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4. Appendix

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Summary of Contents for acon

Page 1: ...EtherNet IP IAI America Inc Operation Manual Second Edition ACON PCON SCON CA ...

Page 2: ......

Page 3: ...keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary Important This operation manual is original 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 Information contained in this operation manual is subject to c...

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Page 5: ... of Occupied Bytes 2 20 2 6 3 Position Simplified Direct Value Mode Number of Occupied Bytes 8 26 2 6 4 Half Direct Value Mode Number of Occupied Bytes 16 31 2 6 5 Full Direct Value Mode Number of Occupied Bytes 32 38 2 6 6 Remote I O Mode 2 Number of Occupied Bytes 12 47 2 6 7 I O Signal Controls and Function 51 2 7 I O Signal Timings 67 2 8 Operation 68 2 9 EtherNet IP Related Parameters 76 2 10...

Page 6: ...6 9 Remote I O Mode 3 Number of Occupied Bytes 12 140 3 6 10 Half Direct Value Mode 3 Number of Occupied Bytes 16 144 3 6 11 I O Signal Controls and Function 151 3 7 I O Signal Timings 169 3 8 Operation 170 3 9 EtherNet IP Related Parameters 178 3 10 Troubleshooting 185 4 Appendix 186 4 1 Example of Connection Settings with Omron s Master 186 4 1 1 Connection Example 186 4 1 2 Setting the Controll...

Page 7: ...s and machinery designed for the purpose of moving or transporting people For vehicle railway facility or air navigation facility 3 Important safety parts of machinery Safety device etc 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 ...

Page 8: ...t anything on the product Failure to do so may cause an accidental fall injury or damage to the product due to a drop of anything malfunction of the product performance degradation or shortening of its life When using the product in any of the places specified below provide a sufficient shield 1 Location where electric noise is generated 2 Location where high electrical or magnetic field is presen...

Page 9: ...d immediately in an emergency during the unit operation Take the safety measure not to start up the unit only with the power turning ON Failure to do so may start up the machine suddenly and cause an injury or damage to the product Take the safety measure not to start up the machine only with the emergency stop cancellation or recovery after the power failure Failure to do so may result in an elec...

Page 10: ...s make it clear who is to be the leader and who to be the follower s and communicate well with each other to ensure the safety of the workers After the teaching or programming operation perform the check operation one step by one step and then shift to the automatic operation When the check operation is to be performed inside the safety protection fence perform the check operation using the previo...

Page 11: ...nce in addition to the workers arrange a watchman so that the machine can be stopped any time in an emergency Also keep watch on the operation so that any third person can not operate the switches carelessly Place a sign Under Operation at the position easy to see For the grease for the guide or ball screw use appropriate grease according to the Operation Manual for each model Do not perform the d...

Page 12: ...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 13: ... 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 Unit M...

Page 14: ...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 15: ...tion 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 to ...

Page 16: ...e 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 occupied bytes 16 bytes...

Page 17: ...pands 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 EtherN...

Page 18: ...2 2 Model Numbers The Model numbers of ACON and PCON applicable to EtherNet IP are described as follows ACON C CG EP PCON C CG EP Front panel color Printed series name y ACON y PCON y ACON Dark blue y PCON Dark green ...

Page 19: ...2 ACON PCON 13 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 16 06 Status indicator LEDs EtherNet IP port Status LEDs ...

Page 20: ...ent 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㸦Illuminating Operation is normal The system is in the sc...

Page 21: ...ng 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 PCON...

Page 22: ...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 Refer to 2 9...

Page 23: ...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 switch ...

Page 24: ...ytes 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 21 Accele...

Page 25: ...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 n 28 n 2...

Page 26: ... 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 separ...

Page 27: ...de 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 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 bytes 16 bit n...

Page 28: ... start CSTR 14 Reset RES Reset RES Reset RES PLC output ACON input 15 Servo ON command SON Servo ON command SON Servo ON command SON 0 PM1 PM1 PM1 1 PM2 PM2 PM2 2 PM4 PM4 PM4 3 PM8 PM8 PM8 4 PM16 PM16 PM16 5 Completed position No PM32 Completed position No PM32 PM32 6 Moving signal MOVE Moving signal MOVE PM64 7 Zone 1 ZONE1 Teaching mode signal MODES Completed position No PM128 8 Position zone PZ...

