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7. RCS-C and E-Con

4.4 Input/Output (I/O)

The I/O specifications of RCS-C and E-Con controllers are as follows:

(1) RCS-C: 8 dedicated input points, 10 dedicated output points

(2) E-Con: 10 dedicated input points, 12 dedicated output points

The details are explained below.

For details on each signal, refer to the “Operation Manual for RCS Series ROBO

Cylinder Controller, RCS-C Type” or “Operation Manual for E-Con Controller.”)

(1) RCS-C signal assignments

8-bit input

10-bit output

Input No.

Signal name

Output No.

Signal name

Command position 1

Completed position 1

Command position 2

Completed position 2

Command position 4

Completed position 4

Command position 8

Completed position 8

Start

4 Position

complete

Reset

5 Home

return complete

6 Servo

on 6 Zone

7 *Pause 7 *Alarm
8

Not used

*Emergency stop

9 Not

used 9 Moving

Not used

*Battery alarm (Note 1)

Not used

Not used (Note 2)

12 Not

used 12 Not

used

13 Not

used 13 Not

used

14 Not

used 14 Not

used

15 Not

used 15 Not

used

The signals denoted by * are always ON.

(Note 1) This signal is available only on controllers

that operate on a mains voltage of 100 or 200 V. The

ON/OFF state of the signal is indet

erminable on 24-VDC controllers.

(Note 2) The ON/OFF state of signals den

oted by “Not used” is indeterminable.

7.4

Summary of Contents for DeviceNet MSEL Series

Page 1: ...Operation Manual Twenty Fourth Edition XSEL TT MSEL TTA SSEL SCON C ASEL E Con PSEL RCS C ...

Page 2: ......

Page 3: ...ng the Operation Manual 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 Operatio...

Page 4: ... products subject to this limitation DeviceNet master unit C200HW DRM21 V1 CVM1 DRM21 V1 Units manufactured in or before September 2008 Units manufactured in or after October 2008 can be connected to the above listed products by IAI Cause Communication disharmony Action Use a PLC of other type or use a DeviceNet master unit C200HW DRM21 V1 or CVM1 DRM21 V1 manufactured in or after October 2008 If ...

Page 5: ...re described in the separate operation manual Title of operation manual Overview Control number 1 DeviceNet Operation Manual Refer to this operation manual if you are using an ACON DCON PCON or SCON excluding SCON C controller s ME0256 ...

Page 6: ...amples 21 2 5 1 Setting Example for J K Types 21 1 Setting example when only a DeviceNet board is installed 21 2 Setting example when a DeviceNet board is used together with an expansion I O board 23 2 5 2 Setting Example for P Q Types 27 1 Setting example when only a DeviceNet board is installed 27 2 Setting example when a DeviceNet board is used together with a standard I O board 30 2 6 I O Port...

Page 7: ...tabletop robot TT 95 6 5 I O Port Numbers for TT Robots 97 5 Tabletop Robot TTA 5 1 Model 5 3 DeviceNet Interface 5 4 Parameter Settings 1 Name of Each Part 2 Monitor LED indications 5 5 Setting Example 1 Example for when using only DeviceNet I O2 2 Example for when using DeviceNet and I O Board 1 together 3 Example for when using DeviceNet I O2 and I O3 together 5 6 I O Ports of the TTA 5 7 Troub...

Page 8: ...07 8 1 Model 107 8 2 Interface Specifications 108 8 3 DeviceNet Interface 109 8 3 1 Name of Each Part 109 8 3 2 DIP Switch Settings 110 1 Setting the node address MAC ID 110 2 Setting the baud rate 110 8 3 3 Monitor LED Indicators 111 8 4 Assignment of I O Signals 112 8 5 Assignment of DeviceNet Addresses 114 9 ASEL PSEL and SSEL 115 9 1 Models 115 9 1 1 ASEL PSEL 115 9 1 2 SSEL 116 9 2 Interface ...

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

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

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

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

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

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

Page 15: ...he 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 Thi...

Page 16: ...8 8 ...

Page 17: ...Refer to the separate ME0256 DeviceNet For details of DeviceNet refer to the operation manual for the programmable controller hereinafter referred to as PLC in which the master unit is installed When reading this Operation Manual also refer to the operation manual for the each controller you are using Take note that operations and uses not expressly permitted in this Operation Manual should be con...

Page 18: ...X DV 2 1 axis XSEL P 1 DV 3 P type 256 256 6 axes XSEL P 6 DV 3 Fig 2 3 1 axis XSEL Q 1 DV 3 6 Q type 256 256 Installation position of field network board 6 axes XSEL Q 6 DV 3 3 4 axes XSEL PX4 DV 5 axes XSEL PX5 DV PX type 256 256 6 axes XSEL PX6 DV 3 4 axes XSEL QX4 DV 5 axes XSEL QX5 DV 7 QX type 256 256 Installation position of field network board 6 axes XSEL QX6 DV 3 1 The installation positi...

Page 19: ... O board Note 1 can be installed in controllers of 3 4 axis specifications Fig 2 1 2 General purpose type K type A DeviceNet board is installed in the standard slot I O1 the slot at the far left Either an expansion I O board Note 1 or SIO board Note 2 can be installed in each expansion slot Fig 2 2 DeviceNet board DeviceNet board DeviceNet board Expansion slot DeviceNet board ...

Page 20: ...t points 48 output points PNP specification 7 IA IO 3205 NP 48 input points 48 output points NPN specification 8 IA IO 3205 PN 48 input points 48 output points PNP specification Note 5 and 6 are used for K P Q types only while 7 and 8 are used for J type only For details of each specification refer to the Operation Manual for XSEL Controller Note 2 SIO board Model 1 IA 105 X MW A RS232C 2 IA 105 X...

Page 21: ...ic Baud rate 500 k 250 k 125 kbps selectable by DIP switches Baud rate Maximum network length Maximum branch line length Total branch line length 500 kbps 100 m 39 m 250 kbps 250 m 78 m 125 kbps 500 m 6 m 156 m Communication cable length Note When a large size DeviceNet cable is used Communication power supply 24 VDC supplied from DeviceNet Consumption current of communication power supply 60 mA N...

Page 22: ...3 1 Name of Each Part J K JX KX types P Q PX QX types DeviceNet communication connector Monitor LEDs DIP switches Node address setting Baud rate setting DIP switches Node address setting Baud rate setting Monitor LEDs DeviceNet communication connector MS NS ...

Page 23: ... 0 0 0 1 2 0 0 0 0 1 0 3 0 0 0 0 1 1 60 1 1 1 1 0 0 61 1 1 1 1 0 1 62 1 1 1 1 1 0 63 1 1 1 1 1 1 Note The node address corresponds to the remote I O address in the PLC This DeviceNet card supports a maximum of 256 input points and 256 output points Accordingly the node address corresponding to the I O points used will be occupied in the PLC Take note that all node addresses must be unique For deta...

