IAI ACON-C, PCON-CFA, SCON-CA, ACON-CG, PCON-C Operation Manual

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EtherNet/IP

Operation Manual, Fourth Edition

ACON-C/CG PCON-C/CG/CA/CFA SCON-CA

IAI America Inc.

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Please Read Before Use

Thank you for purchasing our product.

This operation manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely.

Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD/DVD that comes with the product contains operation manuals for IAI products. When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying them on a PC.

After reading the operation manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary.

x This operation manual is original. x The product cannot be operated in any way unless expressly specified in this operation manual. IAI shall

assume no responsibility for the outcome of any operation not specified herein.

x Information contained in this operation manual is subject to change without notice for the purpose of product

improvement.

x If you have any question or comment regarding the content of this manual, please contact the IAI sales office

near you.

x Using or copying all or part of this operation manual without permission is prohibited. x The company names, names of products and trademarks of each company shown in the sentences are

registered trademarks.

x EtherNet/IP is a trademark used under ODVA licenses.

[Important]

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Table of Contents

Safety Guide....................................................................................................................................................1

Handling Precautions ......................................................................................................................................8

1. Overview.................................................................................................................................................9

1.1 EtherNet/IP Specifications...........................................................................................................10

2. ACON-C/CG, PCON-C/CG ..................................................................................................................11

2.1 Operation Modes and Functions .................................................................................................11

2.2 Model Numbers ...........................................................................................................................14

2.3 EtherNet/IP Interface...................................................................................................................15

2.3.1 Names of the Parts.............................................................................................................15

2.3.2 Monitor LED Indications .....................................................................................................16

2.4 Wiring Example ...........................................................................................................................17

2.4.1 Connection Diagram...........................................................................................................17

2.4.2 Connector Pin Layout.........................................................................................................17

2.5 Setting..........................................................................................................................................18

2.5.1 Operation Mode Selecting..................................................................................................18

2.5.2 Setting the Baud Rate ........................................................................................................18

2.5.3 Setting the IP Address........................................................................................................18

2.5.4 Setting the Subnet Mask ....................................................................................................19

2.5.5 Setting the Default Gateway...............................................................................................19

2.6 Communicating with the Master Station......................................................................................20

2.6.1 Operation Modes and Corresponding PLC I/O Areas........................................................20

2.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) ............................................................22

2.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8).............................28

2.6.4 Half Direct Value Mode (Number of Occupied Bytes: 16)..................................................33

2.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32) ..................................................40

2.6.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) .......................................................49

2.6.7 I/O Signal Controls and Function .......................................................................................53

2.7 I/O Signal Timings .......................................................................................................................70

2.8 Operation.....................................................................................................................................71

2.9 EtherNet/IP Related Parameters.................................................................................................79

2.10 Troubleshooting...........................................................................................................................84

3. PCON-CA/CFA.....................................................................................................................................85

3.1 Operation Modes and Functions .................................................................................................85

3.2 Model Numbers ...........................................................................................................................88

3.3 EtherNet/IP Interface...................................................................................................................89

3.3.1 Names of the Parts.............................................................................................................89

3.3.2 Monitor LED Indications .....................................................................................................89

3.4 Wiring Example ...........................................................................................................................90

3.4.1 Connection Diagram...........................................................................................................90

3.4.2 Connector Pin Layout......................................................................................................

3.5 Setting..........................................................................................................................................91

3.5.1 Operation Mode Selecting..................................................................................................91

3.5.2 Setting the Baud Rate ........................................................................................................91

3.5.3 Setting the IP Address........................................................................................................91

3.5.4 Setting the Subnet Mask ....................................................................................................92

3.5.5 Setting the Default Gateway...............................................................................................92

...90

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3.6 Communicating with the Master Station......................................................................................93

3.6.1 Operation Modes and Corresponding PLC I/O Areas........................................................93

3.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) ............................................................95

3.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8).............................99

3.6.4 Half Direct Value Mode (Number of Occupied Bytes: 16)............................................... 104

3.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32) ............................................... 111

3.6.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) .................................................... 122

3.6.7 I/O Signal Controls and Function .................................................................................... 126

3.7 I/O Signal Timings .................................................................................................................... 143

3.8 Operation.................................................................................................................................. 144

