in the EtherNet IP Setup dialog box and then select Apply When the menu drop down list disappears close the EtherNet IP Setup dialog box ...

Page 289: ...n Next click the OK button to close the Unit Editor Next you must transfer the Unit Settings to the PLC to reflect the settings you have just made 11 From the KV STUDIO menu select Monitor Simulator and then select Transfer to PLC Click Execute after confirming that the Unit Setting Information check box is selected under Transfer Items ...

Page 290: ... IP registered in the tree under KV 5500 and select Sensor I O Monitor 3 After Sensor I O Monitor has been selected the Sensor I O Monitor dialog box appears In this dialog box you can monitor the devices to which I O data has been assigned The description of each device is given below Tag name Description W00 PLC m Controller W02 PLC o Controller ...

Page 291: ...afety Guide Caution notes added for when working with two or more persons SCON CA added Third edition Contents added and changed in Safety Guide PCON CA CFA added Fourth edition Unit of measurement parameter adjustment added for SCON CA half direct value mode half direct value mode 2 and half direct value mode 3 Maintenance information added to the SCON CA full direct mode ...

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Page 294: ...4 D 65824 Schwalbach am Taunus Germany TEL 06196 88950 FAX 06196 889524 SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 1261 Hamilton Parkway Itasca IL 60143 ...

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