Page 24: ... the applicable setting MS Off Power is not supplied Steady light Network connection has been established and the board is communicating normally Green Blinking The board is online but network connection is not yet established Communication is stopped The network is normal Steady light Node address duplication or bus off state was detected Communication is not possible Red Blinking A communication...

Page 25: ...steps are to set I O Parameter No 1 I O port assignment type to Fixed assignment and then set I O port addresses for each I O slot 2 4 1 Board Installation Position Slot and I O Parameter Numbers 1 J type Note On J type controllers Parameter Nos 6 to 9 are all set to 1 while Parameter Nos 12 and 13 are set to 0 because expansion I O slots 2 and 3 are not available On controllers of 1 2 axis specif...

Page 26: ...e sign 7 Output port start number for expansion I O2 based on fixed assignment I O3 1 300 multiple of 8 Invalid if a value is entered with a negative sign 8 Input port start number for expansion I O3 based on fixed assignment I O4 1 299 1 0 multiple of 8 Invalid if a value is entered with a negative sign 9 Output port start number for expansion I O3 based on fixed assignment I O4 1 300 multiple of...

Page 27: ...mber for expansion I O3 based on fixed assignment I O4 1 300 multiple of 8 Invalid if a value is entered with a negative sign 10 Error monitor for standard I O I O1 0 5 0 11 Error monitor for expansion I O1 I O2 0 5 0 12 Error monitor for standard I O2 I O3 0 5 0 13 Error monitor for expansion I O3 I O4 0 5 0 0 Do not monitor 1 Monitor 2 Monitor Do not monitor 24 V I O power supply errors Main app...

Page 28: ...20 2 XSEL J K P Q JX KX PX QX 21 3 P Q types Expansion I O Standard I O Parameter Parameter Parameter Parameter Parameter Parameter Parameter Standard I O ...

Page 29: ...s you would for the standard XSEL I O board 50 pin connector and do not use any other I O port In this case the I O power connector need not be connected to 24 VDC K type This example assumes the installed condition shown in Fig 2 1 and Fig 2 2 under 2 1 XSEL J type Not used Not available on controllers of 1 2 axis specifications Input port Nos 000 to 031 Output port Nos 300 to 315 Input port Nos ...

Page 30: ...ith a negative sign 8 Input port start number for expansion I O3 based on fixed assignment I O4 1 1 299 1 0 multiple of 8 Invalid if a value is entered with a negative sign 9 Output port start number for expansion I O3 based on fixed assignment I O4 1 entered with a negative sign 10 Error monitor for standard I O I O1 2 0 5 2 11 Error monitor for expansion I O1 I O2 0 0 5 0 12 Error monitor for st...

Page 31: ... and 256 output points to the DeviceNet board from the first standard I O port and assign the subsequent I O port numbers to the expansion I O board IA 103 X 32 32 input points 16 output points The same settings apply to J type controllers Input port Nos 000 to 255 Output port Nos 300 to 555 Input port Nos 256 to 287 Output port Nos 556 to 571 ...

Page 32: ... I O3 1 entered with a negative sign 8 Input port start number for expansion I O3 based on fixed assignment I O4 1 1 299 1 0 multiple of 8 Invalid if a value is entered with a negative sign 9 Output port start number for expansion I O3 based on fixed assignment I O4 1 entered with a negative sign 10 Error monitor for standard I O I O1 2 0 5 2 11 Error monitor for expansion I O1 I O2 1 0 5 1 12 Err...

Page 33: ...16 output points for standard I O ports and assign 256 input points and 256 output points to the DeviceNet board as general purpose I O ports The same settings apply to J type controllers Input port Nos 032 to 287 Output port Nos 316 to 571 Input port Nos 000 to 031 Output port Nos 300 to 315 ...

Page 34: ...d on fixed assignment I O3 1 entered with a negative sign 8 Input port start number for expansion I O3 based on fixed assignment I O4 1 1 299 1 0 multiple of 8 Invalid if a value is entered with a negative sign 9 Output port start number for expansion I O3 based on fixed assignment I O4 1 entered with a negative sign 10 Error monitor for standard I O I O1 2 0 5 2 11 Error monitor for expansion I O...

Page 35: ...nly a DeviceNet board is installed Assign 32 input points and 16 output points to the DeviceNet board from the first standard I O port as you would for the standard XSEL I O board 50 pin connector and do not use any other I O port Not used Input port Nos 000 to 015 Output port Nos 300 to 315 ...

Page 36: ...fixed assignment I O4 1 1 299 1 0 multiple of 8 Invalid if a value is entered with a negative sign 9 Output port start number for expansion I O3 based on fixed assignment I O4 1 entered with a negative sign 10 Error monitor for standard I O I O1 0 0 5 0 11 Error monitor for expansion I O1 I O2 0 0 5 0 12 Error monitor for standard I O2 I O3 0 0 5 0 13 Error monitor for expansion I O3 I O4 0 0 5 0 ...

Page 37: ...P Q Main application of Ver 1 28 or later XSEL PX QX Main application of Ver 0 60 or later 122 1CH 0H FFFFFFFFH Optional Network attribute 3 Bits 16 to 27 Value of Link Timeout at initializing of the Fieldbus 100ms XSEL P Q Main application of Ver 1 28 or later XSEL PX QX Main application of Ver 0 60 or later Example The initial value C80000H is bit 16 to 27 C8H 200 in 100ms unit 200 100ms 20sec I...

Page 38: ... standard I O board a Assign 256 input points and 256 output points to the DeviceNet board from the first standard I O port and assign the subsequent I O port numbers to the standard I O board Input port Nos 000 to 255 Output port Nos 300 to 555 Input port Nos 256 to 287 Output port Nos 556 to 571 ...

Page 39: ...ion I O3 based on fixed assignment I O4 1 1 299 1 0 multiple of 8 Invalid if a value is entered with a negative sign 9 Output port start number for expansion I O3 based on fixed assignment I O4 1 entered with a negative sign 10 Error monitor for standard I O I O1 0 0 5 1 11 Error monitor for expansion I O1 I O2 0 0 5 0 12 Error monitor for standard I O2 I O3 0 0 5 0 13 Error monitor for expansion ...

Page 40: ...P Q Main application of Ver 1 28 or later XSEL PX QX Main application of Ver 0 60 or later 122 1CH 0H FFFFFFFFH Optional Network attribute 3 Bits 16 to 27 Value of Link Timeout at initializing of the Fieldbus 100ms XSEL P Q Main application of Ver 1 28 or later XSEL PX QX Main application of Ver 0 60 or later Example The initial value C80000H is bit 16 to 27 C8H 200 in 100ms unit 200 100ms 20sec I...

