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IAI RCM-GW-PR, Operation Manual

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IAI RCM-GW-PR Operation Manual Download Page 92

 
 
 

 

PfofiBus Gateway

 
 
 

Warning

 

With the ACON, excited-phase detection operation is performed when the servo is turned on for the 
first time following the power on. Because of this detection operation, the actuator normally moves by 
approx. 0.5 to 2 mm, although the specific dimension varies according to the ball screw lead. 
(On rare occasions, the actuator may move by up to around a half of the ball screw lead depending on 
the actuator position when the power is turned on.) 
Also note that if the power is turned on while the actuator is near a mechanical end, the actuator may 
contact the mechanical end during the detection operation and reverse its direction as a result. 
Exercise due caution not to cause the load or robot hand to get damaged as a result of contact with 
surrounding objects during this detection operation. 

 
 
 

86 

Summary of Contents for RCM-GW-PR

Page 1: ...Operation Manual Second Edition ProfiBus Gateway Unit RCM GW PR ...

Page 2: ...rter Teaching pendant PC etc PC software RS232 connection type Model number RCM 101 MW USB connection type Model number RCM 101 USB The cables are supplied with the PC software SIO converter optional with built in terminal resistor Model number RCB TU SIO A B Gateway unit Do not connect the FG One e CON connector one junction and one terminal resistor are supplied with each controller link cable e...

Page 3: ... directly to a teaching pendant or PC If a teaching pendant or PC is connected directly to the gateway unit grounded in this condition the power supply circuit may be shorted and the PC teaching pendant may be damaged Cannot be connected directly This teaching pendant cannot be used this way Gateway unit 24 V power supply ...

Page 4: ...cation Network SIO Communication 25 4 3 1 Wiring 25 4 3 2 Axis Number Setting 33 4 4 How to Connect the Teaching Tool When the Positive Terminal of the 24 V Power Supply Is Grounded 34 5 Address Configuration of Gateway Unit 35 5 1 Position Number Specification Mode 35 5 1 1 Overall address configuration 36 5 1 2 Gateway Control Status Signals 37 5 1 3 Assignment for Each Axis 40 5 2 Direct Numeri...

Page 5: ...Unit and PLC Master 99 7 4 PLC Address Assignment 100 8 Supported S7 Function Blocks Functions 106 8 1 GW_CTL_11 107 8 2 RC_NVC_11 108 8 3 RC_ESYNC_00 109 8 4 RC_BCMOVP_00 110 8 5 RC_READ_00 111 8 6 RC_WRITE_00 112 8 7 RC_PROM_00 113 8 8 RC_PMSL_00 113 Appendix 1 Sample Programs for S7 300 114 Appendix 2 Supply Format and Use Procedure of FB FCt 117 ...

Page 6: ......

Page 7: ... PLC recognizes the Gateway Unit as a remote I O device The Gateway Unit supports PCON C CG SE ACON C CG SE SCON C and ERC2 NP PN SE controllers Gateway is a term used in communication networks referring to a device that converts data to from different media and protocols to enable communication between networks ProfiBus protocols include ProfiBus DP for factory automation FA and ProfiBus PA for p...

Page 8: ...nsor level Device level Key open network 2 Information level Also called PLC upper network The main purpose of this network level is to transmit production information etc to information terminals Ethernet is the most commonly used communication method for the information level 3 Controller level Also called Inter PLC network This network level often handles real time information of production lin...

Page 9: ...amounts of data at high speed Up to 244 bytes of data per device Maximum baud rate of 12 Mbps 3 Up to 125 nodes can be connected For details on ProfiBus refer to the operation manuals for your master unit and PLC Along with this manual also read the operation manual for each controller connected This ProfiBus Gateway cannot be used in any way not described as feasible in this manual To prevent mal...

Page 10: ...s can be connected 3 Direct numerical specification mode Up to 8 axes can be connected 4 Direct numerical specification mode Up to 10 axes can be connected 5 Direct numerical specification mode Up to 16 axes can be connected 3 Command specification mode In this mode the actuator can be operated in one of two operation patterns positioner operation in which a desired position number is specified to...

Page 11: ...e during movement Operation at different acceleration and deceleration P table specification Monitoring of current position 5 X X Sending receiving of commands responses X X Reading writing of P table data X X X Reading of current position 6 X X Reading of alarm code X X Command Broadcasting X X X Number of connectable axes 16 4 6 8 10 16 16 16 Maximum specifiable value of position data P table sp...

Page 12: ... 512 point mode Solenoid mode 1 Dedicated SIO operation Number of positioning points 64 64 256 512 7 64 Home return signal Zone signal X X X P zone signal X Maximum number of gateway positions Position number specification mode 64 64 256 64 2 512 64 2 7 64 64 Positioner operation 3 64 0 3 64 1 3 256 2 3 512 3 3 7 4 3 64 0 512 PCON ACON SCON Gateway control Command Command specification ifi ti Simp...

Page 13: ...ption of Model Name Base model ProfiBus specification Gateway Unit 1 6 Accessories 1 Power supply input connector plug 1 pc MC1 5 4 ST 3 5 Phoenix Contact 2 SIO communication connector plug 1 pc MC1 5 6 ST 3 81 Phoenix Contact 7 ...

Page 14: ...A RS485 2 wire type Baud rate 230 4 kbps Error control method No parity bit CRC 2 Communication cable length Total cable length 100 m max Communication cable Double shielded twisted pair cable Recommended cable HK SB 20276 X L 2P X AWG22 by Taiyo Electric Wire Cable SIO communication specifications Connected units 16 axes max Ambient operating temperature 0 to 40 C Ambient operating humidity 85 RH...

Page 15: ...PfofiBus Gateway 2 2 External Dimensions Dimensions Installed dimension 9 ...