3.9 EtherNet/IP Related Parameters.............................................................................................. 152

3.10 Troubleshooting........................................................................................................................ 157

4. SCON-CA .......................................................................................................................................... 158

4.1 Operation Modes and Functions .............................................................................................. 158

4.2 Model Numbers ........................................................................................................................ 162

4.3 EtherNet/IP Interface................................................................................................................ 163

4.3.1 Names of the Parts.......................................................................................................... 163

4.3.2 Monitor LED Indications .................................................................................................. 164

4.4 Wiring........................................................................................................................................ 165

4.4.1 Connection Diagram........................................................................................................ 165

4.4.2 Connector Pin Layout...................................................................................................... 165

4.5 Setting....................................................................................................................................... 166

4.5.1 Operation Mode Selecting............................................................................................... 166

4.5.2 Setting the Baud Rate ..................................................................................................... 166

4.5.3 Setting the IP Address..................................................................................................... 167

4.5.4 Setting the Subnet Mask ................................................................................................. 167

4.5.5 Setting the Default Gateway............................................................................................ 167

4.6 Communicating with the Master Station................................................................................... 168

4.6.1 Operation Modes and Corresponding PLC I/O Areas..................................................... 168

4.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) ......................................................... 172

4.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8).......................... 177

4.6.4 Half Direct Value Mode (Number of Occupied Bytes: 16)............................................... 182

4.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32) ............................................... 189

4.6.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) .................................................... 200

4.6.7 Position/Simplified Direct Value Mode2 (Number of Occupied Bytes: 8)...................... 204

4.6.8 Half Direct Value Mode 2 (Number of Occupied Bytes: 16)............................................ 209

4.6.9 Remote I/O Mode 3 (Number of Occupied Bytes: 12) .................................................... 216

4.6.10 Half Direct Value Mode 3 (Number of Occupied Bytes: 16)............................................ 220

4.6.11 I/O Signal Controls and Function .................................................................................... 227

4.7 I/O Signal Timings .................................................................................................................... 245

4.8 Operation.................................................................................................................................. 246

4.9 EtherNet/IP Related Parameters.............................................................................................. 254

4.10 Troubleshooting........................................................................................................................ 261

5. Appendix............................................................................................................................................ 262

5.1 Example of Connection Settings with Omron’s Master............................................................ 262

5.1.1 Connection Example ....................................................................................................... 262

5.1.2 Setting the Controller....................................................................................................... 262

5.1.3 Setting the PLC (1) [CX-Programmer]............................................................................. 263

5.1.4 Setting the PLC (2) [Network Configurator]..................................................................... 265

5.1.5 Checking the I/O Data on the PLC.................................................................................. 275

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5.2 Example of Connection Settings with Keyence’s Master......................................................... 276

5.2.1 Connection Example ....................................................................................................... 276

5.2.2 Setting the Controller....................................................................................................... 276

5.2.3 Setting the PLC ............................................................................................................... 277

5.2.4 Checking the I/O Data on the PLC.................................................................................. 282

Change History........................................................................................................................................... 283

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Safety Guide

“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product.

Safety Precautions for Our Products

The common safety precautions for the use of any of our robots in each operation.

No.

1 Model Selection Ɣ This product has not been planned and designed for the application where high

Operation

Description

level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications.

1) Medical equipment used to maintain, control or otherwise affect human life or physical health.

2) Mechanisms and machinery designed for the purpose of moving or transporting people (For vehicle, railway facility or air navigation facility)

3) Important safety parts of machinery (Safety device, etc.)

Ɣ Do not use the product outside the specifications. Failure to do so may

considerably shorten the life of the product.

Ɣ Do not use it in any of the following environments.

1) Location where there is any inflammable gas, inflammable object or explosive

2) Place with potential exposure to radiation

3) Location with the ambient temperature or relative humidity exceeding the specification range

4) Location where radiant heat is added from direct sunlight or other large heat source

5) Location where condensation occurs due to abrupt temperature changes

6) Location where there is any corrosive gas (sulfuric acid or hydrochloric acid)

7) Location exposed to significant amount of dust, salt or iron powder

8) Location subject to direct vibration or impact

Ɣ For an actuator used in vertical orientation, select a model which is equipped with

a brake. If selecting a model with no brake, the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece.