Page 29: ...o ON command SON 0 PM1 Position 0 complete PE0 Retracting end movement command 0 LS0 1 PM2 Position 1 complete PE1 Retracting end movement command 1 LS1 2 PM4 Position 2 complete PE2 Retracting end movement command 2 LS2 3 PM8 Position 3 complete PE3 4 PM16 Position 4 complete PE4 5 PM32 Position 5 complete PE5 6 PM64 Position 6 complete PE6 Unavailable 7 PM128 Zone 1 ZONE1 Zone 1 ZONE1 8 Complete...

Page 30: ...mmand SON 0 PM1 PM1 PM1 1 PM2 PM2 PM2 2 PM4 PM4 PM4 3 PM8 PM8 PM8 4 PM16 PM16 PM16 5 Completed position No PM32 Completed position No PM32 PM32 6 Moving signal MOVE Moving signal MOVE PM64 7 Zone 1 ZONE1 Teaching mode signal MODES Completed position No PM128 8 Position zone PZONE Position zone PZONE Position zone PZONE 9 Operation mode status RMDS Operation mode status RMDS Operation mode status R...

Page 31: ...0 complete PE0 Retracting end movement command 0 LS0 1 PM2 Position 1 complete PE1 Retracting end movement command 1 LS1 2 PM4 Position 2 complete PE2 Retracting end movement command 2 LS2 3 PM8 Position 3 complete PE3 4 PM16 Position 4 complete PE4 5 PM32 Position 5 complete PE5 6 PM64 Position 6 complete PE6 Unavailable 7 PM128 Zone 1 ZONE1 Zone 1 ZONE1 8 Completed position No PM256 Position zon...

Page 32: ... be controlled 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 posit...

Page 33: ...nge 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 axi...

Page 34: ...ess 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 35: ... 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 Position ...

Page 36: ...ecomes 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 WEND...

Page 37: ...tion 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 input register PLC output address bytes ACON PCON output register PLC input a...

Page 38: ... 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 39: ...egative 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 40: ...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 41: ...he 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 actua...

Page 42: ... 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 Jog spe...

Page 43: ...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 positi...

Page 44: ...dicates the first address of each axis Parameter No 84 ACON PCON input register PLC output address bytes ACON PCON output register PLC 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 1...

Page 45: ...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 operation...

Page 46: ... 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 47: ...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 48: ...gure 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 Unavai...

Page 49: ...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 set wi...

Page 50: ...ng the maximum pressing current an alarm will occur 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 cont...

Page 51: ... 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 parameter No 47 Jog speed 2 and parameter No 49 Inch distance 2 are used when the signal is ON 2 6 ...

Page 52: ... 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 not be...

Page 53: ...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 pos...

Page 54: ...oted 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 binary data...

Page 55: ...ion 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 56: ...ype 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 57: ...en 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 Function 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 case ...

Page 58: ... 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 Function 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 SV s...

Page 59: ...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 60: ...rformed 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 issued...

Page 61: ... 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 de...

Page 62: ...t 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 se...

Page 63: ...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 parame...

Page 64: ...nd 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 Pa...

Page 65: ...al 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 WEND si...

Page 66: ...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 67: ...hile 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 p...

Page 68: ...er No 50 Load Output Judgment Time Period Set the parameter No 51 Torque Inspected Range to 0 enabled Set the threshold inspected width using the PLC s Zone Boundary Register or Zone Boundary Register Set the threshold using the PLC s Load Current Threshold Register Set the positioning band using the PLC s Positioning Band Register Set it a bit longer from the backmost position considering the mec...

Page 69: ...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 Set the parameter No 50 Load Output Judgment Time Period Set the parameter No 51 Torque Inspected Range to 1 disable Set the threshold using the PLC s Load Current Threshold Register Set the positioning band using the PLC s Pos...

Page 70: ...sed in the standby condition SMOD OFF Standby condition 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 th...

Page 71: ...eceleration 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 N...

Page 72: ... 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 73: ...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 䠙Yt Xt 3 command processing time operation time etc Yt Master station slave transmission delay time Xt Slave master station transmission delay time Master Station For the master station slave transmission delay Yt and slave master station trans...

Page 74: ...ller 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 is tur...

Page 75: ...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 76: ...f 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 d...

Page 77: ...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 78: ...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 79: ...tion 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 80: ...s 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 81: ...r 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 movem...

Page 82: ...on 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 value ...

Page 83: ...arameter 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 words a...

Page 84: ...ON 78 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 85: ...N 79 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 86: ...ON 80 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 87: ...mple 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 corres...

Page 88: ...ing 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 posi...

Page 89: ...on 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 bytes 16 bytes SCON CA ...

Page 90: ... 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 Zo...

Page 91: ...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 92: ...3 SCON CA 86 3 2 Model Numbers The model numbers of SCON CA controller supporting EtherNet IP are indicated as follows respectively z SCON CA EP ...

