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IAI CC-Link RCM-GW-CC, Operation Manual

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IAI CC-Link RCM-GW-CC Operation Manual Download Page 88

 

86 

 

(10)  Home return (HOME, HEND) 

 

Home return is executed at ON edge (at startup of signal) of HOME (Home return). 
When home return is completed, the HEND (Home return) signal is turned ON. 
Turn OFF the HOME signal when the HEND signal is turned ON.    Home return by the HOME signal is 
also effective after home return is completed. 
 

 

 

 
 

CAUTION 

 

1.  The position No. designated mode executes positioning after only the first one home return after power 

is turned on is performed when positioning to a position is commanded without performing home return 
when power is turned on. 

2.  Note that there occurs an alarm of “Error code 83 ALARM HOME ABS (absolute position moving 

command in home return non-completion status) in cases other than the position No. designated mode. 

 
 

(11)  Zone (ZONE1, ZONE2) 

 

In the case of the position No. designated mode, zone signals at two points can be outputted during 
movement in an arbitrary region set as a parameter. 
ZONE 1 (Zone 1) signal is turned ON in a region set to the parameter No.1 (zone boundary 1 + side) and 
No.2 (zone boundary 1 - side). 
ZONE 2 (Zone 2) signal is turned ON in a region set to the parameter No.23 (zone boundary 2 + side) 
and No.24 (zone boundary 2 - side). 

 
 

CAUTION 

 

1.  This signal supports the position No. designated mode only. 
2.  Use this signal in a status that home return is completed (HEND signal is ON). 

If the HEND (home return completed) signal is ON, this signal is also effective even in the servo off 
status or emergency stop status. 

 
 

Summary of Contents for CC-Link RCM-GW-CC

Page 1: ...IAI America Inc CC Link RCM GW CC Gateway Unit Operation ManualFirst Edition ...

Page 2: ...ation 17 4 2 Input and output signal of gateway unit 20 4 3 Building of SIO communication network SIO communication 23 5 Outline of CC Link 32 5 1 Data communication 32 5 2 Address assignment of master PLC 33 6 Address configuration of gateway 35 6 1 Gateway control signal 35 6 2 Position data limit designation mode 38 6 3 Position No designation mode 42 6 4 Position speed acceleration and deceler...

Page 3: ...e 98 9 1 Outline of configuration 98 9 2 Actuator operating pattern 99 9 3 Various settings on SIO link side 99 9 4 Setting of gateway unit 101 9 5 Setting on CC Link master side 101 9 6 Address Correlation Diagram 108 9 7 Ladder Sequence Flowchart 110 9 8 Ladder Sequence 112 10 Troubleshooting 122 10 1 Action to Be Taken upon Occurrence of Trouble 122 10 2 Troubleshooting 123 ...

Page 4: ...twork Physical standard for SIO communication network is RS 485 and slave addresses on this network are 1 16 All data exchanged between the CC Link and the Modbus protocol communication network are once stored in the internal memory of the gateway unit and transmitted to CYCLIC The gateway unit is handled from the PLC side as a remote I O Adaptable controllers are PCON SE ACON SE SCON and ERC2 SE ...

Page 5: ...C upper network Ethernet is mostly used for this level 3 Controller level This frequently handles real time information for a production line and is referred to as Network between PLCs 4 Field level This is referred to as PLC lower network and is mainly used to save wiring for a control system of which one controller is in charge and is positioned as Wiring save communication This level is largely...

Page 6: ...ch CC Link unit is installed communication can be made without a particular program 4 Since line efficiency is high communication with high speed response can be made For details of CC Link refer to Operation Manuals of the master unit and the PLC to be installed Use this Operation Manual together with the Operation Manual of the controller to be connected This CC Link gateway cannot be used in wa...

Page 7: ...s Further input and output of various status signals and present position data can be read 2 Push operation mode Push operation can be performed and the maximum connecting axis number totals 3 axes This is a mode in which direct designation of current limit value and positioning width for push is added to the normal positioning mode 4 Simple direct value Position No designation mode This mode can ...

Page 8: ...ignated operation Completed position No reading Connectable axis number 14 14 7 3 16 Settable axis No 1 0 13 0 13 0 6 0 2 0 15 Position data designated maximum value 2 327 67mm Designated to position table 327 67mm 9999 99mm Operable CC Link version Ver 1 Ver 2 Ver 2 CAUTION 1 A range of effective axis No which is set to axis connected by SIO communication Values set exceeding this range are ignor...

Page 9: ...6 1 5 How to identify model RCM GW CC Basic model For CC Link Gateway unit ...

Page 10: ...alf duplex Synchronization system Asynchronous type Transmission path format Equivalent to EIA RS485 2 wire type Communication speed 30 4kbps Error control system No parity bit CRC 3 Communication cable length Total cable length 100m or shorter Connecting unit number Maximum 3 7 14 16 axes depending on operation mode SIO communication specification Communication cable Two paired twist pair shielde...

Page 11: ...8 2 2 External dimension drawing Mounting dimension ...

Page 12: ...g 5 Controller communication line SDA Communication line SDB Communication line GND Ground FG Frame ground 11 Power supply input connector 6 CC Link communication connector DA Communication line DB Communication line DG Ground SLD Shield FG Earth 7 CC Link setting switch BR Baud rate SA 10 and Sa 1 Station No Decimal 2 digits 8 CC Link communication status LED SD Data communication RD Data recepti...

Page 13: ...ion error occurs in communication between the CC Link gateway and controller No response overrun framing error or CRC error Normal T ER Unlit Normal CRC Cyclic Redundancy Check Data error detecting method which is mostly used for synchronizing transmission 2 SIO communication status LED Communication status between CC Link gateway and controller can be checked This LED flashes when communication b...