Page 16: ...switching input PORT IN Port switching input PORT N N 5 Controller communication lines SDA Communication line SDB Communication line GND Ground FG Frame ground 10 Port switch ON Port ON OFF Port OFF 6 ProfiBus communication connector 7 Termination switch 8 Address setting switches X10 and X1 decimal 2 digits 9 ProfiBus communication Status LEDs ON Online OFF Offline ERR Error 11 Teaching pendant P...

Page 17: ...n SIO communication between the ProfiBus gateway and controller Blinking red At least one axis generated a communication error based on SIO communication between the ProfiBus gateway and controller No response overrun flaming error or CRC error T ER Unlit Normal state CRC Cyclic Redundancy Check A data error detection method commonly used in synchronous transmission 2 SIO communication status LEDs...

Page 18: ...an be connected 124 64 5 X X Direct numerical specification mode Up to 16 axes can be connected 196 100 6 X X X Position number specification mode maximum 16 axes 48 48 7 X X X Command specification mode Large 160 160 8 X X Command specification mode Middle 128 128 9 X X Command specification mode Small 64 64 4 External port switching input The ON OFF status of the teaching pendant PC connector po...

Page 19: ...nd is not supplied 7 Termination switch A terminal resistor must be provided at the end of the ProfiBus trunk line to prevent bus reflection Set the termination switch to the ON position when the ProfiBus Gateway is the terminal module However the switch should be set to the OFF position if an external termination connector is used Set the switch to the OFF position if the Gateway is not the termi...

Page 20: ... a different monitored status as shown in the table below LED name Color Indicated status Description meaning of indication Lit Online LINE ON Green Unlit Not online Lit Offline LINE OFF Red Unlit Not offline Blinking at 1 Hz frequency Configuration error Example The I O size determined by the mode setting switch 3 does not match the I O size set by the configuration tool Blinking at 4 Hz frequenc...

Page 21: ...ing pendant or PC software and ProfiBus gateway can be set to a maximum of 115 2 kbps For your information the baud rate between the ProfiBus gateway and controller is fixed to 230 4 kbps When the port switch is turned ON no ProfiBus communication error will generate but the data exchange via SIO communication will stop Accordingly the PLC s output signals data will no longer be output to the cont...

Page 22: ...Gateway Unit in an environment of 0 to 40 C in ambient temperature and 85 or below in humidity non condensing and free from corrosive or flammable gases d Use the Gateway Unit in an environment where the unit will not receive external vibration or shock e Prevent electrical noise from entering the Gateway Unit or its cables 3 2 Supply Voltage 24 VDC 10 Current consumption 300 mA max 3 3 Noise Elim...

Page 23: ...minated using the following measures 1 AC solenoid valves magnet switches relays Measure Install a surge killer in parallel with the coil Point Install the surge killer in a location as close as possible to each coil If the surge killer is installed on a terminal block or away from the coil its noise elimination effect will decrease 2 DC solenoid valves magnet switches relays Measure Install a dio...

Page 24: ...low 40 C Install the Gateway Unit vertically on a wall as shown below and provide a minimum clearance of 50 mm above and below the unit with a minimum clearance of 100 mm provided on all sides for wiring access If multiple Gateway Units are installed side by side provide a sufficient space between the adjacent units so that any unit can be installed and removed easily If heat or noise is of concer...

Page 25: ...uration The following is an example of ProfiBus system configuration using the Gateway Unit SIO communication network Terminal resistor 4 way junction Host system PLC master Gateway Unit Teaching pendant 24 V power supply Controller link cable 19 ...

Page 26: ... segment of the network must have a terminal resistor connected to both ends 4 For each ProfiBus cable use the ProfiBus DP type A cable specified by the EN 50170 standard This cable is a 2 core twisted pair cable with shield Master Node address 2 Slave Slave Slave Slave Terminal resistor Terminal resistor Node address 3 Node address 4 Node address 5 Node address 6 Cable Red Line B positive side Gr...

Page 27: ...tion line B Positive side 4 NC Not connected 5 GND Signal ground 6 5V 5 V output 7 NC Not connected 8 A Line Communication line A Negative side 9 NC Not connected Housing Shield Cable shield Caution The ProfiBus gateway has a built in terminal resistor setting switch If the ProfiBus gateway becomes a terminal module on the network turn this terminal resistor setting switch ON If the ProfiBus gatew...

Page 28: ...hing pendant Teaching pendant PC connector Emergency stop Emergency stop signal output for teaching pendant Allowable load voltage 30 VDC Allowable load current 1 A Gateway power supply 24 VDC 10 300 mA max External port switching input provided by the customer Load 24 VDC 7 mA Port switch SIO communication cable 22 ...

Page 29: ...ndant Therefore you can design an emergency stop circuit or other protective circuit for the entire system by incorporating these signals Teaching pendant emergency stop signal output Teaching pendant emergency stop signal output Teaching pendant PC connector port Teaching pendant PC connector port External port switching input External port switching input Port switch Port switch OFF OFF Disabled...

Page 30: ...controller or ERC actuator with the potential level of the GND ground SIO communication connector MC1 5 6 ST 3 y 81 Phoenix Contact Double shielded twisted pair cable AWG22 The Gateway Unit has a built in terminal resistor so connect the terminal resistor at the end of the SIO communication line Recommended cable HK SB 20276 X L 2P X AWG22 by Taiyo Electric Wire Cable Internally connected to the f...

Page 31: ...ways connect a terminal resistor at the end A terminal resistor is not needed on the Gateway Unit end as the unit has a built in terminal resistor 2 The customer must provide the communication cable If the recommended cable is not used make sure the size of the cable to be used is AWG22 2 Communication connection for PCON ACON and SCON Gateway Unit Built in terminal resistor SIO communication trun...

Page 32: ...the press fit cable housing apply pressure from above to pressure weld the core wires 6 Heat treat the cable protection tube e CON connector pin numbers Always insert a terminal resistor 220 Ω 1 4 W at the end of the communication trunk between pins 1 and 2 of the e CON connector Gateway Unit Double shielded twisted pair cable Recommended cable HK SB 20276 X L 2P X AWG22 by Taiyo Electric Wire Cab...