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No.

Operation

Description

2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize

equipment such as crane.

Ɣ When the work is carried out with 2 or more persons, make it clear who is to be

the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ When in transportation, consider well about the positions to hold, weight and

weight balance and pay special attention to the carried object so it would not get hit or dropped.

Ɣ Transport it using an appropriate transportation measure.

The actuators available for transportation with a crane have eyebolts attached or there are tapped holes to attach bolts. Follow the instructions in the operation manual for each model.

Ɣ Do not step or sit on the package. Ɣ Do not put any heavy thing that can deform the package, on it. Ɣ When using a crane capable of 1t or more of weight, have an operator who has

qualifications for crane operation and sling work.

Ɣ When using a crane or equivalent equipments, make sure not to hang a load that

weighs more than the equipment’s capability limit.

Ɣ Use a hook that is suitable for the load. Consider the safety factor of the hook in

such factors as shear strength.

Ɣ Do not get on the load that is hung on a crane. Ɣ Do not leave a load hung up with a crane. Ɣ Do not stand under the load that is hung up with a crane.

3 Storage and

Preservation

Ɣ The storage and preservation environment conforms to the installation

environment. However, especially give consideration to the prevention of condensation.

Ɣ Store the products with a consideration not to fall them over or drop due to an act

of God such as earthquake.

4 Installation and

Start

(1) Installation of Robot Main Body and Controller, etc. Ɣ Make sure to securely hold and fix the product (including the work part). A fall,

drop or abnormal motion of the product may cause a damage or injury. Also, be equipped for a fall-over or drop due to an act of God such as earthquake.

Ɣ Do not get on or put anything on the product. Failure to do so may cause an

accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.

Ɣ When using the product in any of the places specified below, provide a sufficient

shield.

1) Location where electric noise is generated

2) Location where high electrical or magnetic field is present

3) Location with the mains or power lines passing nearby

4) Location where the product may come in contact with water, oil or chemical droplets

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No.

Operation

Description

4 Installation and

Start

Description

(2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and

controller, and for the teaching tool.

Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it

around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.

Ɣ Perform the wiring for the product, after turning OFF the power to the unit, so that

there is no wiring error.

Ɣ When the direct current power (+24V) is connected, take the great care of the

directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction.

Ɣ Connect the cable connector securely so that there is no disconnection or

looseness. Failure to do so may cause a fire, electric shock or malfunction of the product.

Ɣ Never cut and/or reconnect the cables supplied with the product for the purpose of

extending or shortening the cable length. Failure to do so may cause the product to malfunction or cause fire.

(3) Grounding Ɣ The grounding operation should be performed to prevent an electric shock or

electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation.

Ɣ For the ground terminal on the AC power cable of the controller and the grounding

plate in the control panel, make sure to use a twisted pair cable with wire thickness

0.5mm

(AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards).

Ɣ Perform Class D Grounding (former Class 3 Grounding with ground resistance

100: or below).

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No.

Operation

Description

4 Installation and

Start

(4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is to be

Description

the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ When the product is under operation or in the ready mode, take the safety

measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range. When the robot under operation is touched, it may result in death or serious injury.

Ɣ Make sure to install the emergency stop circuit so that the unit can be stopped

immediately in an emergency during the unit operation.

Ɣ Take the safety measure not to start up the unit only with the power turning ON.

Failure to do so may start up the machine suddenly and cause an injury or damage to the product.

Ɣ Take the safety measure not to start up the machine only with the emergency stop

cancellation or recovery after the power failure. Failure to do so may result in an electric shock or injury due to unexpected power input.

Ɣ When the installation or adjustment operation is to be performed, give clear

warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden power input may cause an electric shock or injury.

Ɣ Take the measure so that the work part is not dropped in power failure or

emergency stop.

Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure safety. Ɣ Do not insert a finger or object in the openings in the product. Failure to do so may

cause an injury, electric shock, damage to the product or fire.

Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution not

to pinch your hand or damage the work parts with the actuator dropped by gravity.