Page 14: ...Position No designating mode Large 176 176 6 Simple direct value Position No designating mode Middle 136 136 7 Simple direct value Position No designating mode Small 68 68 4 External port switching input Connector port for teaching box and personal computer can be switched ON OFF by external signal no voltage contact When the port switch 9 for the CC Link gateway main body is OFF this input is ena...

Page 15: ... the next 8 is lit 8 CC Link communication status LED Operating status of the CC Link gateway and network status can be checked by the four LEDs Indicating status Description Lit Normal operation Lit by starting communication RUN Green Unlit Does not participate in network or time out status Communication is interrupted for a certain time or longer Lit Reception data to self station is abnormal CR...

Page 16: ... communication rate between the CC Link gateway and the controller is fixed to 230 4kbps When the PORT is ON the CC Link communication does not become abnormal however data communication for SIO communication stops Therefore output signal data from the PLC is not outputted to the controller and input signal data from the controller keeps a value immediately before PORT was ON PORT ON status signal...

Page 17: ... corrosive or inflammable gasses under a temperature of 0 to 40 C and humidity of 85 or less non condensing d Use the gateway main body where it will not receive any external vibration or shock e Prevent electrical noise from entering the gateway main body or its cable 3 2 Power Supply The power supply specification is 24V DC 10 Supply current 300mA max 3 3 Noise Elimination and Grounding a Instal...

Page 18: ...sources can be eliminated by implementing the measures specified below 1 AC solenoid valves magnet switches and relays Measure Install a surge absorber in parallel with the coil 2 DC solenoid valves magnet switches and relays Measure Install a diode in parallel with the coil Determine the diode capacity in accordance with the load capacity Point Install a surge absorber to each coil over a minimum...

Page 19: ...he gateway unit vertically on a wall as shown below and provide a minimum clearance of 50mm above and below the gateway unit and a minimum clearance of 100mm on the front for wiring For lateral installation such as installing multiple gateway units side by side secure a sufficient space so that the gateway unit is easily installed and removed If affection of heat or noise is a concern take the mea...

Page 20: ...ows an example of configuration to build a CC Link by using a gateway unit Host system PLC master station Terminal resistor Slave station Gateway unit Teaching box Terminal resistor 4 direction junction SIO communication network Terminal resistor 24V power supply ...

Page 21: ...18 SIO communication connection is allowed even by multi drop method using terminal blocks as follows Gateway unit Terminal block Terminal resistor ...

Page 22: ...e a dedicated shielded 3 core twisted paired cable as a cable The dedicated cable is as follows Color Signal type Blue Communication line A DA White Communication line B DB Yellow Communication ground line DG Shield SLD 4 It is necessary to install terminal resistors on both ends of the CC Link system The terminal resistor is connected between DA and DB however it differs with the cable being used...

Page 23: ...lored Connector for teaching box and personal computer Teaching box Teaching box Emergency stop signal output Allowable load voltage 30V DC Allowable load current 1A Port switch Gateway power supply 24V DC 10 300mA max External port switching input Supplied by customer Load 24V DC 7mA Port switch SIO communication cable ...

Page 24: ...nal from the emergency stop pushbutton switch on the teaching box is outputted to the outside while the port is ON this signal can be incorporated into the emergency stop circuit for the whole system External port switching input Port switch Teaching box emergency stop signal output Connector port for teaching box and personal computer OFF OFF Ineffective S1 S2 short circuit Ineffective ON OFF OFF...

Page 25: ...rent 300mA max Allowable load voltage 30V DC Allowable load current 1A No voltage dry contact input load 24V DC 7mA Set GND ground level to that of controller or ERC actuator to be connected Internally connected to frame Internally connected Contents Gateway power supply Positive side of 24V DC Gateway power supply Negative side of 24V DC Teaching box emergency stop signal output External port swi...

Page 26: ...onnect a terminal resistor at the end A terminal resistor is incorporated into the gateway unit side therefore it is unnecessary to connect it 2 The communication cable should be supplied by customer If the recommended communication cable is not used use an electric wire size AWG22 2 Link connection for PCON SE ACON SE Gateway unit Incorporating terminal resistor e CON connector AMP made 4 1473562...

Page 27: ... weld the cable press fit housing with the cables inserted from above 5 Heat treat the cable protective tube Pin numbers of e CON connector Be sure to insert the terminal resistor 220Ω 1 4W into the end of the communication main line between No 1 and No 2 of the e CON connector Gateway unit Two paired shielded cable Recommended brand Taiyo Electric Wire Cable SIO communication main line Four way j...

Page 28: ...ity 1 2 E Con connector Model 4 1473562 4 Manufacturer MP Quantity 1 Compatible wire coating outline 1 35 1 6mm 3 Terminal resistor 220Ω 1 4W with E Con connector Quantity 1 Controller end Mini DIN connector E Con connector 3 1473562 4 Housing color Orange No 1 2 3 4 Signal SGA SGB GND Signal No SGA 1 SGB 2 5V 3 ENB 4 EMGA 5 24V 6 GND 7 EMGB 8 Yellow Orange Blue ...

Page 29: ...g terminal resistor e CON connector AMP made 4 1473562 4 Green e CON connector AMP made 3 1473562 4 Orange Junction AMP made 3 1473574 4 Recommended brand Taiyo Electric Wire Cable SIO communication main line First axis Second axis n th axis Terminal resistor ...

Page 30: ...lowing diagram For details refer to the Operation Manual for the ERC2 controller 4 In the case of a combination of PCON SE ACON SE ERC2 SE and SCON The previous items 2 and 3 are basic connections Perform wiring by the method introduced in 4 1 Overall configurations Four way junction SIO main line Orange Blue Green e con connector Nichiatsu Nichiatsu Nichiatsu Relay cable 2 Relay cable 1 ...