Page 93: ...3 SCON CA 87 3 3 EtherNet IP Interface 3 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 94: ...nt 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㸦Illuminating Operation is normal The system is in the sca...

Page 95: ...ot 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 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 96: ...tion 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 Input...

Page 97: ... SNMK Subnet mask Set the same value you have set in the master unit and other slaves on the same network Refer to 3 9 EtherNet IP Parameters Settable range 0 0 0 0 to 255 255 255 255 The 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 ...

Page 98: ... 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 21 Ac...

Page 99: ...ion 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 27 n 2...

Page 100: ...rent 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 Occupied area n 16 n 17 n 18 n 19 Force feedback data n 20 n 21 n 22 n 23 n 24 n 25 n 26 n 27 Occupied ...

Page 101: ...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 n ...

Page 102: ...gnetic 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 w...

Page 103: ...esses 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 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 0ࠊn 1 n 0ࠊn 1 Controller input port number 1 word 2 bytes 16 bit n 0 n 1 n...

Page 104: ...set RES Reset RES Reset RES PLC output SCON CA input 15 Servo ON command SON Servo ON command SON Servo ON command SON 0 PM1 PM1 PM1 1 PM2 PM2 PM2 2 PM4 PM4 PM4 3 PM8 PM8 PM8 4 PM16 PM16 PM16 5 Completed position No PM32 Completed position No PM32 PM32 6 Moving signal MOVE Moving signal MOVE PM64 7 Zone 1 ZONE1 Teaching mode Signal MODES Completed position No PM128 8 Position zone PZONE Position z...

Page 105: ...ON 0 PM1 Position 0 complete PE0 Retracting end movement command 0 LS0 1 PM2 Position 1 complete PE1 Retracting end movement command 1 LS1 2 PM4 Position 2 complete PE2 Retracting end movement command 2 LS2 3 PM8 Position 3 complete PE3 4 PM16 Position 4 complete PE4 5 PM32 Position 5 complete PE5 6 PM64 Position 6 complete PE6 Unavailable 7 PM128 Zone 1 ZONE1 Zone 1 ZONE1 8 Completed Position No ...

Page 106: ...ed position number 0 PE0 1 PM2 Completed position number 1 PE1 2 PM4 Completed position number 2 PE2 3 PM8 Completed position number 3 PE3 4 Completed position number PM16 Completed position number 4 PE4 5 Torque level status TRQS Torque level status TRQS 6 Load output judgment status LOAD Load output judgment status LOAD 7 Load cell calibration complete CEND Load cell calibration complete CEND 8 ...

Page 107: ...e 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 table Pause Zone signal output U Zones a...

Page 108: ...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 teaching tools such as PC software for RC PLC output Address n indicates the node address of each axis When the targ...

Page 109: ...the current position is shown using the negative figure it is expressed using the complement of 2 n 4ࠊn 5 n 6ࠊn 7 Completed position number Status signal n 6 n 7 n 4 n 5 1 word 2 bytes 16 bits n 0ࠊn 1 n 2ࠊn 3 Current position lower word Current position upper word n 2 n 3 n 0 n 1 ...

Page 110: ...s selected when the signal is ON 3 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 3 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 3 6 11 16 b9 PWRT Position Data...

Page 111: ...ent position within the zone set range 3 6 11 12 b12 ZONE1 Zone 1 ON for the current position within the zone set range 3 6 11 12 b11 PZONE Position zone This signal turns ON when the current position is inside the specified position zone 3 6 11 12 b10 MODES Teaching mode Signal This signal is ON while the teaching mode is selected 3 6 11 16 b9 WEND Position data read complete This signal turns ON...

Page 112: ...tion 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 input register PLC output address bytes SCON CA output register PLC input addres...

Page 113: ...m 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 limi...

Page 114: ...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 115: ... 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 116: ...e 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 3 8 2 Speed 16 bit data 16 bit integer Specify the speed at which to move the actuat...

Page 117: ...ignal is ON 3 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 3 6 11 33 b9 Cannot be used b8 JOG Jog ON for Movement in the Opposite Direction of Home 3 6 11 13 b...

Page 118: ...y alarm is not issued it is 0H Refer to the Operation 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 11 2 b14 PWR Controller ready This signal turns ON when the controller becomes ready 3 6 11 1 b13 ZONE2 Zone 2 ON for the current position within the zone set range 3 6 11 12 b12 ZONE1 Zone ...

Page 119: ...de address of each axis Parameter No 84 SCON CA input register PLC output address bytes SCON CA output register PLC 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...