Page 33: ...connector e CON connector 3 1473562 4 Housing color Orange Signal Yellow Orange Blue Signal The following parts are supplied with the controller link cable 1 4 way junction Model 5 1473574 4 by AMP x 1 unit 2 e CON connector 4 1473562 4 by AMP x 1 unit Outer diameter of applicable wire 1 35 to 1 6 mm 3 Terminal resistor 220 Ω 1 4 W With e CON connector x 1 unit 27 ...

Page 34: ...TL001 Power supply I O cable CB ERC2 PWBIO JST JST Axis 1 Axis 2 Axis 3 Fabricated by the customer Terminal resistor Axis 16 Caution 1 When the total communication cable length is 10 m or longer communication may not be established properly and a communication error may occur In this case connect a terminal resistor to the last axis 2 If the actuators have different power supplies use a common lin...

Page 35: ...ted by the customer Caution 1 When the total communication cable length is 10 m or longer communication may not be established properly and a communication error may occur In this case connect a terminal resistor to the last axis 2 If the actuators have different power supplies use a common line for 0 V 3 Use a common line for 0 V for the power supply of the gateway unit and control power supply o...

Page 36: ...signals output from the S1 and S2 terminals of the Gateway Unit can be used This way all connected ROBO Cylinder controllers can be stopped instantly in case of emergency by operating the emergency stop switch on the teaching pendant connected to the Gateway Unit Caution 1 For details on the emergency stop processing of ROBO Cylinders refer to the operation manual for your PCON ACON SCON or ERC 2 ...

Page 37: ...ction signal H SIO connector connection detection circuit EMG signal detection H Motor drive power Control power Time cons tant Drive stop signal L Motor drive circuit Power supply terminal block unit 2 Power supply terminal block unit 3 Emergency stop reset switch Emergency stop button Caution The input current specification for the EMG terminal is 5 mA When connecting the EMG relay CR contacts t...

Page 38: ...DC input power supply 2 A max per unit Power supply terminal block Connection detection signal H SIO connector connection detection circuit EMG signal detection H Motor drive power Control power Time cons tant Drive stop signal L Motor drive circuit Power supply terminal block unit 2 Power supply terminal block unit 3 Emergency stop button Emergency stop reset switch Emergency stop button 32 ...

Page 39: ...table Operation on the teaching pendant RCM T 1 Open the User Adjustment window 2 Bring the cursor to Assigned No using the T key 3 Enter an axis number and press Enter 4 Enter 2 under Adjustment No and press Enter Operation on the simple teaching pendant RCM E 1 Open the User Adjustment window Æ 2 Press Enter to open the Assigned No window 3 Enter an axis number and press Enter 4 Enter 2 under Ad...

Page 40: ...IO converter optional with built in terminal resistor Model number RCB TU SIO A B Gateway unit Do not connect the FG One e CON connector one junction and one terminal resistor are supplied with each controller link cable e CON connector 3 1473562 4 by AMP Junction 5 1473574 4 by AMP Terminal resistor Controller link cable Model number CB RCB CTL002 24 V power supply With the gateway unit system th...

Page 41: ...the PLC to operate the actuator Up to 64 positions from Nos 0 to 63 can be specified but the number of positions may be limited depending on the PIO pattern PIO pattern selection parameter specified for each axis Refer to the table in 1 4 2 The key functions that can be controlled in this mode are summarized in the table below Direct control Key function Remarks Δ Indirect control X Disabled Home ...

Page 42: ...s signal 0 Cannot be used Status signal 1 Cannot be used Status signal 2 Command position number 0 Status signal 3 Command position number 1 Status signal 4 Command position number 2 Status signal 5 Command position number 3 Status signal 6 Command position number 4 Status signal 7 Command position number 5 Status signal 8 Command position number 6 Status signal 9 Command position number 7 Status ...

Page 43: ...d four output bytes These signals are used to control the ON OFF of SIO communication and monitor the SIO communication status and gateway unit status PLC output PLC input Gateway control signal 0 Gateway control signal 1 Byte address Gateway status signal 0 Gateway status signal 1 The byte address is indicated as a relative byte address from the initial byte address byte of the gateway 37 ...

Page 44: ...e 1 PPS1 In all other modes always set these bits to OFF 0 0 PPS0 Set the I O pattern pattern 0 to 4 of the axis using a 3 bit binary code 2 7 CFG15 Link ON Axis No 15 6 CFG14 14 PLC output 5 CFG13 13 Specify the axis number corresponding to each axis to be linked 4 CFG12 12 3 CFG11 11 The axis will be connected when the signal is turned ON 1 and disconnected when it is turned OFF 0 2 2 CFG10 10 1...

Page 45: ... output The setting status of each pin of the mode setting switch is output When the switch is turned ON the applicable bit will turn ON 1 0 MOD1 Mode setting switch 1 ON output 7 Major V 4 6 Major V 2 5 Major V 1 The major version number is output as a three bit binary value PLC input The Gateway version information is output 4 Minor V 16 3 Minor V 8 2 Minor V 4 You may need to check this informa...

Page 46: ... in units of bits The command position number or completed position number is handled as a 1 byte 8 bit binary data Specify each command position number within the range of position numbers set by the controller of each axis PLC output PLC input Byte address Byte address Control signal Command position number Status signal Completed position number Byte Initial gateway address n Axis number 0 to 1...

Page 47: ...ND Home return complete 6 2 8 b1 PEND Positioning complete 6 2 10 b0 ALM Alarm 6 2 3 Zone signal output 2 b7 ZONE2 2 PLC input Zone signal output 1 b6 ZONE1 6 2 13 The completed position number and zone signal status are output Read the completed position number as a six bit binary value While an alarm is present the ALM signal is ON the content of the alarm is output to the completed position num...