Page 31: ...ders can be put into an emergency stop status by the emergency stop switch on the teaching box connected to the gateway unit CAUTION 1 The following example shows a wiring path for an emergency signal and does not show a safety circuit such as emergency stop reset circuit Provide a safety circuit including an emergency stop reset circuit etc on the outside for an actual emergency stop 2 For detail...

Page 32: ... 2A max one unit Teaching box EMG push button T P connector Gateway unit PCON SE controller EMG reset switch EMG push button Gateway power supply SIO communication SIO connector SIO connector connection detecting circuit Connection detecting signal H Drive stop signal L Time constant Control power supply Power supply terminal block Power supply terminal block Unit 2 EMG signal detection H Motor dr...

Page 33: ... switch EMG push button Gateway power supply SIO communication SIO connector SIO connector connection detecting circuit Connection detecting signal H Drive stop signal L Time constant Control power supply Power supply terminal block Power supply terminal block Unit 2 EMG signal detection H Motor drive power supply Motor drive circuit Power supply terminal block Unit 3 ...

Page 34: ...T 1 Open the user adjusting screen 2 Move the cursor to the assignment NO _ with key 3 Enter axis No and press the Return key 4 Enter 2 into adjusting NO _ and press the Return key Operation of simple teaching box RCM E 1 Open the user adjusting screen 2 Open the Return key to open a screen of the assignment NO _ 3 Enter axis No and press the Return key 4 Enter 2 into adjusting NO _ and press the ...

Page 35: ...s automatically communicated between the master station and slave station via this buffer memory regardless of the CPU for the PLC The CPU uses the buffer memory in the master station and the CPU internal device such as X Y M D W to communicate data Network parameter Automatic refresh parameter CPU device corresponded to RX such as X M CPU device corresponded to RY such as Y M CPU device correspon...

Page 36: ...0H 2DFH addresses and the remote register RWr is assigned to 2E0 H 3DF H addresses Number of links per one remote station is respectively 32 points 2 words for remote input and output RX RY and 4 points 4 words for remote register RWw RWr then links of a maximum 64 stations are available for one system Station No of 1 to 64 can be set to a remote station however the number of exclusive stations va...

Page 37: ...atic refresh Automatic refresh Automatic refresh 2 words for one station 2 words for one station 2 words for one station 2 words for one station Remote output RY Remote register RWw Remote register RWr Remote input I O station Device station Bit data Remote output Bit data Remote register Word data numeric data Remote register Word data numeric data ...

Page 38: ...espective two words of word register for input and output It is recommended to use data of this word register on the bit register by performing transmission processing ON OFF control for communication of SIO link and monitoring of communication status of SIO link and status of gateway can be performed PLC output 1 word 16 bits Gateway control signal 0 Gateway control signal 1 PLC input 1 word 16 b...

Page 39: ... 0 16 of axes used in position No designating mode by 5 bit binary 2 PPS2 1 PPS1 Control signal 0 0 PPS0 Use this in simple direct value position No designating mode In another mode always turn this OFF 0 Set I O pattern pattern 0 5 for position No designating mode axis by 3 bit binary 15 CFG15 Link ON Axis No 15 14 CFG14 14 13 CFG13 13 12 CFG12 12 11 CFG11 11 10 CFG10 10 9 CFG9 9 8 CFG8 8 7 CFG7 ...

Page 40: ...etting switch 3 ON output 9 MOD2 Mode setting switch 2 ON output 8 MOD1 Mode setting switch 1 ON output This outputs setting status of the mode setting switch 7 Major V 4 6 Major V 2 5 Major V 1 Outputs Major Version No by 3 bit binary 4 Minor V 16 3 Minor V 8 2 Minor V 4 1 Minor V 2 Control signal 0 0 Minor V 1 Outputs Minor Version No by 5 bit binary This outputs version information of gateway u...

Page 41: ...re as shown in the following table Primary functions Direct control Indirect control Ineffective Remarks Home return operation Positioning operation Speed acceleration and deceleration setting This is set to a parameter Therefore this is fixed during operation Pitch incremental feed Pitch feed data cannot be directly processed Give command by adding or subtracting data of same moving amount to fro...

Page 42: ...ontrol signal 12 RX 6F 60 Status signal 13 Status signal 12 RY 7F 70 Prohibited from use because this is in CC Link system region RX 7F 70 Prohibited from use because this is in CC Link system region Output writing Register Word register Input writing Register Word register RWw 0 Gateway control signal 0 RWr 0 Gateway status signal 0 RWw 1 Gateway control signal 1 RWr 1 Gateway status signal 1 RWw...

Page 43: ...ta designation and present position data are integers with a sign of one word 16 bits and the PLC can handle numeric values of 32 768 to 32 767 unit 1 100mm however set the position data in a range 0 to effective stroke length of soft stroke for its actuator 1 word 16 bits PLC output PLC input 1 word 16 bits 1 word 16 bits Control signal Control signal Position data designation Integer with sign S...

Page 44: ... When the integer is negative it is indicated by complement of 2 therefore the uppermost bit becomes 1 F 7 EMGS On emergency stop E 6 Cannot be used D 5 PWR Controller preparation completion C 4 SV Operation preparation completion Servo on status B 3 MOVE On moving A 2 HEND Home return completion 9 1 PEND Positioning completion Status signal 8 0 ALM Alarm occurring PLC input Present position data ...