Page 41: ...6 output points for standard I O ports and assign 256 input points and 256 output points to the DeviceNet board as general purpose I O ports The same settings apply to J type controllers Input port Nos 032 to 287 Output port Nos 316 to 571 Input port Nos 000 to 031 Output port Nos 300 to 315 ...

Page 42: ...xed assignment I O4 1 1 299 1 0 multiple of 8 Invalid if a value is entered with a negative sign 9 Output port start number for expansion I O3 based on fixed assignment I O4 1 entered with a negative sign 10 Error monitor for standard I O I O1 0 0 5 1 11 Error monitor for expansion I O1 I O2 0 0 5 0 12 Error monitor for standard I O2 I O3 0 0 5 0 13 Error monitor for expansion I O3 I O4 0 0 5 0 0 ...

Page 43: ...P Q Main application of Ver 1 28 or later XSEL PX QX Main application of Ver 0 60 or later 122 1CH 0H FFFFFFFFH Optional Network attribute 3 Bits 16 to 27 Value of Link Timeout at initializing of the Fieldbus 100ms XSEL P Q Main application of Ver 1 28 or later XSEL PX QX Main application of Ver 0 60 or later Example The initial value C80000H is bit 16 to 27 C8H 200 in 100ms unit 200 100ms 20sec I...

Page 44: ...al purpose input 306 General purpose output 007 Program specification PRG No 1 307 General purpose output 008 Program specification PRG No 2 308 General purpose output 009 Program specification PRG No 4 309 General purpose output 010 Program specification PRG No 8 310 General purpose output 011 Program specification PRG No 10 311 General purpose output 012 Program specification PRG No 20 312 Gener...

Page 45: ... configurator is used to assign port numbers t u p t u O t u p n I Input Port No Output Port No Node address Node address NN CH and MM CH as indicated above represent PLC channel addresses corresponding to node address nn As for nn nn 1 nn 2 etc bit addresses corresponding to each node address are occupied in accordance with the numbers of I O points used Accordingly exercise caution to prevent no...

Page 46: ...urpose output 010 Program specification PRG No 8 310 General purpose output 011 Program specification PRG No 10 311 General purpose output 012 Program specification PRG No 20 312 General purpose output 013 Program specification PRG No 40 313 General purpose output 014 General purpose input 314 General purpose output 015 General purpose input 315 General purpose output Input Output Note The numbers...

Page 47: ...revent node address duplication 3 2 Interface Specifications Item Specification Communication protocol DeviceNet 2 0 Group 2 only server Network powered insulation node Communication specification Master slave connection Bit strobe Polling Cyclic Baud rate 500 k 250 k 125 kbps Communication cable length Baud rate Maximum network length Maximum branch line length Total branch line length 500 kbps 1...

Page 48: ...utput 015 General purpose input 315 General purpose output Input Output Note The numbers of I O ports are as follows If DeviceNet and expansion I O boards are used together pay attention to the numbers of I O ports Inputs 000 to 299 maximum of 300 points Outputs 300 to 599 maximum of 300 points 3 3 DeviceNet Interface 1 Name of Each Part Pin Color Description Red Positive side of communication pow...

Page 49: ...se caution to prevent node address duplication 3 4 Parameter Settings Set to the I O parameters in the controller by using a teaching tool Place the controller s AUTO MANU switch in the MANU position The teaching tool version applicable for this controller check the instruction manual of each teaching tool The figure shown below is XSEL R S series The setting should be the same for XSEL RA SA seri...

Page 50: ... setting is showing 2 DeviceNet No Parameter name Default Input Range Unit Remarks 225 Network I F Module Control 2 20H to 2FH bits 4 7 2nd digit Network I F Module 2 types 0 Not Mounted 1 CC Link 2 DeviceNet 3 PROFIBUS For XSEL RA SA Series Confirm that the 3rd digit of I O Parameter No 225 Network I F Module Control setting is showing 2 DeviceNet No Parameter name Default Input Range Unit Remark...

Page 51: ...t to monitor condition of link to PLC master 1 Monitoring 4 Node address setting Set the node address to I O Parameter No 237 No Parameter name Default Reference Input Range Unit Remarks 237 Network I F Module 2 Node Address 0 0 to 63 DeviceNet node address range 0 to 63 Note If a number out of the settable range is selected D75 Fieldbus Parameter Error will occur 5 Baud Rate Setting Set the commu...

Page 52: ... The max I O port will be determined by adding parameters 233 and 234 to parameters 231 and 232 respectively The values entered into these parameters must be evenly divisible by 8 EX 300 No Parameter name Default Reference Input Range Unit Remarks 233 Extension Note 1 Input Port Start No at Network I F Module 2 Fixed Assignment 1 1 to 299 1000 to 3999 0 Multiples of 8 or 1000 Multiples of 8 Ineffe...

Page 53: ...ed The figure shown below is XSEL R S series The setting should be the same for XSEL RA SA series Except for I O Parameter No 225 Standard Input Port No 0 to 15 Standard Output Port No 300 to 315 DeviceNet board Not Applicable I O board I O Parameters No Parameter name Default Reference Input Range Unit Remarks 1 I O Port Allocation Type 1 0 to 1 0 0 Fixed Allocation 1 Automatic Allocation Referen...

Page 54: ...ort unit 15 No of Network I F Module 1 Remote Output Ports 0 0 to 256 0 8 port unit 16 Input Port Start No in Network I F Module Fix Allocated 1 1 to 299 1 0 Multiples of 8 Ineffective when 1 is selected 17 Output Port Start No in Network I F Module Fix Allocated 1 1 300 to 599 1 300 Multiples of 8 Ineffective when 1 is selected 18 Network I F Module 1 Error Monitoring 1 0 to 5 0 0 No Monitoring N...

Page 55: ...e shown below is XSEL R S series The setting should be the same for XSEL RA SA series Except for I O Parameter No 225 Extended Input Ports No 1000 to 1255 Extended Output Ports No 4000 to 4255 DeviceNet board Standard Input Port No 0 to 47 Standard Output Port No 300 to 347 I O board I O Parameters No Parameter name Default Reference Input Range Unit Remarks 1 I O Port Allocation Type 1 0 to 1 0 0...

Page 56: ... unit 15 No of Network I F Module 1 Remote Output Ports 0 0 to 256 0 8 port unit 16 Input Port Start No in Network I F Module Fix Allocated 1 1 to 299 1 0 Multiples of 8 Ineffective when 1 is selected 17 Output Port Start No in Network I F Module Fix Allocated 1 1 300 to 599 1 300 Multiples of 8 Ineffective when 1 is selected 18 Network I F Module 1 Error Monitoring 1 0 to 5 0 0 No Monitoring Not ...