Page 120: ...owever 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 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 a...

Page 121: ...e negative figure it is expressed using the complement of 2 n 4ࠊn 5 n 6ࠊn 7 n 8ࠊn 9 n 10ࠊ n 11 n 12ࠊ n 13 n 14ࠊ 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 0ࠊn 1 n 2ࠊn 3 Target position lower word Target position upper w...

Page 122: ...t of 2 n 20ࠊ n 21 n 22ࠊ n 23 n 24ࠊ n 25 n 26ࠊ n 27 n 28ࠊ n 29 n 30ࠊ 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 16ࠊ n 17 n 18ࠊ n 19 Zone boundary lower word Zone boundary upper word n 18 n 19 n 16 n 17 ...

Page 123: ...g the negative figure it is expressed using the complement of 2 n 12ࠊ n 13 n 14ࠊ n 15 Cannot be used Alarm code n 14 n 15 n 12 n 13 n 4ࠊn 5 n 6ࠊn 7 n 8ࠊn 9 n 10ࠊ 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 0ࠊn 1 n 2ࠊn 3 Current position lower word Current position upper word ...

Page 124: ... value it is expressed by a 2 s complement n 20㹼n 27 n 28ࠊ n 29 n 30ࠊ n 31 Cannot be used Status signal 1 Status signal 2 n 30 n 31 n 28 n 29 n 20 n 27 n 16ࠊ n 17 n 18ࠊ n 19 Force feedback data lower word Force feedback data upper word n 18 n 19 n 16 n 17 ...

Page 125: ...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 wi...

Page 126: ...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 3 6 11 29 b11 b10 Cannot be used b9 ASO1 Stop mode 1 b8 ASO0 Stop mode 2 Select the stop mode during standby ASO1 ASO0 Function OFF OFF Invalid The servo is always on OFF ON...

Page 127: ...e when the signal is ON 3 6 11 19 b13 b12 b11 b10 Cannot be used b9 CLBR Load cell calibration command Calibration is performed when this signal turns ON 3 6 11 32 b8 JOG Jog The actuator moves in the direction opposite home when the signal is ON 3 6 11 13 b7 JOG Jog The actuator moves in the direction of home when the signal is ON 3 6 11 13 b6 JVEL Jog speed inching distance switching Parameter N...

Page 128: ...e direction opposite home Negative value The actuator is moving in 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 3 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...

Page 129: ...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 3 6 11 27 b8 RMDS Operation mode The signal is OFF when the current mode AUTO or ON when the current mode is MANU 3 6 11 19 b7 GHMS Home return in progress The signal is ON while the home return is in progress 3 6 11 6 b6 PUSHS Pressing operation in progr...

Page 130: ... 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 131: ... 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 binary d...

Page 132: ... figure it is expressed using the complement of 2 Command current lower word Command current upper word n 8ࠊn 9 n 10ࠊ 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 0ࠊn 1 n 2ࠊn 3 n 4ࠊn 5 n 6ࠊn 7 n 6 n 7 n 4 n 5 n 2 n 3 n 0 n 1 ...

Page 133: ...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 134: ...t can be controlled 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 ...

Page 135: ... 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 teaching tools such as PC software PLC output Address n indicates the node address of each axis When the target pos...

Page 136: ... b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Completed position number 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 0ࠊn 1 n 2ࠊn 3 n 2 n 3 n 0 n 1 n 4 n 5 n 6 n 7 ...

Page 137: ...release The brake is released when the signal turns ON 3 6 11 18 b14 RMOD Operation mode AUTO mode when the signal is OFF or MANU mode when the signal is ON 3 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 3 6 11 20 b10 Cannot be used b9 CLBR Load cell calibration command Calibration is perfo...

Page 138: ...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 3 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 3 6 11 2...

Page 139: ...return operation 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 input register PLC outp...

Page 140: ...s from 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...

Page 141: ...mplement of 2 Target position lower word Target position upper word 1 word 2 bytes 16 bits n 0ࠊn 1 n 2ࠊn 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 4ࠊn 5 n 6ࠊn 7 n 8ࠊn 9 n 10ࠊ n 11 n 12ࠊ n 13 n 14ࠊ 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 142: ...the current speed is a negative value it is expressed using the complement of 2 Current speed lower word Current speed upper word n 8ࠊn 9 n 10ࠊ 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 4ࠊn 5 n 6ࠊn 7 n 6 n 7 n 4 n 5 1 word 2 bytes 16 bits Current position lower word Current position upper word n 0ࠊn 1 n 2ࠊn 3 n 2 n 3 n 0 n 1 Alarm...