Page 45: ...Primary functions controllable in this mode are as shown in the following table Primary functions Direct control Indirect control Ineffective Remarks Home return operation Positioning operation This operation is performed by designating No of position table Speed acceleration and deceleration setting This is set to position table Pitch incremental feed This is set to position table Push operation ...

Page 46: ...X 6F 60 Status signal 13 Status signal 12 RY 7F 70 Prohibited to use because this is in CC Link system region RX 7F 70 Prohibited to use because this is in CC Link system region Output writing Register Word register Input writing Register Word register RWw 0 Gateway control signal 0 RWr 0 Gateway status signal 0 RWw 1 Gateway control signal 1 RWr 1 Gateway status signal 1 RWw 2 Command position No...

Page 47: ...ON OFF signals in bit units Command position No and completed position No are handled in binary data of one byte 8 bits Set the command position No in a range of position number set by the controller for each axis 1 word 16 bits PLC output PLC input 1 word 16 bits 1 word 16 bits Control signal Control signal 1 word 16 bits Command position No Command position No Status signal Status signal Complet...

Page 48: ...ing is Hex0F21 F 7 EMGS On emergency stop E 6 Cannot be used D 5 PWR Controller preparation completion C 4 SV Operation preparation completion Servo on status B 3 MOVE On moving A 2 HEND Home return completion 9 1 PEND Positioning completion Status signal 8 0 ALM Alarm occurring Zone signal output 2 b15 b17 ZONE2 Zone signal output 1 b14 b6 ZONE1 PLC input Completed position No Alarm output 6 bit ...

Page 49: ...d information data abnormality A3 7 Excitation detection error B8 Operation time time out in home return operation BE 8 Actual speed excessively large C0 9 Overvoltage C9 Overheat CA Control power voltage abnormality CC Control power voltage drop CE A For manufacturer B Position deviation counter overflow D8 C Servo abnormality C1 D A B phase breakage E8 A phase breakage E9 B phase breakage E9 RCP...

Page 50: ...ive command by adding or subtracting data of same moving amount to from the present position by host PLC Push operation Speed change during movement Speed data is accepted at start of positioning Therefore if you attempt to change the speed in process of movement change the speed data and restart during moving Operation in different acceleration and deceleration Acceleration and deceleration data ...

Page 51: ...tion designation 11 Control signal 10 RX 5F 50 Cannot be used Status signal 5 RY 6F 60 Acceleration and deceleration designation 13 Control signal 12 RX 6F 60 Cannot be used Status signal 6 RY 7F 70 Prohibited from use because this is in CC Link system region RX 7F 70 Prohibited from use because this is in CC Link system region Output writing Register Word register Input writing Register Word regi...

Page 52: ... handle numeric values of 32 768 to 32 767 Set the acceleration and deceleration and speed in a range of specification of the actuator and set position data in a range of soft stroke 1 word 16 bits PLC output PLC input 1 word 16 bits Speed Acceleration and deceleration speed Control signal 1 word 16 bits Cannot be used Command position No Unit Acceleration and deceleration 0 01G Speed 1 100mm sec ...

Page 53: ...e command 2 HOME Home return command 1 CSTR Start command Control signal 0 RES Reset command Speed designation 16 bit data 16 bit integer Unit 0 01mm sec Set command speed in hexadecimal number Example In the case of 200mm sec it is set E20H decimal 2000 Note When speed is not set or the setting is 0 stop is kept Alarm does not occur When changing the speed by changing the setting to 0 during move...

Page 54: ... moving 2 HEND Home return completion 1 PEND Positioning completion Status signal 0 ALM Alarm occurring PLC input Present position data 16 bit data 16 bit integer with sign Unit 0 01mm Set position data in hexadecimal number Example In the case of 25 4mm it is set to 09ECH decimal 2540 Note When the integer is negative it is indicated by complement of 2 therefore the uppermost bit becomes 1 ...

Page 55: ...nnot be directly processed Give command by adding or subtracting data of same moving amount to from the present position by host PLC Push operation Speed change during movement Speed data is accepted at start of positioning Therefore if you attempt to change the speed in process of movement change the speed data and restart during moving Operation in different acceleration and deceleration Acceler...

Page 56: ...RY 6F 60 Cannot be used RX 6F 60 Cannot be used RY 7F 70 Prohibited from use because this is in CC Link system region RX 7F 70 Prohibited from use because this is in CC Link system region Output writing Register Word register Input writing Register Word register RWw 0 Gateway control signal 0 RWr 0 Gateway status signal 0 RWw 1 Gateway control signal 1 RWr 1 Gateway status signal 1 RWw 2 Position ...

Page 57: ...y performing transmission processing Set current limit value acceleration and deceleration and speed in a range of the specification of the actuator and set position data in a range of the soft stroke 1 word 16 bits PLC output Position data designation Speed designation Control signal Positioning width designation Unit Current limit value 1 Acceleration and deceleration 0 01G Speed 1 100mm sec Pos...

Page 58: ...nput is handled as a negative number when the uppermost bit is 1 However note that the data is handled as normal numeric data on the PLC PLC input 1 word 16 bits Position data designation Present position data Cannot be used Present position data integer with sign ...

Page 59: ... setting to 50 set it as FFH50 255 50 127 decimal 7FH Speed designation 24bit data 24 bit integer unit 0 01mm sec Set command speed in hexadecimal number Example In the case of 200mm sec the data is 0004E20H decimal 20000 Note When speed is not set or setting is 0 or the setting is 0 stop is kept Alarm does not occur When changing the speed by changing the setting to 0 during movement it decelerat...