5 Teaching Ɣ When the work is carried out with 2 or more persons, make it clear who is to be

the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ Perform the teaching operation from outside the safety protection fence, if

possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

Ɣ When the operation is to be performed inside the safety protection fence, the

worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

Ɣ When the operation is to be performed inside the safety protection fence, in

addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.

Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution not

to pinch your hand or damage the work parts with the actuator dropped by gravity.

* Safety protection Fence : In the case that there is no safety protection fence, the

movable range should be indicated.

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No.

Operation

Description

6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is to be

the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ After the teaching or programming operation, perform the check operation one

step by one step and then shift to the automatic operation.

Ɣ When the check operation is to be performed inside the safety protection fence,

perform the check operation using the previously specified work procedure like the teaching operation.

Ɣ Make sure to perform the programmed operation check at the safety speed.

Failure to do so may result in an accident due to unexpected motion caused by a program error, etc.

Ɣ Do not touch the terminal block or any of the various setting switches in the power

ON mode. Failure to do so may result in an electric shock or malfunction.

7 Automatic

Operation

Ɣ Check before starting the automatic operation or rebooting after operation stop

that there is nobody in the safety protection fence.

Ɣ Before starting automatic operation, make sure that all peripheral equipment is in

an automatic-operation-ready state and there is no alarm indication.

Ɣ Make sure to operate automatic operation start from outside of the safety

protection fence.

Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or

abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product.

Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so may

cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.

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No.

Operation

Description

8 Maintenance

and Inspection

Ɣ When the work is carried out with 2 or more persons, make it clear who is to be

the leader and who to be the follower(s) and communicate well with each other to

Description

ensure the safety of the workers.

Ɣ Perform the work out of the safety protection fence, if possible. In the case that the

operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

Ɣ When the work is to be performed inside the safety protection fence, basically turn

OFF the power switch.

Ɣ When the operation is to be performed inside the safety protection fence, the

worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

Ɣ When the operation is to be performed inside the safety protection fence, in

Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ For the grease for the guide or ball screw, use appropriate grease according to the

Operation Manual for each model.

Ɣ Do not perform the dielectric strength test. Failure to do so may result in a damage

to the product.

Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution not

to pinch your hand or damage the work parts with the actuator dropped by gravity.

Ɣ The slider or rod may get misaligned OFF the stop position if the servo is turned

OFF. Be careful not to get injured or damaged due to an unnecessary operation.

Ɣ Pay attention not to lose the cover or untightened screws, and make sure to put

the product back to the original condition after maintenance and inspection works. Use in incomplete condition may cause damage to the product or an injury.

* Safety protection Fence : In the case that there is no safety protection fence, the

movable range should be indicated.

9 Modification and

Dismantle

Ɣ Do not modify, disassemble, assemble or use of maintenance parts not specified

based at your own discretion.

10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it properly

as an industrial waste.

Ɣ When removing the actuator for disposal, pay attention to drop of components

when detaching screws.

Ɣ Do not put the product in a fire when disposing of it.

The product may burst or generate toxic gases.

11 Other Ɣ Do not come close to the product or the harnesses if you are a person who

requires a support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device.

Ɣ See Overseas Specifications Compliance Manual to check whether complies if

necessary.

Ɣ For the handling of actuators and controllers, follow the dedicated operation

manual of each unit to ensure the safety.

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Alert Indication

The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model.

Level Degree of Danger and Damage Symbol

Danger

Warning

Caution

Notice

This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.

This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.

This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.

This indicates lower possibility for the injury, but should be kept to use this product properly.

Danger

Warning

Caution

Notice

Page 16

Handling Precautions

1. It is recommended that the baud rate be set based on auto negotiation.

Make sure the link setting of the EtherNet/IP unit matches the communication mode set for the connected switching hub. If not, the link becomes unstable and communication cannot be performed properly. It is recommended to enable auto negotiation using an appropriate ACON or PCON parameter. The table below lists settings for each communication mode of the switching hub:

EtherNet/IP unit

Switching hub

Auto negotiation

Fixed to 10 M

Fixed to 100 M

(: Connection possible (recommended), c: Connection possible, X: Connection not possible)

Full-duplex X

Half-duplex

Full-duplex X X X

Half-duplex

Auto negotiation



(recommended)

Fixed to 10 M Fixed to 100 M

Full-duplex Half-duplex Full-duplex Half-duplex

X X X

X X

2. Use a switching hub.

Build your network using a switching hub, without using a repeater hub. If a repeater hub is used, tag data link operation may become unstable. For details, refer to the operation manual for your master unit.