Page 143: ...e 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 3 8 2 Speed 16 bit data 16 bit integer Specify the speed at which to move the actuat...

Page 144: ...operation is performed when this signal is OFF and pressing operation is performed when the signal is ON 3 6 11 21 b11 b10 Unavailable b9 CLBR Load cell calibration command Calibration is performed when this signal turns ON 3 6 11 32 b8 JOG Jog ON for Movement in the Opposite Direction of Home 3 6 11 13 b7 JOG Jog ON for Movement to the Home Direction 3 6 11 13 b6 JVEL Jog speed inch distance swit...

Page 145: ...the details of the alarms 3 8 2 b15 EMGS Emergency stop An emergency stop is actuated when this signal turns ON 3 6 11 2 b14 PWR Controller ready This signal turns ON when the controller becomes ready 3 6 11 1 b13 ZONE2 Zone 2 ON for the current position within the zone set range 3 6 11 12 b12 ZONE1 Zone 1 ON for the current position within the zone set range 3 6 11 12 b11 b10 Unavailable b9 CEND ...

Page 146: ...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 147: ...ote 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 b...

Page 148: ...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 149: ...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 150: ... 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 input register PLC output address bytes SCON CA output register PLC input address by...

Page 151: ...m 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 limi...

Page 152: ...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 153: ... 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 154: ...e 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 3 8 2 Speed 16 bit data 16 bit integer Specify the speed at which to move the actuat...

Page 155: ... ON 3 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 3 6 11 33 b9 NTC1 Vibration damping control mode selection 1 b8 NTC0 Vibration damping control mode selectio...

Page 156: ...any alarm is not issued it is 0H Refer to the Operation 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 11 2 b14 PWR Controller ready This signal turns ON when the controller becomes ready 3 6 11 1 b13 ZONE2 Zone 2 ON for the current position within the zone set range 3 6 11 12 b12 ZONE1 Zon...

Page 157: ...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 Function 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 158: ...otor is turned 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 Function 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 159: ...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 160: ...rmed 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 registe...

Page 161: ...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 162: ...he 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...

Page 163: ...ctuator 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 paramet...

Page 164: ... 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 165: ...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 turned ...

Page 166: ...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 3 8 Oper...

Page 167: ...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 168: ...dually set depending on the actuator characteristics Set an appropriate speed considering the work part material and shape Set the parameter No 50 Load Output Judgment Time Period Set the threshold inspected width using the PLC s Zone Boundary Register or Zone Boundary Register Set the threshold using the PLC s Load Current Threshold Register Set the positioning band using the PLC s Positioning Ba...

Page 169: ...considering the work part material and shape Set the parameter No 50 Load Output Judgment Time Period Set the threshold using the PLC s Load Current Threshold Register 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 infor...

Page 170: ...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 171: ...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 172: ...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 173: ...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 174: ...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 175: ...aster Station slave transmission delay time Xt Slave Master Station Transmission Delay Time Master Station For the master station slave transmission delay Yt and slave 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 sign...

Page 176: ... 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 177: ... 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 178: ...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 179: ...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 180: ...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 181: ...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 182: ...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 183: ...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 184: ...t 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 Full direct value mode 32 All the...

Page 185: ...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 186: ...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 187: ...ON CA 181 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 188: ... 182 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 189: ...ON CA 183 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 190: ...255 Factory setting 192 168 0 1 z Subnet mask No 141 SNMK Specify the subnet mask in parameter No 141 Settable 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 ...

Page 191: ...teaching 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 ...

Page 192: ...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 4 1 2 Sett...

Page 193: ...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 194: ...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 195: ...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 196: ...4 Appendix 190 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 197: ...4 Appendix 191 PLC s IP Address Controller s IP Address ...

Page 198: ...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 199: ...4 Appendix 193 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 200: ...4 Appendix 194 8 In the Assign Connection dialog box click the Edit Tag Set button next to Input Tag Set in the Originator Device area ...

Page 201: ...4 Appendix 195 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 202: ... 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 203: ...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 204: ...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 205: ...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 206: ...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 4 2 2 Setting the Controller Actuate an emergency stop on the controller and then start the controller with the MODE switch...

Page 207: ...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 208: ...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 209: ... 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 210: ... 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 211: ...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 212: ...et 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 Controller W02 PLC Controller ...

Page 213: ... History Revision date Description of revision February 2011 November 2011 First edition Second edition Contents changed in Safety Guide Caution notes added for when working with two or more persons SCON CA added ...

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Page 216: ...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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