Page 60: ...ation C b 12 SON Servo on command B b 11 STP Pause command A b 10 HOME Home return command 9 b9 CSTR Start command PLC output Control signal 8 b8 RES Reset command F 8 b15 8 Cannot be used 7 b7 EMGS On emergency stop 6 b6 PSFL Push outside 5 b5 PWR Controller preparation completion 4 b4 SV Operation preparation completion Servo on status 3 b3 MOVE On moving 2 b2 HEND Home return completion 1 b1 PE...

Page 61: ...nd not used for Ver 100 and Ver 1 10 Primary controllable functions are as shown in the following table Primary functions Position No designated axis Simple direct value axis Remarks Home return operation Positioning operation Position table Position direct command Speed acceleration and deceleration setting Position table Pitch incremental feed Position table Push operation Position table Speed c...

Page 62: ...de axis is assigned They cannot be alternately assigned Size of input and output region of overall gateway is determined by the mode setting switch SW1 as shown in the following table SW1 Overall input and output region Fixed region Axis control region 88 words respectively Mode No 4 3 2 1 5 6 7 Up to 16 axes including position No designated axis simple direct value mode axis can be assigned Each ...

Page 63: ... Data 5 Reserve Gateway control signal 0 Gateway control signal 1 Response command Data 0 Data 1 Data 2 Data 3 Data 4 Reserve Data 5 Reserve Fixed region 10 word 20 word 24 word 64 word 48 word 24 word 4 word 1 word Output writing Register Word register Position No designated axis control signal Input writing Register Word register Position No designated axis status signal 1 word 3 word Simple dir...

Page 64: ...o designated axis Pattern 0 Standard Pattern 1 Teach Pattern 2 Positioning 256 points Pattern 3 Positioning 512 points Pattern 4 Air cylinder PLC output RWw PLC input RWr Pattern 0 Pattern 1 Pattern 2 Pattern 3 Pattern 4 Control signal Command position No Control signal Command position No Control signal Command position No Control signal Command position No Control signal Start position No Status...

Page 65: ...No PLC output Command position No b6 b0 ST0 ST6 4 Start position is designated by bit pattern b15 BALM 0 4 Battery voltage drop alarm b14 ALM 0 4 Alarm occurring b13 EMGS 0 4 On emergency stop b12 SV 0 4 Operation preparation completion Servo on status b11 PEND 0 2 4 Positioning completion b11 WEND 1 Position data capturing command status TEAC b10 HEND 0 4 Home return completion b9 RMDS 0 4 Operat...

Page 66: ...2 bit integer with the sign in units of 0 01mm PLC output Control signal m is a head address assigned as simple direct value axis n is a number of simple direct designated axis Position data designation Present position data integer with sign Movement parameter position No Control signal PLC input Status signal Present position data Present position data integer with sign Sign Sign Status signal ...

Page 67: ...command b11 STP Pause command b10 HOME Home return command b9 CSTR Start command b8 RES Reset command PLC output Control signal b7 b0 Cannot be used Present position data 32 bit data This is a 32 bit integer with sign Unit 0 01mm and the present position data is outputted in hexadecimal number Example and Note are the same as those for the target position data b15 b9 Cannot be used b8 PMSS PIO Mod...

Page 68: ...gnation Position table PLC numeric value designation PLC numeric value designation PLC numeric value designation Position table Speed Parameter Position table Parameter PLC numeric value designation Parameter PLC numeric value designation Parameter Position table Parameter Position table Parameter Acceleration and deceleration speed Parameter Position table Parameter PLC numeric value designation ...

Page 69: ...y side write 1004H Individual zone boundary side write 1005H Acceleration write 1006H Deceleration write 1007H Current limit value write at push Position table data write 1008H Load current threshold value write 1040H Target position read 1041H Positioning width read 1042H Speed read 1043H Individual zone boundary side read 1044H Individual zone boundary side read 1045H Acceleration read 1046H Dec...

Page 70: ...as request at normal 2 1002H 3 Position No 4 5 Speed data 24 bit integer 6 Axis No 0 to FH 7 0 Speed write 8 0 Same value as request at normal 2 1003H 3 Position No 4 5 Position data 24 bit integer with sign 6 Axis No 0 to FH 7 0 Individual zone boundary side write 8 0 Same value as request at normal 2 1004H 3 Position No 4 Position data 24 bit integer with sign 5 6 Axis No 0 to FH 7 0 Individual ...

Page 71: ... 3 Position No 4 0000 to 00FFH 00FFH Maximum current 5 0 6 Axis No 0 to FH 7 0 Current limit value write at push 2 8 0 Same value as request at normal 2 1008H 3 Position No 4 0000 to 00FFH 00FFH Maximum current 5 0 6 Axis No 0 to FH 7 0 Load current threshold value write 8 0 Same value as request at normal Note 1 Relative RY and relative RX from the head 2 This is not enabled unless push operation...

Page 72: ...ame value as request at normal 4 0 5 0 Speed data 3 6 Axis No 0 to FH 7 0 Speed read 8 0 Same value as request at normal 2 1043H 3 Position No Same value as request at normal 4 0 5 0 Individual zone boundary data 2 6 Axis No 0 to FH 7 0 Individual zone boundary side read 8 0 Same value as request at normal 2 1044H 3 Position No Same value as request at normal 4 0 5 0 Individual zone boundary data ...

Page 73: ...l 4 0 0000 00FFH 00FFH Max current 5 0 6 Axis No 0 to FH 7 0 Current limit value read at push 5 8 0 Same value as request at normal 2 1048H 3 Position No Same value as request at normal 4 0 0000 00FFH 00FFH Max current 5 0 6 Axis No 0 to FH 7 0 Load current threshold value read 8 0 Same value as request at normal 1 Relative RY and relative RX from the head 2 24 bit integer data with sign 3 24 bit ...