Page 17

1. Overview

EtherNet/IP is an open field network. It is a standardized global open network specified by the IEC 61158 series of international standards. You can connect ACON, PCON and SCON-CA controllers (hereinafter referred to as “the controllers”) to EtherNet/IP to build a system with minimum wiring.

(Note 1) For detailed explanations of EtherNet/IP, refer to the operation manual for the programmable controller

(hereinafter referred to as “PLC”) in which the master unit is installed.

Use this operation manual along with operation manual of each controller. Usage other than the ones described in this operation manual is prohibited.

x System Configuration Example

Master (PLC)

CPU

Unit

EtherNet/IP

Master

Hub

1. Overview

ACON

PCON

SCON-CA

slave, etc. slave, etc.

PCONCA/CF

IN/OUT

Page 18

1.1 EtherNet/IP Specifications

Item Specification

Communication standards IEC61158 (IEEE802.3)

1. Overview

Baud rate

Communication cable length

Number of connections Varies depending on the master unit.

Applicable node address 0.0.0.0 to 255.255.255.255

Communications cable

Connector RJ45 connector (1 per connector)

(Note 1) For details, refer to the installation manual for ODVA, etc.

10BASE-T/100 BASE-T (Auto negotiation setting is recommended.)

Refer to EtherNet/IP specifications (The distance between the hub and each node must be within 100 m

Note 1

Category 5e or above (Aluminum tape and braided double-shielded cable are recommended.)

)

Page 19

2. ACON-C/CG, PCON-C/CG

2.1 Operation Modes and Functions

ACON and PCON controllers equipped with EtherNet/IP can be operated in the following five operational modes:

Operation Modes and Main Functions

Position/

Simplified direct

value mode

c c c c

Half direct

value mode

c c

X X

Full direct

value mode

Remote I/O

mode 2

Main functions

Number of occupied bytes

Position data setup operation

Speed and acceleration direct setup

Pressing operation

Current position read

Current speed read

Operation with the position No. specified

Completion position No. read

No. of max. position tables

Remote I/O

mode

2 8 16 32 12

X c(*1)

X X

c c c c c

X X

c c

512 768 Unused Unused 512

2. ACON-C/CG, PCON-C/CG

(*1) For the position data items except for position data, operate the system with the position No. set up.

[1] Remote I/O mode: In this operation method, EtherNet/IP communications is used to mimic the

operation of hardware PIO (24V I/O). Number of occupied bytes: 2 bytes

CON or PCON not

applicable to EtherNet/IP

Flat cable

In the case of the connection using PIO

In the case of the connection using EtherNet/IP

CON or PCON applicable

to EtherNet/IP

Communication

cable

Page 20

[2] Position/simplified direct value mode:

2. ACON-C/CG, PCON-C/CG

[3] Half direct value mode: In this operation mode, “Speed”, “Acceleration/Deceleration,” and “Pressing

Target position: 100.00mm

Speed Acceleration Deceleration Push

Position No. 0

ACON or PCON applicable to EtherNet/IP

Actuator

Current Values,” are directly established along with the “Target Position.” Number of occupied bytes: 16 bytes

Target position: 100.00 mm Positioning band: 0.10 mm Speed setup: 100.0 mm/s

cceleration/deceleration:

0.30 G Pressing current value: 50%

ACON or PCON applicable to EtherNet/IP

Actuator

Page 21

[4] Full direct value mode: In this operation mode, all values regarding position control (“Target Position,”

"Speed” and "Acceleration/Deceleration,” etc.) are directly established. Number of occupied bytes: 32 bytes

Target position: 100.00 mm Positioning band: 0.10 mm Speed setup: 100.0 mm/s

cceleration: 0.30 G Deceleration: 0.30 G Pressing current value: 50% Load current threshold: 0 Zone +: 50.00 mm Zone -: 30.00 mm

ACON or PCON applicable to EtherNet/IP

Actuator

[5] Remote I/O mode 2: In this operation method, EtherNet/IP communications is used to mimic the

operation of hardware PIO (24V I/O). The use of this mode expands the functionality of “Remote I/O Mode” to include position and command current feedback. Number of occupied bytes: 12 bytes

CON or PCON not

applicable to EtherNet/IP

CON or PCON applicable

to EtherNet/IP

2. ACON-C/CG, PCON-C/CG

Flat cable

In the case of the connection using PIO

Communication

cable

In the case of the connection using EtherNet/IP

Page 22

2.2 Model Numbers

The Model numbers of ACON and PCON applicable to EtherNet/IP are described as follows.