Page 57: ...e shown below is XSEL R S series The setting should be the same for XSEL RA SA series Except for I O Parameter No 225 Standard Input Ports No 0 to 191 Standard Output Ports No 300 to 491 DeviceNet board Standard Input Port No 192 to 239 Standard Output Port No 492 to 539 I O board I O Parameters No Parameter name Default Reference Input Range Unit Remarks 1 I O Port Allocation Type 1 0 to 1 0 0 Fi...

Page 58: ...rt unit 15 No of Network I F Module 1 Remote Output Ports 0 0 to 256 0 8 port unit 16 Input Port Start No in Network I F Module Fix Allocated 1 1 to 299 1 0 Multiples of 8 Ineffective when 1 is selected 17 Output Port Start No in Network I F Module Fix Allocated 1 1 300 to 599 1 300 Multiples of 8 Ineffective when 1 is selected 18 Network I F Module 1 Error Monitoring 1 0 to 5 0 0 No Monitoring No...

Page 59: ... RXD SXD controller or XSEL RA SA RAX SAX RAXD SAXD controller for more information Settings of Standard I O Ports at Delivery Input Port Output Port Port No Function Port No Function 000 Program Start 300 Alarm Output 001 Universal Input 301 Ready Output 002 Universal Input 302 Emergency Stop Output 003 Universal Input 303 Universal Output 004 Universal Input 304 Universal Output 005 Universal In...

Page 60: ...al purpose output 011 Program specification PRG No 10 311 General purpose output 012 Program specification PRG No 20 312 General purpose output 013 Program specification PRG No 40 313 General purpose output 014 General purpose input 314 General purpose output 015 General purpose input 315 General purpose output Input Output Note The numbers of I O ports are as follows If DeviceNet and expansion I ...

Page 61: ...er of extended I O port assignment exceeded the specification range 67A Extended I O Port Duplicated Assignment Error Extended I O port assignment has duplicated D56 Fieldbus error MinACK Timeout An error was detected in the communication board Check the condition of PLC and reboot the XSEL controller unless there is an error If the same error occurs again please contact us D59 Fieldbus error DPRA...

Page 62: ...he numbers of I O ports Inputs 000 to 299 maximum of 300 points Outputs 300 to 599 maximum of 300 points No Error name Contents and Treatment D77 Fieldbus error Exception A communication board error was detected Reboot the XSEL controller If the same error occurs again please contact us E1F I O Assignment Parameter Error It is a parameter setting error Check to see that a number out of the I O por...

Page 63: ...le for DeviceNet deal the I O data as the bit data or word data and operate while reflecting the data 4 1 Model The model codes are as shown below MSEL PC F DV MSEL PCX DV MSEL PG F DV MSEL PGX DV DeviceNet communication connector Status LED ...

Page 64: ...ation speed Network Max length Maximum branch line length Total branch line length 500kpps 100m 6m 39m 250kpps 250m 78m 125kpps 500m 156m Note When a large size DeviceNet cable is used Communication power supply 24V DC supplied from DeviceNet Consumption current of communication power supply 60mA Number of occupied nodes 1 Node Note address 0 to 63 Software setting by I O parameter Connector Manuf...

Page 65: ...communication power line LED Color Illumination Status Indication Description Detailed Explanation NS Network Status Green Online Communication in normal condition Online No connection established Orange Critical link error Connection timeout Green Orange Blink by turn Self testing Offline No power supply confirmed MS Module Status Green Normal Operation Configuration setting not established or no...

Page 66: ...very No Parameter name Default Input Range Unit Remarks 225 Extension I O Control 2 2H Bits 0 3 First digit I O2 module type 0 Not Mounted 1 CC Link 2 DeviceNet 3 PROFIBUS 2 DeviceNet Board Use Setting Have I O Parameter No 18 set to 1 Monitor use DeviceNet board No Parameter name Default Reference Input Range Unit Remarks 18 I O2 Error Monitoring 1 0 to 5 0 No Monitoring Not to use DeviceNet boar...

Page 67: ... Parameter No 16 and 17 Note The values entered into these parameters must be evenly divisible by 8 No Parameter name Default Reference Input Range Unit Remarks 16 I O2 Fixed Assignment Input Port Start Number 48 1 to 299 0 Multiples of 8 Ineffective when 1 is selected 17 I O2 Fixed Assignment Output Port Start Number 348 1 300 to 599 300 Multiples of 8 Ineffective when 1 is selected 7 Time Settin...

Page 68: ...ther to clear the input port data at 0 or to remain the data when a communication error is occurred No Parameter name Default Reference Input Range Unit Remarks 120 Network Attribute 1 640001H 0 to FFFFFFFFH Bits 28 to 31 Input port data selected at I O2 Fieldbus link error 0 Input port data clear 1 Input port data retained ...

Page 69: ...rror 3 Monitoring To monitor only 24V I O power related error 14 I O2 Fieldbus Remote Input Ports 0 0 to 240 16 8 port unit 15 I O2 Fieldbus Remote Output Ports 0 0 to 240 16 8 port unit 16 I O2 Fixed Assignment Input Port Start Number 48 1 to 299 48 0 Multiples of 8 Ineffective when 1 is selected 17 I O2 Fixed Assignment Output Port Start Number 348 1 300 to 599 348 300 Multiples of 8 Ineffective...

Page 70: ...ontrol 2 2H 2 Confirmation Bits 0 3 First digit I O2 module type 0 Not Mounted 1 CC Link 2 DeviceNet 3 PROFIBUS 226 I O2 Fieldbus Node Address 0 0 to 63 Optional DeviceNet node address range 0 to 63 227 I O2 Fieldbus Baud Rate 0 0 to 2 Follow master unit setting 0 125Kbps 1 250Kbps 2 500Kbps ...

Page 71: ... I O power related error 14 I O2 Fieldbus Remote Input Ports 0 0 to 240 224 8 port unit 15 I O2 Fieldbus Remote Output Ports 0 0 to 240 224 8 port unit 16 I O2 Fixed Assignment Input Port Start Number 48 1 to 299 48 0 Multiples of 8 Ineffective when 1 is selected 17 I O2 Fixed Assignment Output Port Start Number 348 1 300 to 599 348 300 Multiples of 8 Ineffective when 1 is selected 18 I O2 Error M...

Page 72: ...ontrol 2 2H 2 Confirmation Bits 0 3 First digit I O2 module type 0 Not Mounted 1 CC Link 2 DeviceNet 3 PROFIBUS 226 I O2 Fieldbus Node Address 0 0 to 63 Optional DeviceNet node address range 0 to 63 227 I O2 Fieldbus Baud Rate 0 0 to 2 Follow master unit setting 0 125Kbps 1 250Kbps 2 500Kbps ...