Page 74: ... normal 4 0 00FFH Now recording on ROM 0000H Recording on ROM completed 5 0 6 Axis No 0 to FH 7 0 Position table data ROM writing completion coil read 8 0 Same value as request at normal 4 Presently occurring alarm code read command Command name 1 PLC output request PLC input response 2 0342H 3 0 Same value as request at normal 4 0 Alarm code 5 0 6 Axis No 0 to FH 7 0 Presently occurring alarm cod...

Page 75: ... for every axis in process of movement by this command movement by this command is cancelled and operation is performed by the latest movement command Note that each axis has two movement command interfaces Use these two interfaces exclusively 5 Even if a link to CFG of gateway control signal is eliminated by bit OFF operation the controller always receives this command and executes after the link...

Page 76: ... Invalid axis No 1 0102H Invalid position No 1 0103H Invalid request command 1 0201H Communication fault 0202H Controller execution impossible 1 If data from the PLC is checked and this is found an error code is set to the response data without transmitting to the controller 2 Nothing is displayed on the response command in a status that link is not completely formed ...

Page 77: ...ion transmission delay time For Master station Remote I O station transmission delay time Yt Remote I O station Master station transmission delay time refer to the Operation Manuals for the CC Link master unit and PLC to be mounted Note When communication error is caused due to a problem on the transmission path communication retry retry times 3 occurs and a longer SIO link cycle time Mt than norm...

Page 78: ...the emergency stop status is released 3 Alarm ALM This signal is turned ON when the protecting circuit function for the controller detects any abnormality Function This signal is turned ON when the protecting circuit circuit detects an abnormality and operates This can be turned OFF when the cause of the alarm is released and the reset RES signal is turned ON Except for alarm on cold start level W...

Page 79: ...ing signal is OFF The target position data is transmitted to the controller at ON edge of the CSTR at signal startup 3 The PEND is turned OFF after the CSTR is ON and after tdpf 4 Turn OFF the CSTR by turning OFF the PEND or turning ON the MOVE on moving Do not change the target position data until the CSTR is turned OFF 5 The MOVE is turned ON at the same time when the PEND is turned OFF or withi...

Page 80: ...78 Position data measurement value Present position 1 2 3 4 4 5 6 7 ...

Page 81: ... the CSTR start at startup of signal 3 It is possible to change the acceleration and deceleration and speed data during movement To change the acceleration and deceleration or speed during movement turn ON the CSTR after changing the acceleration and deceleration and speed data In this case keep the CSTR ON for tdpf or longer And take an interval time of 1Mt or longer until turning ON the next CST...

Page 82: ...80 Speed acceleration and deceleration set value Actuator speed Speed n2 Speed n3 1 2 3 ...

Page 83: ... in home return reverse direction with the DIR signal ON and in home return direction with the DIR signal OFF 7 Turn ON the CSTR start after that 0 Turn ON the CSTR in a status that the PEND Positioning completed or the MOVE on moving signal is OFF Data set in 1 to 4 is transmitted to the controller at the ON edge at startup of signal 8 The PEND is turned OFF after the CSTR is turned ON and after ...

Page 84: ...82 Position data set value Speed acceleration and deceleration set value Positioning width value set value Current limit value set value Present position 1 2 3 4 5 6 7 8 9 10 11 12 13 ...

Page 85: ...anuals for PCON ACON SCON and ERC2 1 Set a position No to the command position No register 2 Turn ON the CSTR start after that 0 3 The PEND positioning completed is turned OFF after the CSTR is turned ON and after tdpf 4 Turn OFF the CSTR by turning OFF the PEND or turning ON the MOVE on moving 5 The MOVE is turned ON at the same time when the PEND is turned OFF or within 1Mt after that 6 The comp...

Page 86: ...84 Command position No Completion position No 1 2 3 4 5 6 ...

Page 87: ...nto an operable status When the servo is turned on the LED green for SV on the front of the controller is lit In ERC2 the LED on the upper part of the motor unit is lit in green The SV operation preparation completion signal synchronizes with this LED indication Function Servo ON OFF for the controller is enabled by the SON servo on signal While the SON signal is ON the controller is in the servo ...

Page 88: ...S absolute position moving command in home return non completion status in cases other than the position No designated mode 11 Zone ZONE1 ZONE2 In the case of the position No designated mode zone signals at two points can be outputted during movement in an arbitrary region set as a parameter ZONE 1 Zone 1 signal is turned ON in a region set to the parameter No 1 zone boundary 1 side and No 2 zone ...

Page 89: ...way detects that the request command became other than zero then transmits the request data to the applicable axis 3 The gateway receives a response from the applicable axis then outputs the response result 4 The PLC application confirms the response result then clears the request command 5 The gateway confirms that the request command is cleared then clears the response command and waits for the ...

Page 90: ...etting for controller It is necessary to set as follows in order to make the controller communicate with the gateway unit 1 Set so as not to duplicate axis No Note that a range of settable axis No depends on the operation mode of the gateway unit 2 Parameter setting 1 Set the parameter No 16 SIO communication speed to 230400 230 4 kbps SIO communication cannot be performed in a setting other than ...

Page 91: ...Position data limit designated mode 14 axes 4 1 time Position No designated mode 14 axes 4 1 time Normal positioning mode 7 axes 4 1 time Push operating mode 3 axes 3 2 times example Simple direct value Position No designated mode Small 3 4 times example Simple direct value Position No designated mode Middle Number of exclusive stations Mode 2 8 times example Simple direct value Position No design...