Ɣ ACON-C/CG--EP- Ɣ PCON-C/CG--EP-

2. ACON-C/CG, PCON-C/CG

Printed series name

y ACON y PCON

Front panel color

y ACON: Dark blue y PCON: Dark green

Page 23

2.3 EtherNet/IP Interface

2.3.1 Names of the Parts

The names of each section related to EtherNet/IP are described as follows.

Status LEDs

05 .'&

/5 .'&

Status indicator LEDs

EtherNet/IP port

2. ACON-C/CG, PCON-C/CG

Page 24

2.3.2 Monitor LED Indications

The slave condition (each controller), as well as network condition, can be checked using the two LEDs, MS and NS, provided on the front panel of the controller. The description of each is explained in the following table.

Name Display color Explanation

2. ACON-C/CG, PCON-C/CG



٤ (Green)

٤ (Red)

ڏ (Red)



٤ (Green)

ڏ (Green)

٤ (Red)

ڏ (Red)

٤ : Illuminating,  : OFF, ڏ : Flashing

The power is turned off or IP address is not yet set. Connection has been established and proper communication is in

progress. The system is online but connection is not yet established. Communication is stopped (the network is normal). Check the status of the master unit. A communication error is present. Communication cannot be established because an error, such as duplicate IP addresses, has been detected. A communication error is present.

Check the IP address setting, wiring condition of the communication line, power supply

for the hub, noise measures, etc. (A communication timeout has been detected.) The power is turned off. Operation is normal. The system is in the scanner (master) control mode. Connection is not yet established with the scanner (master). Check the setting of configuration information. Check if the scanner (master) is idle. A hardware error is present. The board must be replaced. Please contact IAI. A configuration error, invalid setting or other minor error is present. The problem can be resolved by, for example, setting the problem item or items again.

Page 25

2.4 Wiring Example

2.4.1 Connection Diagram

PLC (EtherNet/IP master unit)

Hub

Ethernet cable*

Ethernet

cable*

CON/PCON

* Ethernet cable: Straight cable of category 5e or above, 100 m max

(Aluminum tape and braided double-shielded cable are recommended.)

CON/PCON

2. ACON-C/CG, PCON-C/CG

Ethernet cable*

Other slaves

(Note) Terminal processing is not required.

2.4.2 Connector Pin Layout

RJ45 8-pin modular connector (Controller side)

Pin number Signal name Signal abbreviation

1 Data transmitted + TD+ 2 Data transmitted - TD3 Data received + RD+ 4 Not used 5 Not used 6 Data received - RD7 Not used 8 Not used

Connector hood Grounding pin for security FG

Page 26

2.5 Setting

Using the teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the controller to “MANU” side. The versions of teaching tool compatible with EtherNet/IP are as follows:

x RC PC-compatible software: V8.02.00.00 or later x CON-T/TG: V1.10 or later x CON-PT/PD/PG: V1.20 or later x RCM-E/P: V2.20 (Planned)

2.5.1 Operation Mode Selecting

Set parameter No. 84 “FMOD: Field bus operation mode.” [Refer to 2.9 EtherNet/IP Related Parameters.]

Set value Operation mode

2. ACON-C/CG, PCON-C/CG

0 (Factory setting) Remote I/O mode 2

2 Half direct value mode 16

3 Full direct value mode 32

4 Remote I/O mode 2 12

* Entering any value except for the ones described above will cause an “Excessive Input Value Error”.

2.5.2 Setting the Baud Rate

Set parameter No. 86, “FBRS: Fieldbus baud rate.”