Page 48: ...ata error A1 Position data error A2 Position command information data error A3 Excitation detection error B8 X 7 Operation timeout during home return operation BE X X X 8 Excessive actual speed C0 Overvoltage C9 Overheat CA X X 9 Control power supply voltage error CC Control power supply voltage low CE X X A For manufacturer s use 1 X B Position deviation counter overflow D8 X X C Servo error C1 O...

Page 49: ...itch feed distance data to from the current position Push motion operation Speed change during movement Speed data is accepted at the start of positioning To change the speed during movement therefore change the speed data during movement and then restart the positioning operation Operation with acceleration and deceleration set differently Acceleration deceleration data is accepted at the start o...

Page 50: ...ch SW1 and the applicable data areas vary depending on the setting of this switch The switch settings and corresponding data areas are shown below SW1 I O bytes No 4 3 2 1 Description Output Input 1 X X X X Direct numerical specification mode Up to 4 axes can be connected 52 28 2 X X X Direct numerical specification mode Up to 6 axes can be connected 76 40 3 X X X Direct numerical specification mo...

Page 51: ...tus 0 Gateway status 1 Axis status 0 Axis status 1 Axis status 2 Axis status 3 Axis status 4 Axis status 5 Axis status 6 Axis status 7 Axis status 8 Axis status 9 Axis status 10 Axis status 11 Axis status 12 Axis status 13 Axis status 14 Axis status 15 Mode No 1 Mode No 2 Mode No 3 Mode No 4 Mode No 5 Byte data Status signal 11 Status signal 11 Current position data 11 Cannot be used Current posit...

Page 52: ... and four output bytes These signals are used to control the ON OFF of SIO communication and monitor the SIO communication status and gateway unit status PLC output Byte address Gateway control signal 0 Gateway control signal 1 Gateway status signal 0 Gateway status signal 1 PLC input The byte address is indicated as a relative byte address from the initial byte address byte of the gateway ...

Page 53: ...e 1 PPS1 In all other modes always set these bits to OFF 0 0 PPS0 Set the I O pattern pattern 0 to 4 of the axis using a 3 bit binary code 2 7 CFG15 Link ON Axis No 15 6 CFG14 14 PLC output 5 CFG13 13 Specify the axis number corresponding to each axis to be linked 4 CFG12 12 3 CFG11 11 The axis will be connected when the signal is turned ON 1 and disconnected when it is turned OFF 0 2 2 CFG10 10 1...

Page 54: ... output The setting status of each pin of the mode setting switch is output When the switch is turned ON the applicable bit will turn ON 1 0 MOD1 Mode setting switch 1 ON output 7 Major V 4 6 Major V 2 5 Major V 1 The major version number is output as a three bit binary value PLC input The Gateway version information is output 4 Minor V 16 3 Minor V 8 2 Minor V 4 You may need to check this informa...

Page 55: ... to and used in bit registers Set a desired current limiting value for push motion acceleration deceleration or speed within the Set a desired current limiting value for push motion acceleration deceleration or speed within the corresponding range specified for the applicable actuator while target position data must be inside the soft stroke limits Units Push current limiting value 1 Acceleration ...

Page 56: ...nteger Sign Byte indicates the Gateway head address while n indicates an axis number 0 to 15 Caution 1 Signed 24 bit hexadecimal data output or input from to the PLC is treated as a negative value when the most significant bit is 1 Take note that all these data are treated as normal numerical data within the PLC 50 ...

Page 57: ... 8 bit data Example To specify 50 set 7FH corresponding to the decimal value of 127 obtained by FFH 255 x 50 Speed 24 bit data Set a 24 bit integer unit 0 01 mm sec based on hexadecimal notation The maximum value is 0F423FH 999999 in decimal notation Example To specify 200 mm sec set 004E20H 20000 in decimal notation Cautions If speed is not set or the set speed is 0 the actuator will remain stopp...

Page 58: ...operation mode specification 6 3 4 b4 SON Servo on command 6 2 7 b3 STP Pause command 6 2 5 Control signal b2 HOME Home return command 6 2 8 b1 CSTR Start command 6 2 9 b0 RES Reset command 6 2 4 b7 EMGS Emergency stop status 6 2 2 b6 PSFL Missed work 6 3 4 b5 PWR Controller ready 6 2 1 b4 SV Ready servo is on 6 2 7 b3 MOVE Moving 6 2 6 b2 HEND Home return complete 6 2 8 Status signal b1 PEND Posi...

Page 59: ...re specified via a position number to operate the actuator As for the axis configuration these two operation patterns can be used separately or in combination If the two patterns are combined the axis numbers must be assigned sequentially from the axes used in positioner operation followed by the axes used in simple direct operation You can select the Large mode 160 input bytes 160 output bytes Mi...

Page 60: ...ng two or more position table numbers Refer to the operation manual for the controller Δ Δ Set in the position table 1 Operation with acceleration and deceleration set differently Set in the position table Δ Pause A zone is set in the position table or using parameters 2 Zone signal output The current position data is constantly output from the gateway so have the PLC monitor the current position ...

Page 61: ...s of adjacent axes The total I O area size of the Gateway varies in accordance with the setting of the mode setting switch SW1 as shown in the table below SW1 Axis control area Mode No Total I O area Fixed area 4 3 2 1 7 X X X Large mode 160 bytes each 142 bytes each 8 X X Middle mode 128 bytes each 110 bytes each 18 bytes each 9 X X Small mode 64 bytes each 46 bytes each Up to 16 axes including p...

Page 62: ...rol signal Gateway status signal 0 Gateway status signal 1 Response command Data 0 Data 1 Data 2 Data 3 Data 4 Data 5 Fixed area 2 bytes 6 bytes Small mode 64 bytes Middle mode 128 bytes Large mode 160 bytes Cannot be used Cannot be used 2 bytes 8 bytes Positioner operation axis 0 status signal Positioner operation axis 1 status signal Positioner operation axis 2 status signal Positioner operation...