Page 92: ...ignation POS designation Direct value speed acceleration and deceleration designation Direct value speed acceleration and deceleration positioning width push Simple direct value Position No designation Small Simple direct value Position No designation Middle Simple direct value Position No designation Large Number of exclusive stations 4 3 3 2 Expanded cyclic setting 2 4 8 Bit data byte 16 20 40 4...

Page 93: ...ontrolled axes Position data limit designation 8 word 16 word 4 14 Position No designation 8 word 16 word 4 14 Normal position data designation 8 word 16 word 4 7 Push operation data designation 8 word 16 word 4 3 Small 10 word 24 word Depends on setting 16 max Middle 20 word 48 word Depends on setting 16 max Simple direct value Position No designation Large 24 word 64 word Depends on setting 16 m...

Page 94: ...ut RX For station No 1 For station No 2 For station No 3 For station No 4 For station No 5 For station No 6 For station No 7 For station No 8 For station No 9 Output 2 Master station Gateway unit Master station Remote I O station Station No 1 Exclusive one station Gateway unit RCM GW CC Station No 2 Exclusive four stations Buffer address Remote output RY For station No 1 For station No 2 For stati...

Page 95: ...tation Station No 1 Exclusive one station Gateway unit RCM GW CC Station No 2 Exclusive four stations Buffer address Remote register RWr For station No 1 For station No 2 For station No 3 For station No 4 For station No 5 For station No 6 For station No 7 For station No 8 Output ...

Page 96: ...tation No 1 Exclusive one station Gateway unit RCM GW CC Station No 2 Exclusive four stations Buffer address Remote register RWw For station No 1 For station No 2 For station No 3 For station No 4 For station No 5 For station No 6 For station No 7 For station No 8 Input ...

Page 97: ...work parameter setting Website http www iai robot co jp To download it open the File for field network setting from the Download Support menu on the website to select the CSP file For how to set the remote station CC Link gateway unit to the master station refer to the Operation Manuals for the master station PLC to be mounted and peripheral equipment ...

Page 98: ...ing completed Operation preparation completed Servo on Operation Alarm Pause Emergency stop release Indication lamp Remote I O Input 8 points Output 8 points PCON CY controller Gateway unit Station No 5 RCP2 actuator First axis Second axis Link axis 0 Gateway unit Station No 1 Personal computer or teaching box SIO link Third axis Link axis 1 RCP2 actuator ...

Page 99: ...etting 4 Click the Axis No assignment N 5 Axis No assignment table appears then set No 6 Click the OK then ESC 7 Connect and disconnect the SIO link cable to set the next axis No 8 When ended finally connect all axes to the SIO link 2 Setting of SIO communication speed Set parameters for the SIO communication speed subsequently from the status of 1 1 Restart the personal computer supporting softwa...

Page 100: ...e 6 Exit the personal computer supporting software 7 Disconnect the personal computer cable from the gateway unit and turn OFF the port switch CAUTION After connecting the personal computer supporting software or the teaching box to the gateway unit and performing various settings for the SIO link axis and creation of position table be sure to set the MANU operation mode to the Monitor mode 2 to e...

Page 101: ...ameters setting to build a network 9 5 1 Hardware setting Station No setting is as follows in this operational example Station No 0 Station No 1 Station No 2 Station No 3 Station No 4 Station No 5 1 Station No setting for master unit Station No 00 2 Communication speed and mode setting As the communication speed is set to 625kbps in the online mode set the rotary SW to 1 After setting in 1 and 2 t...

Page 102: ...mmunication retry times and station information etc Automatic refresh parameters These parameters are for automatically refreshing master station buffer memory such as RX RY and PLC CPU device such as X Y M D and set to the CPU The following shows how to set and a setting example For details refer to the Operation Manual for the PLC 1 Starting GX Developer Start the GX Developer and click the Proj...

Page 103: ...am from the project data list and network parameter select dialog box appears then click the CC Link button 2 Network parameter setting screen for CC Link appears then set the unit sheet number to one Master station is one sheet in this operational example ...

Page 104: ...re as follows Start I O No I O address of master unit 0080 All connect account Number of remote stations 2 Remote input RX Refresh device X100 Remote output RY Y100 Remote register RWr D200 Remote register RWr D100 Special relay SB SB80 Special register SW SW80 Install master station buffer memory to an internal device of the PLC CPU ...

Page 105: ...ws then click the End button at the lower part of the screen The station No 1 is the gateway unit and is used in the position No designated mode therefore it becomes the remote device station exclusively four stations The station No 5 is remote I O AJ65SBTB1 and is a remote I O station exclusively for one station 5 Save the project ...

Page 106: ...n 2 into the PLC 1 Transfer setup Click the Online O Transfer setup C menu then the following transfer setup designated screen appears I F PC side Serial USB I F PLC side PLC module Other station No specification Check the above setting and click OK ...

Page 107: ...e PLC write screen and select the MAIN for program and the PC Network for parameter Click Execute button then write is performed and when it is completed dialog box for confirmation appears Click OK Close and then write is completed 3 PLC CPU reset Parameters become effective by resetting the CPU for the PLC ...

Page 108: ...nal Status signal Status signal Status signal Status signal Status signal Status signal Status signal Status signal Prohibited to use because this is CC Link system region PLC output Gateway unit Each axis input Output register Upper byte Lower byte Control signal Control signal Control signal Control signal Control signal Control signal Control signal Control signal Control signal Control signal ...

Page 109: ...Input Read Register Word register Completion position Zone signal Cannot be used Gateway status signal 0 Gateway status signal 1 Completion position Zone signal Completion position Zone signal Completion position Zone signal Completion position Zone signal Completion position Zone signal Completion position Zone signal Completion position Zone signal Completion position Zone signal Completion posi...