Set value Baud rate

0 (Factory setting) Auto negotiation (recommended)

Other than the above Baud rate setting error

Number of

occupied bytes

Position/simplified direct

value mode

1 10 Mbps, half-duplex

2 10 Mbps, full-duplex

3 100 Mbps, half-duplex

4 100 Mbps, full-duplex

2.5.3 Setting the IP Address

Set parameter No. 140, “IPAD: IP address.” [Refer to 2.9, “EtherNet/IP Parameters.”]

Settable Range:0.0.0.0 to 255.255.255.255 (It is set to “192.168.0.1” when the machine is delivered from the factory.)

(Note 1) Exercise caution to avoid IP address duplication.

For details, refer to the operation manuals of the master unit and PLC in which in the master unit is installed.

(Note 2) When this parameter is set to 0.0.0.0, DHCP (automatic assignment of IP address) is enabled.

Since this setting may result in the IP address being changed unintentionally, it is recommended that you set the address manually.

Page 27

2.5.4 Setting the Subnet Mask

Set parameter No. 141, “SNMK: Subnet mask.” Set the same value you have set in the master unit and other slaves (on the same network). [Refer to 2.9, “EtherNet/IP Parameters.”]

Settable range: 0.0.0.0 to 255.255.255.255 (The factory setting is 255.255.255.0.)

2.5.5 Setting the Default Gateway

If necessary, set parameter No. 142, “DFGW: Default gateway.” [Refer to 2.9, “EtherNet/IP Parameters.”]

Settable range: 0.0.0.0 to 255.255.255.255 (The factory setting is 0.0.0.0.)

(Note) After the parameter setting, turn on the power to the controller again and return the mode toggle

switch on the front of the controller to “AUTO” side. When the switch is set to “MANU”, the operation using PLC is not available.

2. ACON-C/CG, PCON-C/CG

Page 28

2.6 Communicating with the Master Station

2.6.1 Operation Modes and Corresponding PLC I/O Areas

The addresses allocated for each operation mode are described as follows.

x PLC output o ACON/PCON input (* “n” indicates the first output address of each axis.)

PLC output

area (bytes)

n, n+1 Port No.0 to 15 Port No.0 to 15

2. ACON-C/CG, PCON-C/CG

n+2, n+3

n+4, n+5

n+6, n+7 Control signal n+8, n+9 Speed

n+10, n+11

n+12, n+13

n+14, n+15 Control signal n+16, n+17 n+18, n+19 n+20, n+21 Acceleration n+22, n+23 Deceleration

n+24, n+25

n+26, n+27

n+28, n+29 Control signal 1 n+30, n+31 Control signal 2

Remote I/O mode

Number of

occupied bytes: 2

DI on the ACON or PCON side and input data register

Position/simplified direct value mode

Number of

occupied bytes: 8

Target position Target position Target position

Specified position

number

Half direct value

mode

Number of

occupied bytes: 16

Positioning band Positioning band

Acceleration/

deceleration

Pressing

current-limiting

value

Full direct value

mode

Number of

occupied bytes: 32

Speed setup

Zone boundary+

Zone boundary-

Pressing

current-limiting

value

ACON

PCON

Occupied

area

Load

current

threshold

Remote I/O mode 2

Number of

occupied bytes: 12

Occupied area

(Note) The Occupied area shows the area to be occupied with the operation mode setting.

Therefore, this area cannot be used for any other purpose. Also, exercise caution to avoid node address duplication.

Page 29

x ACON/PCON outputoPLC input side (* “n” indicates the first input address of each axis.)

DO on the ACON or PCON side and output data register

PLC input

area

(bytes)

Remote I/O mode

Number of

occupied bytes: 2

n, n+1 Port No.0 to 15 Port No.0 to 15

n+2, n+3

Position/simplified

direct value mode

Number of

occupied bytes: 8

Half direct value

mode

Number of

occupied bytes: 16

Full direct value

mode

Number of

occupied bytes: 32

Current position Current position Current position

Remote I/O mode

Number of

occupied bytes: 12

Occupied area

Completed

n+4, n+5

position No.

(simple alarm ID)

Command current Command current Current position

n+6, n+7 Status Signal n+8, n+9

n+10, n+11

Current speed Current speed Command current

n+12, n+13 Alarm code Alarm code n+14, n+15 Status signal n+16, n+17 n+18, n+19 n+20, n+21 n+22, n+23

Occupied area

n+24, n+25 n+26, n+27 n+28, n+29 n+30, n+31 Status signal

2. ACON-C/CG, PCON-C/CG

(Note) The Occupied area shows the area to be occupied with the operation mode setting.