Page 73: ...09 010 310 011 311 012 312 013 313 014 314 015 315 External DI I O1 016 to 031 General purpose input External DO I O1 316 to 331 General purpose output Internal DI I O1 032 For future expansion Internal DO I O1 332 7 segment user display digit specification 033 333 7 segment user display digit specification 034 334 For future expansion 035 335 036 336 037 337 7 segment display refresh 038 338 7 se...

Page 74: ...IN 2 356 057 Program number specification BCD 4 BIN 4 357 058 Program number specification BCD 8 BIN 8 358 059 Program number specification BCD 10 BIN 16 359 060 Program number specification BCD 20 BIN 32 360 061 Program number specification BCD 40 BIN 64 361 062 General purpose input 362 063 363 064 to 287 General purpose input 364 to 587 General purpose output Switching over between BCD and BIN ...

Page 75: ...hes This does not apply when a configurator is used Input Output Input Port number Node address nn Node address nn 1 The numbers under NN MM CH are PLC channel addresses corresponding to node address nn Since node addresses nn nn 1 nn 2 and so on are occupied in accordance with the numbers of input output points used pay attention to prevent duplicate node addresses Output Port number MSEL 㻌 ...

Page 76: ...or occurs again please contact us D5B Fieldbus error Access right retry over A communication board error was detected MSEL reboot the controller If the same error occurs again please contact us D5D Fieldbus error FBRS link error This occurs when the network connection is not established 1 Check the station number the parameters for communication speed and parameters on higher order side 2 It is co...

Page 77: ...nstruction Manual Check the number of the ports that I O boards are mounted E21 I O Assignment Number Overflow Error I O assignment has exceeded the specified range Check to see that a number out of the I O port number except for 1 is not set to I O Parameters No 2 to 9 a number out of indication is not input to I O port start number or a number out of indication is not input to I O Parameters No ...

Page 78: ...a and operate while reflecting the data 5 1 Model The model codes are as shown below TTA A SL SH G WA DV TTA C SL SH G WA DV TTA A SL SH G WA DV TTA C SL SH G WA DV TTA A SL SH G WA DV DV TTA C SL SH G WA DV DV Rear side Status LED Extension I O slot 1 I O2 Extension I O slot1 I O2 Status LED Extension I O slot 2 I O3 Extension I O slot 2 I O3 ...

Page 79: ...ommunication speed Network Max length Maximum branch line length Total branch line length 500kpps 100m 6m 39m 250kpps 250m 78m 125kpps 500m 156m Note When a large size DeviceNet cable is used Communication power supply 24V DC supplied from DeviceNet Consumption current of communication power supply 60mA Number of occupied nodes 1 Node Note address 0 to 63 Software setting by I O parameter Connecto...

Page 80: ...e LED Color Illumination Status Indication Description Detailed Explanation NS Network Status Green Online Communication in normal condition Online No connection established Orange Critical link error Connection timeout Green Orange Blink by turn Self testing Offline No power supply confirmed MS Module Status Green Normal Operation Configuration setting not established or not complete test run req...

Page 81: ...on applicable for TTA is as shown below XSELPC software V10 00 00 00 to TB 01 V1 00 to TB 02 V1 00 to㻌㻌 DeviceNet board I O3 Setting Parameter I O Parameter No 225 I O Parameter No 231 I O Parameter No 232 I O Parameter No 233 I O Parameter No 234 I O Parameter No 235 I O Parameter No 237 I O Parameter No 238 I O board 1 I O1 Setting Parameter I O Parameter No 2 I O Parameter No 3 I O Parameter N...

Page 82: ...meter No 18 and 235 set to 1 Monitor use DeviceNet board in accordance with the position to mount DeviceNet board No Parameter name Default Reference Input Range Unit Remarks 18 I O2 Error Monitoring 1 0 to 5 0 No Monitoring Not to use DeviceNet board 1 Monitoring 235 I O3 Error Monitoring 1 0 to 5 0 No Monitoring Not to use DeviceNet board 1 Monitoring 3 Node address setting Have the node address...

Page 83: ... Fieldbus Parameter Error will occur 5 Number of I O Port Setting Have the port numbers to be used set in I O Parameter No 14 15 231 and 232 in accordance with the position to mount DeviceNet board Note Set a number that is a multiple of 8 No Parameter name Default Reference Input Range Unit Remarks 14 I O2 Fieldbus Remote Input Ports 0 0 to 240 8 port unit 15 I O2 Fieldbus Remote Output Ports 0 0...

Page 84: ... if the DeviceNet communication is established at the startup Change the parameter in case D5D or A6B error occurs due to a faster startup of TTA than the master unit No Parameter name Default Reference Input Range Unit Remarks 121 Network Attribute 2 C80000H 0 to FFFFFFFFH 100ms Bits 16 to 27 Value of Link Timeout at initializing of the Fieldbus Example The initial value C80000H is bit 16 to 27 C...

Page 85: ...8 Ineffective when 1 is selected 10 I O1 Error Monitoring 1 0 to 5 0 0 No Monitoring Not to use I O board 1 Monitoring 2 Monitoring Not to monitor 24V I O power related error 3 Monitoring To monitor only 24V I O power related error 14 I O2 Fieldbus Remote Input Ports 0 0 to 240 16 8 port unit 15 I O2 Fieldbus Remote Output Ports 0 0 to 240 16 8 port unit 16 I O2 Fixed Assignment Input Port Start N...

Page 86: ...k Timeout at initializing of the Fieldbus 100ms 225 Extension I O Control 02 02H to 22H Bits 0 3 First digit I O2 module type Bits 4 7 2nd digit I O3 module type 0 Not Mounted 1 CC Link 2 DeviceNet 3 PROFIBUS 226 I O2 Fieldbus Node Address 0 0 to 63 Optional DeviceNet node address range 1 to 63 227 I O2 Fieldbus Baud Rate 0 0 to 2 Follow master unit setting 0 125Kbps 1 250Kbps 2 500Kbps 235 I O2 E...

Page 87: ... 300 300 Multiples of 8 Ineffective when 1 is selected 10 I O1 Error Monitoring 1 0 to 5 1 0 No Monitoring Not to use I O board 1 Monitoring 2 Monitoring Not to monitor 24V I O power related error 3 Monitoring To monitor only 24V I O power related error 14 I O2 Fieldbus Remote Input Ports 0 0 to 240 224 8 port unit 15 I O2 Fieldbus Remote Output Ports 0 0 to 240 224 8 port unit 16 I O2 Fixed Assig...

Page 88: ...k Timeout at initializing of the Fieldbus 100ms 225 Extension I O Control 02 02H to 22H Bits 0 3 First digit I O2 module type Bits 4 7 2nd digit I O3 module type 0 Not Mounted 1 CC Link 2 DeviceNet 3 PROFIBUS 226 I O2 Fieldbus Node Address 0 0 to 63 Optional DeviceNet node address range 1 to 63 227 I O2 Fieldbus Baud Rate 0 0 to 2 Follow master unit setting 0 125Kbps 1 250Kbps 2 500Kbps 235 I O3 E...