Page 63: ... and four output bytes These signals are used to control the ON OFF of SIO communication and monitor the SIO communication status and gateway unit status Byte address Gateway control signal 0 Gateway control signal 1 Gateway status signal 0 Gateway status signal 1 PLC output PLC input The byte address is indicated as a relative byte address from the initial byte address byte of the gateway ...

Page 64: ...e 1 PPS1 In all other modes always set these bits to OFF 0 0 PPS0 Set the I O pattern pattern 0 to 4 of the axis using a 3 bit binary code 2 7 CFG15 Link ON Axis No 15 6 CFG14 14 PLC output 5 CFG13 13 Specify the axis number corresponding to each axis to be linked 4 CFG12 12 3 CFG11 11 The axis will be connected when the signal is turned ON 1 and disconnected when it is turned OFF 0 2 2 CFG10 10 1...

Page 65: ... output The setting status of each pin of the mode setting switch is output When the switch is turned ON the applicable bit will turn ON 1 0 MOD1 Mode setting switch 1 ON output 7 Major V 4 6 Major V 2 5 Major V 1 The major version number is output as a three bit binary value PLC input The Gateway version information is output 4 Minor V 16 3 Minor V 8 2 Minor V 4 You may need to check this informa...

Page 66: ...nput status signal bytes as shown below Five patterns are available depending on the PIO pattern set by the gateway control signal PPS Byte address PLC output PLC input Pattern 0 standard mode Pattern 1 teaching mode Pattern 2 256 positioning points Pattern 3 512 positioning points Pattern 4 solenoid mode 1 Pattern 0 standard mode Pattern 1 teaching mode Pattern 2 256 positioning points Pattern 3 ...

Page 67: ...7 b0 PC 0 to 3 6 2 11 Command position number Specify the start position using a bit pattern b6 b0 ST0 ST6 4 b7 BALM 0 to 4 Battery voltage low alarm b6 ALM 0 to 4 Alarm 6 2 3 b5 EMGS 0 to 4 Emergency stop 6 2 2 b4 SV 0 to 4 Ready servo is on 6 2 7 b3 PEND 0 2 to 4 Positioning complete 6 2 10 b3 WEND 1 Position data load command status TEAC 6 2 17 b2 HEND 0 to 4 Home return complete 6 2 8 Status s...

Page 68: ...e multiples of 0 01 mm PLC output Control signal Byte address Sign Position data specification signed 32 bit integer Movement data position number Control signal Cannot be used PLC input Status signal Byte address Sign Current position data signed 32 bit integer Status signal Status signal Byte address B Initial address of simple direct operation axis m Axis number assigned only to a simple direct...

Page 69: ...fy a desired position number as a hexadecimal code 6 3 5 PLC output B7 BKRL Forced brake release 6 2 18 B6 b5 Cannot be used b4 SON Servo on command 6 2 7 b3 STP Pause command 6 2 5 b2 HOME Home return command 6 2 8 Control signal b1 CSTR Start command 6 2 9 b0 RES Reset command 6 2 4 b7 b0 Cannot be used The current position data is output as a signed 32 bit integer unit 0 01 mm based on hexadeci...

Page 70: ...peration Positioner operation PLC numerical specification Position Position table PLC numerical specification Position table Position table PLC numerical specification Position table Position table Speed Parameter 1 Parameter 1 Parameter 1 Acceleration deceleration Position table PLC numerical specification Position table Position table Parameter 1 Parameter 1 Parameter 1 Position table PLC numeri...

Page 71: ...on If a command code is not synchronized with related data the command does not function properly With Siemens s S7 Series PLC synchronicity consistency of ProfiBus I Os is normally guaranteed only in units of bytes and words To handle data spanning multiple words synchronously an applicable item must be set to ensure data consistency in the STEP 7 s HW Config screen refer to7 4 5 Setting for I O ...

Page 72: ...rget position 1041H Read an in position band 1042H Read a speed Position table data read 1043H Read a positive boundary for each zone 1044H Read a negative boundary for each zone 1045H Read an acceleration x 1046H Read a deceleration 1047H Read a current limiting value for push motion 1048H Read a load current threshold 0DA0H POS writing coil write Writing of position table data to ROM X 02E0H POS...

Page 73: ...16 RSV 4 1002H 6 Position number Speed write 8 Same as the value in the request command if normal Speed data 4 10 12 Axis number 0 to FH 3 14 RSV 16 RSV 4 1003H 6 Position number 8 Each zone positive boundary write Same as the value in the request command if normal Position data 2 10 12 Axis number 0 to FH 3 14 RSV 16 RSV 4 1004H 6 Position number 8 Each zone negative boundary write Same as the va...

Page 74: ...is number 0 to FH 3 14 RSV 16 RSV 4 1008H 6 Position number 8 0000 to 00FFH 00FFH maximum current Same as the value in the request command if normal Load current threshold write 10 0 12 Axis number 0 to FH 3 14 RSV 16 RSV 1 Relative byte address recognized with respect to the Gateway head address 2 Signed 32 bit integer data 3 Data 00 to 0FH correspond to axis numbers 0 to 15 respectively 4 32 bit...

Page 75: ...eed read 8 0 Speed data 4 10 0 12 Axis number 0 to FH 2 14 RSV Same as the value in the request command if normal 16 RSV 4 1043H 6 Position number Same as the value in the request command if normal 8 0 Each zone positive boundary read Positive boundary data for each zone 3 10 0 12 Axis number 0 to FH 2 14 RSV Same as the value in the request command if normal 16 RSV 4 1044H 6 Position number Same ...