Page 110: ...is 1 which are DeviceNet slave axes is as follows Insides of parentheses are SIO link axis Nos Gateway unit normal SIO link axis designation SIO link start Axes 0 1 PWR check Turn on servo for axes 0 1 Command P No 0 to axes 0 1 Set CSTR to 1 Set CSTR to 0 One second timer Positioning completed 2 1 ...

Page 111: ...111 Command P No 1 to axes 0 1 Set CSTR to 1 Set CSTR to 0 Positioning completed One second timer 2 1 ...

Page 112: ...eady Master data link Station No normal Station No normal Remote I O input 1 Remote I O input 2 Remote I O output 1 Remote I O output 2 Gateway Gateway Gateway GW control signal 1 GW control signal 1 GW control signal 0 No 2 Axis 0 Operation lamp No 2 Axis 0 start Axis 0ALM Emergency stop No 2 Axis 0 Operation lamp ...

Page 113: ...113 No 2 Axis 0 Operation lamp Axis 0 PWR No 2 Axis 0 Servo on lamp Axis 0 Servo on Axis 0 SV Axis 0 HEN Axis 0 Servo on No 2 Axis 0 SRDY lamp No 2 Axis 0 Home return completed Axis 0 Operation flag ...

Page 114: ...Axis command position No Axis command position No Axis command position No Axis command position No Axis 0 MOVE Axis 0 PEND Axis 0 PO start flag Flag Flag Axis 0 CSTR Axis 0 PEND Completion P No Completion P No Completion P No Completion P No Completion P No Completion P No Axis 0 PO completion ...

Page 115: ... 0 MOVE Axis 0 P1 setting flag Axis command position No Axis 0 P1 setting flag Axis 0 P1 setting flag Axis command position No Axis command position No Axis command position No Axis command position No Axis command position No Axis 0 MOVE Axis 0 PEND Axis 0 P1 start flag ...

Page 116: ... Axis 0 CSTR Axis 0 P1 completion Axis 0 P0 start flag Axis 0 P1 start flag Axis 0 P0 completion Axis 0 P1 completion No 2 Axis 0 positioning completed lamp No 2 Axis 0 pause Axis 0 pause pushbutton Axis 0 pause pushbutton Axis 0 pause reset Axis 0 pause Axis 0 pause reset Axis 0 pause pushbutton Axis 0 pause reset Axis 0 pause Axis 0 pause ...

Page 117: ...Axis 0 STP No 3 Axis 1 operation lamp Axis 1 ALM Emergency stop No 3 Axis 1 operation lamp Axis 1 PWR No 3 Axis 1 servo on lamp Axis 1 servo on No 3 Axis 1 SRDY lamp No 3 Axis 1 home return completed Axis 1 operation flag Axis 1 servo on Axis 1 SV Axis 1 HEND ...

Page 118: ...command position No Axis command position No Axis command position No Axis command position No 1 second Axis 1 MOVE Axis 1 PEND Axis 1 P0 start flag Flag Axis 1 CSTR Flag Axis 1 PEND Completion P No Completion P No Completion P No Completion P No Completion P No Completion P No Axis 1 PO completion ...

Page 119: ... 1 MOVE Axis 1 P1 setting flag Axis 1 P1 setting flag Axis 1 P1 setting flag Axis command position No Axis command position No Axis command position No Axis command position No Axis command position No Axis command position No Axis 1 MOVE Axis 1 PEND Axis 1 P1 start flag ...

Page 120: ...etion Axis 1 P1 completion 1 second Axis 1 P1 start flag Axis 1 P0 completion Axis 1 P1 completion flag No 3 Axis 1 positioning completion lamp No 3 Axis 1 pause No 3 Axis 1 pause button No 3 Axis 1 pause reset No 3 Axis 1 pause button No 3 Axis 1 pause No 3 Axis 1 pause reset No 3 Axis 1 pause button No 3 Axis 1 pause reset No 3 Axis 1 pause No 3 Axis 1 pause ...

Page 121: ...121 No 3 Axis 1 pause No 3 Axis 1 pause lamp No 3 Axis 1 STP ...

Page 122: ...f the power and disconnect the cables f Check the noise elimination measures grounding installation of surge killer etc g Check the operation by the teaching box or personal computer software Connect the teaching box or the personal computer software to the gateway and operate each axis to check the operation and presence absence of alarm h Check the input and output signals between the PLC and th...

Page 123: ...eway status indication LED is lit Further communication status can also be checked by the TxD Green and RxD Green on the LED For details refer to the item of 2 SIO communication status LED in 2 3 Name and function of each part Check the following contents 1 Check if wiring for the communication line is correctly connected 2 Check if CFG13 0 link connecting axis selection is correctly performed For...

Page 124: ... Check the communication status LED and check the following depending on each status 1 Check if wiring for the communication line is correctly connected 2 Check if the gateway unit is correctly set to the PLC master station as a remote device of four stations Note that this is not remote I O 3 Check that address settings for remote I O and remote input and output are not duplicated 4 Check if the ...

Page 125: ...ted to local station Impossible status Polling response is performed but refresh reception is CRC error Impossible status Data to local station is CRC error Impossible status Not link started Impossible status There is no data to local station or reception for local station is impossible due to noise Data cannot be received due to disconnection Power is shut off or H W is being set Invalid baud ra...

Page 126: ... 7 South Main St Suite F Marlboro NJ 07746 TEL 732 683 9101 FAX 732 683 9103 Home page www intelligentactuator com IAI Industrieroboter GmbH Ober der Röth 4 D 65824 Schwalbach am Taunus Germany TEL 06196 88950 FAX 06196 889524 The prices specifications dimensions and other information provided in this manual are subject to change without notice for purposed of product improvement Copyright 2006 Au...

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