Page 89: ...itoring 1 0 to 5 1 0 No Monitoring Not to use I O board 1 Monitoring 2 Monitoring Not to monitor 24V I O power related error 3 Monitoring To monitor only 24V I O power related error 14 I O2 Fieldbus Remote Input Ports 0 0 to 240 224 8 port unit 15 I O2 Fieldbus Remote Output Ports 0 0 to 240 224 8 port unit 16 I O2 Fixed Assignment Input Port Start Number 1 1 to 299 48 0 Multiples of 8 Ineffective...

Page 90: ...node address range 1 to 63 227 I O2 Fieldbus Baud Rate 0 0 to 2 Follow master unit setting 0 125Kbps 1 250Kbps 2 500Kbps 231 I O3 Fieldbus Remote Input Ports 0 0 to 240 120 8 port unit 232 I O3 Fieldbus Remote Output Ports 0 0 to 240 120 8 port unit 233 I O3 Fixed Assignment Input Port Start Number 1 1 to 299 168 0 Multiples of 8 Ineffective when 1 is selected 234 I O3 Fixed Assignment Output Port...

Page 91: ...03 ON OFF 011 Program number specification Tens place of the digital switch 311 Internal DI No 004 ON OFF 012 312 Internal DI No 005 ON OFF 013 313 Internal DI No 006 ON OFF 014 314 For future expansion 015 Switch No 4 Additional Switch 315 Internal DI No 015 ON OFF External DI I O1 016 to 031 General purpose input I O connector on the rear panel External DO I O1 316 to 331 General purpose output ...

Page 92: ...rogram start 351 General purpose output 052 Software interlock 352 053 Pause reset 353 054 Pause 354 055 General purpose input 355 056 356 057 357 058 358 059 359 060 360 061 361 062 362 063 Home return 363 064 to 287 General purpose input 364 to 587 General purpose output In this table shows the settings when DeviceNet Connection Board is installed in I O2 For when the board is installed in I O3 ...

Page 93: ...85 5 Tabletop Robot TTA 㻌 ...

Page 94: ... reboot the controller If the same error occurs again please contact us D5A Fieldbus error TOGGLE Timeout A communication error was detected TTA reboot the controller If the same error occurs again please contact us D5B Fieldbus error Access right retry over A communication board error was detected TTA reboot the controller If the same error occurs again please contact us D5D Fieldbus error FBRS l...

Page 95: ...o I O Parameters No 2 to 9 a number out of indication is not input to I O port start number or a number out of indication is not input to I O Parameters No 14 to 17 Refer to TTA Instruction Manual Check the number of the ports that I O boards are mounted E21 I O Assignment Number Overflow Error I O assignment has exceeded the specified range Check to see that a number out of the I O port number ex...

Page 96: ...letop Robot TT 36 3 Tabletop Robot TT 3 1 Model Model TT I PV Maximum numbers of network I O points 240 240 A DeviceNet board is installed in the installation position of field network board Standard I O 6 6 1 ...

Page 97: ...ate 500 k 250 k 125 kbps selectable by DIP switches Baud rate Maximum network length Maximum branch line length Total branch line length 500 kbps 100 m 39 m 250 kbps 250 m 78 m 125 kbps 500 m 6 m 156 m Communication cable length Note When a large size DeviceNet cable is used Communication power supply 24 VDC supplied from DeviceNet Consumption current of communication power supply 60 mA Number of ...

Page 98: ...90 6 Tabletop Robot TT 38 3 3 DeviceNet board 3 3 1 Name of Each Part TT type DeviceNet communication connector Monitor LEDs DIP switches Node address setting Baud rate setting 6 3 6 3 1 ...

Page 99: ...1 2 0 0 0 0 1 0 3 0 0 0 0 1 1 60 1 1 1 1 0 0 61 1 1 1 1 0 1 62 1 1 1 1 1 0 63 1 1 1 1 1 1 Note The node address corresponds to the remote I O address in the PLC This DeviceNet card supports a maximum of 240 input points and 240 output points Accordingly the node address corresponding to the I O points used will be occupied in the PLC Take note that all node addresses must be unique For details ref...

Page 100: ...plicable setting MS Off Power is not supplied Steady light Network connection has been established and the board is communicating normally Green Blinking The board is online but network connection is not yet established Communication is stopped The network is normal Steady light Node address duplication or bus off state was detected Communication is not possible Red Blinking A communication error ...

Page 101: ...Set the TT I O ports to be used in DeviceNet communication 1 Board Installation Position Slot and I O Parameter Numbers TT robots are shipped with the input ports and output ports used in DeviceNet communication both set to 64 points DeviceNet Parameter No 14 No 15 Standard I O 6 4 ...

Page 102: ...m 1 1 599 10 Error monitor for standard I O1 0 0 5 0 Do not monitor 1 Monitor 2 Monitor Do not monitor 24 V I O power supply errors 3 Monitor Monitor 24 V I O power supply errors only Some exceptions apply 11 Error monitor for standard I O2 0 0 5 0 Do not monitor 1 Monitor 2 Monitor Do not monitor 24 V I O power supply errors 3 Monitor Monitor 24 V I O power supply errors only Some exceptions appl...

Page 103: ...O ports On TT robots the I O port start numbers are fixed Input port start No 48 Output port start No 348 Port are assigned in units of 16 points Since the port start numbers are fixed the maximum numbers of input points and output points are set to 240 respectively Accordingly set 240 in I O Parameter Nos 14 and 15 DeviceNet Parameter No 14 No 15 Standard I O ...

Page 104: ...n 7 Output port start number for expansion I O1 based on fixed assignment Network I F module 348 1 300 599 entered with a negative sign 8 Reserved by the system 1 1 599 1 9 Reserved by the system 1 1 599 1 10 Error monitor for standard I O1 0 0 5 0 0 Do not monitor 1 Monitor 2 Monitor Do not monitor 24 V I O power supply errors 3 Monitor Monitor 24 V I O power supply errors only Some exceptions ap...

Page 105: ...06 ON OFF 014 Drive source cutoff input 314 Internal DI No 014 ON OFF Internal DI 015 Home return etc Internal DO 315 Internal DI No 015 ON OFF External DI 016 031 General purpose input rear panel I O connector External DO 316 331 General purpose output rear panel I O connector 032 332 Specification for 7 segment user display digits 033 333 Specification for 7 segment user display digits 034 334 R...

Page 106: ... if a configurator is used to assign port numbers Input Output Input Port No Output Port No Node address Node address NN CH and MM CH as indicated above represent PLC channel addresses corresponding to node address nn As for nn nn 1 nn 2 etc bit addresses corresponding to each node address are occupied in accordance with the numbers of I O points used Accordingly exercise caution to prevent node a...