Page 76: ...ame as the value in the request command if normal 16 RSV 4 1048H 6 Position number Same as the value in the request command if normal 8 0 0000 to 00FFH 00FFH maximum current Load current threshold read 10 0 12 Axis number 0 to FH 2 14 RSV Same as the value in the request command if normal 16 RSV 1 Relative byte address recognized with respect to the Gateway head address 2 Data 00 to 0FH correspond...

Page 77: ...to FH 2 14 RSV Same as the value in the request command if normal 16 RSV 1 Relative byte address recognized with respect to the Gateway head address 2 Data 00 to 0FH correspond to axis numbers 0 to 15 respectively 4 Present alarm code read command Command name Byte 1 PLC output request PLC input response 4 0342H 6 0 Same as the value in the request command if normal 8 0 Alarm code Alarm code curre...

Page 78: ...if normal 4 0 5 0 Current position of the specified axis 3 32 bit signed integer Monitor the current position of a specified axis 6 Axis number 0 to FH 2 7 RSV 8 RSV 1 Relative byte address recognized with respect to the Gateway head address 2 Data 00 to 0FH correspond to axis numbers 0 to 15 respectively 3 Signed 32 bit integer data set in units of 0 01 mm 72 ...

Page 79: ...hile the movement specified by this command is still in progress the movement by this command will be cancelled and the operation corresponding to the latest movement command will take place Since each axis effectively has two movement command interfaces make sure the two interfaces are used exclusively to each other 2 Even when the link was cancelled by turning OFF the CFG bit of the gateway cont...

Page 80: ...tion number 1 0103H Invalid request command 1 0201H Communication failed 0202H Not executable by the controller 1 If any of these conditions is found as a result of data check from the PLC an applicable error code will be set in the response data without the data being sent to the controller 5 How to use commands To use various commands process the data in each command area according to the flow s...

Page 81: ...sion delay Xt Remote I O master station transmission delay For the master remote I O station transmission delay Yt and remote I O master station transmission delay Xt refer to the operation manuals for your ProfiBus master unit and PLC PLC sequence program Control signal Status signal Master remote I O station transmission delay Yt Remote I O master station transmission delay Xt Gateway Control si...

Page 82: ...PfofiBus Gateway 76 ...

Page 83: ...arm ALM PLC input signal This signal turns 1 ON when the controller s protective circuit function detects an error Function This signal turns 1 ON when the controller s protective circuit function is actuated It will turn 0 OFF when the reset RES signal is turned 1 ON after removing the cause of the problem This is not the case with cold start alarms When an alarm is detected the ALM LED red on th...

Page 84: ... on the PLC side The MOVE signal turns 0 OFF upon completion of positioning home return or push motion operation and also while the actuator is paused 7 Servo ON command SON PLC output signal Ready SV PLC input signal Turning the SON signal 1 ON turns on the servo Once the servo turns on the SV LED green on the front panel of the controller illuminates With the ERC2 the LED at the top of the motor...

Page 85: ...an still perform home return as many times as desired using the HOME signal Actuator operation Mechanical end Stops at the home position Caution 1 In the case of a positioner operation axis operating in the position number specification mode or command specification mode issuing a positioning command to a given position immediately after the power was turned on without performing the home return f...

Page 86: ...er confirming that the PEND signal has turned 0 OFF 10 Positioning complete PEND PLC input signal This signal turns 1 ON when the actuator has moved to the target position and entered the positioning band or when the push motion operation has completed without missing the load If the servo has turned ON the applicable position is set as the target position and accordingly this signal turns 1 ON Wh...

Page 87: ...rvo subsequently turns on if the actuator is inside the positioning band INP relative to the target position If the actuator has exceeded the positioning band INP the signals will remain 0 OFF The applicable PM signal will also turn 1 ON when the push motion operation has completed or the actuator has missed the load 13 Zone PZONE ZONE1 ZONE2 PLC input signal Each of these signals turns 1 ON when ...

Page 88: ...aries according to the actuator To stop jogging cause the actuator to decelerate to a stop turn the current JOG signal from 1 ON to 0 OFF or cause both JOG and JOG to turn 1 ON 2 Inching Inching is enabled when the jog inch switching signal JISL is 1 ON The actuator moves by the inching distance every time the JOG signal turns from 0 OFF to 1 ON The actuator inches in the direction opposite home w...

Page 89: ...to the actuator Rated value varies according to the actuator 16 Teaching mode command MOD PLC output signal Teaching mode status MODS PLC input signal These signals are used when a positioner operation axis is operated in the command specification mode under PIO pattern 1 teaching mode When the MOD signal is turned 1 ON the actuator switches from the normal operation mode to the teaching mode The ...

Page 90: ...mmand 2 When the writing is complete the WEND signal turns 1 ON The host PLC should turn the PWRT signal 0 OFF after the WEND signal has turned 1 ON If the PWRT signal is turned 0 OFF before the WEND signal turns 1 ON the WEND signal will not turn 1 ON When the PWRT signal is turned 0 OFF the WEND signal turns 0 OFF 1 Make sure the signal remains 1 ON for 20 msec or more If the signal is turned 1 ...

Page 91: ...ameter No 35 Safety speed 4 In the positioner mode or simple direct mode set appropriate values in the Position Speed Acceleration and Deceleration fields etc in the position table Caution When the power is turned on while an emergency stop is actuated and then the emergency stop is cancelled the SON signal is turned 1 ON the servo will turn on up to 1 6 sec after the cancellation of the emergency...

Page 92: ...w lead On rare occasions the actuator may move by up to around a half of the ball screw lead depending on the actuator position when the power is turned on Also note that if the power is turned on while the actuator is near a mechanical end the actuator may contact the mechanical end during the detection operation and reverse its direction as a result Exercise due caution not to cause the load or ...

Page 93: ...echanical end the actuator reverses its direction and then stops at the home position The home return complete HEND signal turns 1 ON PLC process 2 The home return command HOME signal is turned 0 OFF after confirmation of the HEND signal turning 1 ON PLC process 3 The actuator starts continuous operation Caution Pay attention to the following points when performing home return 1 Confirm that no ob...

Page 94: ... output Accordingly when reading the completed position number upon completion of positioning check the position number after waiting for an appropriate period time needed to complete the remaining travel after PEND has turned 1 ON Caution When the start CSTR signal turns 1 ON the positioning complete PEND signal turns 0 OFF and moving MOVE signal turns 1 ON Be sure to turn the CSTR signal OFF aft...

Page 95: ...1 2 3 4 5 6 Command position number Start command Positioning complete Completed position number Moving 1 T1 Set T1 to 0 ms or more by considering the scan time of the host controller 2 Yt 2Mt Xt tdpf Yt 2Mt Xt 7 ms 89 ...

Page 96: ...t to 1 ON push motion operation is performed in the direction opposite home When the signal is set to 0 OFF push motion operation is performed in the direction of home 7 Next turn the start command CSTR signal 1 ON after confirming that the positioning complete PEND signal is 1 ON The data set in 1 to 4 will be read by the controller at the 0 OFF Æ 1 ON edge of CSTR leading edge of the signal 8 PE...

Page 97: ...itioning band data Set value of push current limiting value data Push mode Push direction Start command Positioning complete missed load in push operation Current position Moving 1 2 3 4 5 6 7 8 9 13 12 11 10 1 T1 Set T1 to 0 ms or more by considering the scan time of the host controller 2 Yt 2Mt Xt tdpf Yt 2Mt Xt 7 ms 91 ...

Page 98: ...nd acceleration deceleration data Actuator speed Speed n2 Speed n3 1 2 3 Caution 1 If speed data is not set or the set speed is zero the actuator will remain standstill and no alarm will generate 2 If the speed data setting is changed to zero while the actuator is moving the actuator will decelerate to a stop and no alarm will generate 3 Even when only the acceleration deceleration data or speed d...

Page 99: ...ge the target position data until CSTR turns 0 OFF 6 MOVE turns 1 ON simultaneously as PEND turns 0 OFF or within 1 Mt thereafter 7 The current position data is constantly refreshed When the remaining travel falls within the specified positioning band INP PEND turns 1 ON if CSTR is 0 OFF Accordingly when reading the completed position number upon completion of positioning check the position number...

Page 100: ... target position data Command position number Start command Positioning complete Current position Moving 1 T1 Set T1 to 0 ms or more by considering the scan time of the host controller 2 Yt 2Mt Xt tdpf Yt 2Mt Xt 7 ms 3 twcsON1 Mt 4 twcsOFF 1Mt 94 ...

Page 101: ...d 2 After detecting non zero data in the request command the Gateway Unit sends the request data to the applicable axis 3 After receiving a response from the applicable axis the Gateway outputs a response result 4 After checking the response result the PLC application clears the request command 5 After detecting that the request command has been cleared the Gateway clears the response command and ...

Page 102: ...and field network and also wire for SIO communication etc Refer to Section 4 3 Setting the axis number for each axis controller Refer to 4 3 2 and 7 2 Setting the SIO baud rate for each axis controller Refer to 7 2 4 Setting the baud rate node address and mode setting switch for the gateway unit Refer to 2 3 and 7 3 5 Setting the node address and baud rate and assigning the master PLC address for ...

Page 103: ...t to the gateway unit and turn the port switch ON 2 Start the PC software 3 Click Settings S and then select Controller Settings 4 Click Assign Axis Number N 5 When the axis number assignment table appears set a desired number 6 Click OK and then press ESC 7 Connect disconnect each SIO link cable and set the axis number for the next controller 8 Finally when all axis numbers have been set connect ...

Page 104: ...Set parameter No 16 SIO baud rate to 230400 230 4 kbps SIO communication cannot be performed at any baud rate other than 230 4 kbps 2 Set parameter No 17 Minimum slave transmitter activation delay to 5 or less Set this parameter to 0 if you want to use the fastest communication cycle The figure shows the user parameter setting screen of the PC software 98 ...

Page 105: ... X X 48 48 Position number specification mode 16 axes 7 X X X 160 160 Command specification mode Large 8 X X 128 128 Command specification mode Middle 9 X X 64 64 Command specification mode Small When connecting 10 or more axes the PLC must be the S7 400 or S7 318 2 Siemens 1 Setting the ProfiBus baud rate 1 Gateway unit side The baud rate need not be set because it is set automatically according ...

Page 106: ... GSD file you need is hms_1003 gsd It can be downloaded from IAI s website Start the HW Config software and install the GSD file you have downloaded Select Options from the menu bar and then click Install New GSD from the pull down menu GSD file import When the GSD file has been imported successfully a new level called ANYBUS PDP will be created in the catalog window of the HW Config screen as sho...

Page 107: ...System from the pull down menu and then click DP Select the ProfiBus DP master to insert the master system Master system insertion When the ProfiBus DP master has been inserted successfully it will be displayed as the master system as shown below After the ProfiBus DP master system has been inserted 101 ...

Page 108: ...Properties dialog box This address must correspond to the address switch setting of the Gateway as mentioned earlier Rack insertion into the network 4 Setting the I O assignments Inserting a universal module Insert a universal module into the rack inserted in the previous step as shown below Since the maximum input output bytes of the universal module are 64 each another universal module must be i...

Page 109: ...ormation in the table in 7 3 The example below applies to a 4 axis system operated in the direct numerical specification mode Since the addresses are set automatically change them if necessary I O length settings for the universal module Click the OK button and the settings will be reflected in the universal module as shown below Universal module with its I O lengths set All settings are now compl...

Page 110: ...data access an applicable item must be set to ensure data consistency in the HW Config screen and data must be accessed using the SFC14 and SFC15 With command function blocks the first five words in the command area are accessed using the SFC14 15 Accordingly the data consistency setting must be performed in the I O areas for the applicable five words as shown in the example below With command fun...