Page 107: ...RCS C and E Con controllers are shown below 1 RCS C Model RCS C DV Number of I O points 8 dedicated input points 10 dedicated output points 24 V type 100 V 200 V types 2 E Con Model ECON DV Number of I O points 10 dedicated input points 12 dedicated output points 7 7 1 ...

Page 108: ...anch line length 500 kbps 100 m 39 m 250 kbps 250 m 78 m 125 kbps 500 m 6 m 156 m Communication cable length Note When a large size DeviceNet cable is used Communication power supply 24 VDC supplied from DeviceNet Consumption current of communication power supply 60 mA Number of occupied nodes 1 node Connector MSTBA2 5 5 G 5 08AU M 2 by Phoenix Contact 1 RCS C controllers are already certified tes...

Page 109: ...101 7 RCS C and E Con 50 4 3 DeviceNet Interface 4 3 1 Name of Each Part DeviceNet communication connector Monitor LEDs DIP switches Node address setting Baud rate setting 7 3 7 3 1 ...

Page 110: ...e below 1 ON 0 OFF s e h c t i w s P I D Node address MAC ID NA5 NA4 NA3 NA2 NA1 NA0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 2 0 0 0 0 1 0 3 0 0 0 0 1 1 60 1 1 1 1 0 0 61 1 1 1 1 0 1 62 1 1 1 1 1 0 63 1 1 1 1 1 1 Note The node address corresponds to the remote I O address in the PLC For details refer to the operation manual for the PLC 2 Setting the baud rate Set the baud rate according to the table below 1 O...

Page 111: ...ng MS Off Power is not supplied Steady light Network connection has been established and the board is communicating normally Green Blinking The board is online but network connection is not yet established Communication is stopped The network is normal Steady light Node address duplication or bus off state was detected Communication is not possible Red Blinking A communication error occurred commu...

Page 112: ...mpleted position 1 1 Command position 2 1 Completed position 2 2 Command position 4 2 Completed position 4 3 Command position 8 3 Completed position 8 4 Start 4 Position complete 5 Reset 5 Home return complete 6 Servo on 6 Zone 7 Pause 7 Alarm 8 Not used 8 Emergency stop 9 Not used 9 Moving 10 Not used 10 Battery alarm Note 1 11 Not used 11 Not used Note 2 12 Not used 12 Not used 13 Not used 13 No...

Page 113: ...tion 16 5 Command position 32 5 Completed position 32 6 Not used 6 Not used Note 2 7 Not used 7 Not used Note 2 n o i t i s o P 8 t r a t S 8 complete e m o H 9 t e s e R 9 return complete 10 Servo on 10 Zone 11 Pause 11 Alarm 12 Not used 12 Emergency stop 13 Not used 13 Moving 14 Not used 14 Battery alarm Note 1 15 Not used 15 Not used Note 2 The signals denoted by are always ON Note 1 The ON OFF...

Page 114: ... No Inputs and outputs are assigned to bit addresses in the PLC sequentially from the youngest number for the channel corresponding to the node address set with the DIP switches NN CH and MM CH as indicated above represent PLC channel addresses corresponding to node address nn ...

Page 115: ...107 8 SCON C 56 5 SCON C 5 1 Model A DeviceNet ready SCON C controller is shown below SCON Model SCON C DV Number of I O points 16 dedicated input points 16 dedicated output points 8 1 8 ...

Page 116: ...um network length Maximum branch line length Total branch line length 500 kbps 100 m 39 m 250 kbps 250 m 78 m 125 kbps 500 m 6 m 156 m Communication cable length Note When a large size DeviceNet cable is used Communication power supply 24 VDC supplied from DeviceNet Consumption current of communication power supply 60 mA Number of occupied nodes 1 node Connector MSTBA2 5 5 G 5 08AU M 1 by Phoenix ...

Page 117: ...109 8 SCON C 58 5 3 DeviceNet Interface 5 3 1 Name of Each Part DeviceNet communication connector Monitor LEDs DIP switches Node address setting Baud rate setting 8 3 8 3 1 ...

Page 118: ...ow 1 ON 0 OFF s e h c t i w s P I D Node address MAC ID NA5 NA4 NA3 NA2 NA1 NA0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 2 0 0 0 0 1 0 3 0 0 0 0 1 1 60 1 1 1 1 0 0 61 1 1 1 1 0 1 62 1 1 1 1 1 0 63 1 1 1 1 1 1 Note The node address corresponds to the remote I O address in the PLC For details refer to the operation manual for the PLC 2 Setting the baud rate Set the baud rate according to the table below 1 ON 0 O...

Page 119: ... Off Power is not supplied Steady light Network connection has been established and the board is communicating normally Green Blinking The board is online but network connection is not yet established Communication is stopped The network is normal Steady light Node address duplication or bus off state was detected Communication is not possible Red Blinking A communication error occurred communicat...

Page 120: ...STP Pause STP 13 Positioning start CSTR Positioning start position data read command CSTR PWRT Positioning start CSTR 14 Reset RES Reset RES Reset RES 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 number PM32 Completed position number PM32 PM32 6 Moving signal MOVE Moving signal ...

Page 121: ... command SON 0 PM1 Position 0 complete PE0 Limit switch 0 LS0 1 PM2 Position 1 complete PE1 Limit switch 1 LS1 2 PM4 Position 2 complete PE2 Limit switch 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 Not available 7 PM128 Zone 1 ZONE1 Zone 1 ZONE1 8 Completed position number PM256 Position zone PZONE Position zone P...

Page 122: ...osition Input port No bit address The above figure assumes that the node address of the controller s DeviceNet board is set to 0 I O ports are assigned in units of 16 points to the memory area corresponding to one DeviceNet node address I P ports are assigned sequentially from the youngest number to the bits in the buffer memory starting from the lower bit 8 5 ...

Page 123: ...d 256 output points 6 1 Models 6 1 1 ASEL PSEL The ASEL and PSEL models supporting DeviceNet are respectively indicated as follows 1 axis ASEL CS 1 DV PSEL CS 1 DV 2 axes ASEL CS 2 DV PSEL CS 2 DV Exterior view Status LEDs DeviceNet communication connector Series name ASEL PSEL Color of front panel ASEL Dark blue PSEL Dark green 9 9 1 9 1 1 ...

Page 124: ...EL 6 1 2 SSEL The SSEL models supporting DeviceNet are indicated as follows 1 axis SSEL CS 1 DV 2 axes SSEL CS 2 DV Exterior view Status LEDs DeviceNet communication connector Series name Color of front panel Dark gray 9 1 2 ...

Page 125: ...ster Baud rate Maximum network length Maximum branch line length Total branch line length 500 kbps 100 m 39 m 250 kbps 250 m 78 m 125 kbps 500 m 6 m 156 m Communication cable length Note When a large size DeviceNet cable is used Communication power supply 24 VDC supplied from DeviceNet Consumption current of communication power supply Typ 30mA Max 55 mA Number of occupied nodes 1 node Connector MS...

Page 126: ...118 9 ASEL PSEL and SSEL 67 6 3 DeviceNet Interface 1 Name of Each Part ASEL PSEL SSEL Status LEDs DeviceNet communication connector Color sticker Black Blue White Red Black Blue White Red 9 3 ...

Page 127: ...A communication error has occurred due to a timeout NS Off The status is not online Still checking the baud rate Still checking for node address duplication DeviceNet power is not supplied A WDT watchdog timer error is present Steady light The controller is operating normally initialization has completed Green Blinking 1Hz A user interruption timeout has occurred Steady light A hardware error DP R...

Page 128: ...5 08AU Color stickers corresponding to the wire colors are attached on each connector The cable end connector is a standard accessory For the details of signals assigned to respective pins refer to Chapter 9 Common Items and Others Caution 1 The baud rate is automatically set to the same value as the baud rate set in the master Accordingly you need not set the baud rate 2 The node address is set b...

Page 129: ...le remote output ports No 16 Network I F module First input port number based on mount assignment No 17 Network I F module First output port number based on mount assignment For details refer to List of ASEL PSEL SSEL network I O parameters on the next page Note With ASEL PSEL and SSEL controllers the following I O parameters are invalid when the DeviceNet module is used Even if these parameters a...

Page 130: ... error status has continued for at least the network link error check timer value a system error will occur Refer to I O parameter No 120 Some exceptions apply 120 Network attribute 1 1H 0H FFFFFFFFH Bits 0 to 3 Reserved by the system 121 Network attribute 2 C80000H 0H FFFFFFFFH Bits 4 to 11 Network link error check timer value Setting unit 10 msec This parameter is valid only when I O parameter N...

Page 131: ...ol 2H Read only Bits 0 to 3 Network I F module type 0 Not installed 1 CC Link module 2 DeviceNet module 226 Network I F module Network Attribute 3 Communication attribute 1 0 0 999 Node address of the network I F module DeviceNet module 0 to 63 227 Network I F module Communication attribute 2 0H 0H FFFFFFFFH 0H FFFFFFFFH Bits 0 to 3 Baud rate type of the network I F module With the DeviceNet modul...

Page 132: ...ast significant bit and the youngest port number 1 Basic example The figure below shows the correlation of relevant items when the I O parameters are set as follows No 16 0 First input port number No 17 300 First output port number No 14 No 15 16 Numbers of input output ports No 266 nn Node address Note NN and MM indicate PLC channel addresses corresponding to node address nn Node addresses nn nn ...

Page 133: ...ut ports are assigned from No 300 Use input port Nos 0 to 23 and output port Nos 300 to 307 according to the I O port tables for respective controllers provided on the pages that follow I O parameter Nos 14 and 15 are both set to 24 Note I O parameter Nos 14 and 15 should be set to the same value corresponding to either the number of input ports or output ports whichever is greater ...

Page 134: ...input 5 Position input 8 8 Position input 2 Input 2 Axis 2 pause Position input 6 Position input 10 9 Position input 3 Input 3 Axis 2 cancel Position input 7 Position input 20 10 Position input 4 Input 4 Position input 1 Position input 8 Position input 40 11 Position input 5 Input 5 Position input 2 Position input 9 Position input 80 12 Position input 6 Input 6 Position input 3 Position input 10 P...

Page 135: ...tion input 1 Input 1 Axis 2 servo ON Position input 5 Position input 8 8 Position input 2 Input 2 Axis 2 pause Position input 6 Position input 10 9 Position input 3 Input 3 Axis 2 cancel Position input 7 Position input 20 10 Position input 4 Input 4 Position input 1 Position input 8 Position input 40 11 Position input 5 Input 5 Position input 2 Position input 9 Position input 80 12 Position input ...

Page 136: ...eturn Position input 4 Position input 4 7 Position input 1 Input 1 Axis 2 servo ON Position input 5 Position input 8 8 Position input 2 Input 2 Axis 2 pause Position input 6 Position input 10 9 Position input 3 Input 3 Axis 2 cancel Position input 7 Position input 20 10 Position input 4 Input 4 Position input 1 Position input 8 Position input 40 11 Position input 5 Input 5 Position input 2 Positio...

Page 137: ...that the configuration is correct After correcting the applicable settings restart the system Detected a node address duplication or bus off state communication was stopped due to frequent data errors Correct the node address and then restart the system Confirm that the baud rate of the slave is the same as the baud rate of the master Confirm that the communication cable length is appropriate Chec...

Page 138: ...delay 1 36 ns ft 1 36 ns ft Attenuation ratio 500 kHz 0 25 dB ft 125 kHz 0 13 dB ft 500 kHz 0 50 dB ft 125 kHz 0 29 dB ft Conductor resistance at 20 C 6 9 1000 ft 22 6 1000 m 2 7 1000 ft 8 9 1000 m 28 1000 ft 91 9 1000 m 17 5 1000 ft 57 4 1000 m Maximum current 8A 3A Outer diameter of finished cable 11 2 12 1 mm 6 9 mm Cables by Allen Bradley Large size cable thick cable Small size cable thin cabl...

Page 139: ...ted on both ends of the main DeviceNet line Each controllers have no built in terminal resistors To connect a terminal resistor prepare a dedicated terminal block type terminal resistor 121 Ω 1 1 4 W or terminal resistor with T junction tap 121 Ω 1 1 4 W or other resistor of equivalent specification and connect it directly to the communication cable connector Note For details refer to the operatio...

Page 140: ...can be used to store I O property information Setting for XSEL MSEL TTA TT ASEL PSEL and SSEL controller 1 For an XSEL MSEL TTA TT ASEL PSEL and SSEL controller use the EDS file to set the number of bytes to be used to store I O property information The number of bytes should correspond to the available I O ports set by the applicable I O parameters If the EDS file has been installed in a PC the n...

Page 141: ...3 XSEL R S RX SX RXD SXD on added July 2012 Twenty first edition 4 Tabletop Robot TTA on added Twenty Third Edition XSEL RA SA series added September 2013 July 2016 Twenty second edition Connector Model Code Changed Twenty third edition 4 MSEL on added Edition 23B Made applicable for MSEL Cartesian Type March 2014 May 2014 August 2014 Edition 24B Model code changed for applicable models Descriptio...

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Page 144: ...89524 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 825 PhairojKijja Tower 12th Floor Bangna Trad RD Bangna Bangna Bangkok 10260 Thailand TEL 66 2 361 4458 FAX 66 2 361 4456 Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 08...

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