Page 111: ...h rate Axis 0 speed Cannot be used Axis 0 acceleration deceleration Axis 0 in position band Axis 0 control signal Axis 1 target position Axis 1 push rate Axis 1 speed Axis 1 acceleration deceleration Axis 1 in position band Axis 1 control signal Axis 2 target position Axis 2 push rate Axis 2 speed Axis 2 acceleration deceleration Axis 2 in position band Axis 2 control signal Axis 3 target position...

Page 112: ...ation RC ESYNC Execute movement by simple numerical specification RC BCMOVP Broadcast a movement start command 1 RC READ Read RC data POS table data current position alarm code 1 RC WRITE Write RC data POS table data 1 RC PROM Convert position data into ROM 1 RC PMSL Switch between PIO and Modbus 1 1 Use only one of these function blocks at a time as they all access the same area These function bl...

Page 113: ...nation Parameters MON BOOL Start Gateway controller communication CFG WORD Specify an axis to be actually configured using a bit pattern bit 0 Axis 0 bit 15 Axis 15 Input NPS INT Number of axes used in the POS number specification movement mode Axis numbers are assigned from 0 based on this value and the direct numerical specification mode becomes effective for all remaining areas 1 PPS INT PIO pa...

Page 114: ...n I O Parameter name Data type Explanation Parameters MREQ BOOL Issue a movement request upon FALSE TRUE SON BOOL Servo on command Input HOME BOOL Home return command PUSH BOOL Push mode if TRUE DIR BOOL Push direction 0 Home return direction 1 Opposite to home return direction STOP BOOL Pause command ALMRS BOOL Alarm reset command SV DINT Target position Set value SPEED DINT Speed ADCC INT Accele...

Page 115: ...t parameters in accordance with the home return operation I O Parameter name Data type Explanation Parameters MREQ BOOL Issue a movement request upon FALSE TRUE SON BOOL Servo on command Input HOME BOOL Home return command SV DINT Target position Set value PARA_N INT Movement parameter POS number STOP BOOL Pause command ALMRS BOOL Alarm reset command LADDR INT Gateway head I O address AXIS INT Axi...

Page 116: ...tus bit of each axis Parameter name Data type I O Explanation Parameters REQ BOOL Issue an execution request upon FALSE TRUE Input POS WORD Position number value Settable values vary depending on the axis GROUP BYTE Group ID number LADDR WORD Gateway head I O address DONE BOOL One pulse is output upon completion of command issuance Output BUSY BOOL The command is being issued 0000H Successful 0102...

Page 117: ...osition band unit 0 01 mm DATA_ID INT Data type ID 2 Speed unit 0 01 mm s 3 Each zone unit 0 01 mm 4 Each zone unit 0 01 mm 5 Acceleration unit 0 01 G 6 Deceleration unit 0 01 G 7 Push rate FFH 100 8 Threshold FFH 100 128 Current value 129 Alarm code LADDR WORD Gateway head I O address AXIS BYTE Axis number 0 to 15 DONE BOOL One pulse is output upon completion of command issuance Output BUSY BOOL ...

Page 118: ...Speed 3 Each zone DATA unit 0 01 mm 4 Each zone DATA unit 0 01 mm 5 Acceleration DATA unit 0 01 G 6 Deceleration DATA unit 0 01 G 7 Push rate DATA FFH 100 8 Threshold DATA FFH 100 DATA DWORD Write data LADDR WORD Gateway head I O address AXIS BYTE Axis number 0 to 15 DONE BOOL One pulse is output upon completion of command issuance Output BUSY BOOL The command is being issued 0000H Successful 0102...

Page 119: ...first five words in the command area 8 8 RC_PMSL_00 Control authority switching request PIO Modbus switching specification Gateway head CH number Axis number Complete pulse Executing Result code Explanation PIO Modbus switching is implemented for the specified axis by PMSL at the leading edge of REQ I O Parameter name Data type Explanation Parameters REQ BOOL Issue an execution request upon FALSE ...

Page 120: ...xis 0 is configured W 16 1 The Gateway I O head addresses are 0 Servo on delay timer Homing delay timer The next target position is controlled based on the movement completion pulse NC0 DONE output by a FB The target position changes in the sequence of x0p1 x0p2 x0p3 x0p1 every time the NC0 DONE pulse is input Online status is checked from the STS_W LNK_W and RC_NVC_11 instance name NC0 outputs ...

Page 121: ...d 20 00 mm Push rate 49 7F FF Step2 movement data set normal movement Target position 20 00 mm Speed 100 00 mm s Acceleration deceleration 0 2 Positioning band 00 10 mm Push rate 0 Step3 movement data set normal movement Target position 00 00 mm Speed 100 00 mm s Acceleration deceleration 0 2 Positioning band 00 10 mm Push rate 0 115 ...

Page 122: ...PfofiBus Gateway A motion FB for axis 0 is always called The instance name is NC0 Data is sent received based on NC0 tentative parameter The I O head addresses are 0 The axis number is 0 116 ...

Page 123: ...Version AWL The steps to use a provided source file in a user project are explained below 1 Select the Sources folder click Insert and then click External Source 2 When the following file selection window opens select an appropriate source file and then click Save 3 The source file will be imported to the Sources folder 117 ...

Page 124: ...mbol Editor and save the FB RC_NVC under a desired FB number 5 Compile the source file 6 When the compiling is complete the registered function block will be generated in the Blocks folder Now FB1 namely RC_NVC can be called from OB1 ...

Page 125: ...tlanta Office 1220 E Kennestone Circle Marrietta GA 30066 TEL 678 354 9470 FAX 678 3549471 Home page http www intelligentactuator com Ober der Röth 4 D 65824 Schwalbach am Taunus Germany TEL 06196 88950 FAX 06196 889524 The information contained in this document is subject to change without notice for the purpose of product improvement Copyright 2008 August IAI Corporation All rights reserved ...

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