Therefore, this area cannot be used for any other purpose. Also, exercise caution to avoid node address duplication.

Page 30

2.6.2 Remote I/O Mode (Number of Occupied Bytes: 2)

In this operation method, EtherNet/IP communications is used to mimic the operation of hardware PIO (24V I/O). Set the position data using compatible teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. The I/O specifications for the PIO pattern are described as follows. (Refer to operation manual for the controller main body for more information.)

Value set in

parameter No. 25

0 Positioning mode 64 positioning points and two zone output points are available.

1 Teaching mode

2. ACON-C/CG, PCON-C/CG

2 256-point mode 256 positioning points and one zone output point are available. 3 512-point mode 512 positioning points are available. There are no zone outputs.

The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.

ROBO cylinder function

Home-return operation { { { { { x Positioning operation Speed and acceleration/

deceleration setting Pitch feed (inching) Pressing operation Speed change during the

movement Operation at different

acceleration and deceleration

Pause Zone signal output PIO pattern selection

(set by a parameter)

{: Supported, X: Not supported

Operation mode I/O specification

64 positioning points and one zone output point are available. Positioning operation and jog operation are supported. The current position can be written to a specified position.

Electromagnetic valve

mode 1

7 positioning points and two zone output points are available. The direct operation command is available for each position No. A position complete signal is output for each position number.

3 positioning points and two zone output points are available.

Electromagnetic valve

mode 2

The actuator is operated by specifying forward, backward and intermediate position commands. A position complete signal is output separately for the front end, rear end and intermediate position.

PIO pattern

0: Positioning mode

1: Teaching mode

2: 256-point mode

3: 512-point mode

{ { { { { {

{ { {

{ {

{ { { { { { { { {

{

{ { { {

{ { {

{ {

{ { { { { { { {

{ { {

x { {

{

4: Electromagnetic valve mode 1

{

{ {

5: Electromagnetic valve mode 2

{

(*1)

{

(*1) It is available when the parameter No. 27 “Movement Command Type” is set to “0”.

Turning “OFF” the “Movement Command” can stop the system temporarily.

Page 31

(1) PLC address configuration (* “n” indicates the first address of each axis.)

Parameter

No.84

ACON/PCON side

DI (Port No.)

PLC side output

address (bytes)

ACON/PCON side

DO (Port No.)

PLC side input

address (bytes)

0 0 to 15 n+0, n+1 0 to 15 n+0, n+1

(Note) Be careful of using duplicated node addresses.

(2) I/O signal allocation for each axis

The I/O signals of each axis consist of one input word (1 word = 2 bytes) and one output word in the I/O areas. x This is controlled by ON/OFF bit signals from the PLC.

PCL output Address (* “n” indicates the first output address of each axis.)

1 word = 2 bytes =16 bit

n+0 n+1

Controller

input port

number

PCL input Address (* “n” indicates the first input address of each axis.)

1 word = 2 bytes =16 bit

n+0 n+1

2. ACON-C/CG, PCON-C/CG

Controller

output port

number

Page 32

(3) I/O signal assignment

The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to operation manual for the controller main body for more information.)

ACON

Category

PLC output

PCON input

PCON

output

PLC input

The symbol with a * mark shows the ON signal in normal condition. The signal described as “Unavailable” is not controlled.(ON/OFF is undefined.)

Port No.

Symbol Signal name Symbol Signal name Symbol Signal name

0 PC1 ST0 Start position 0 ST0 Start position 0

1 PC2 ST1 Start position 1 ST1 Start position 1

2 PC4 ST2 Start position 2 ST2 Start position 2

3 PC8 ST3 Start position 3 -

4 PC16 ST4 Start position 4 -

5 PC32 ST5 Start position 5 -

6 PC64 ST6 Start position 6 -

7 PC128 - -

8 PC256

9 BKRL Forced brake release BKRL Forced brake release BKRL Forced brake release

10 RMOD

11 HOME Home return HOME Home return -

12 *STP Pause *STP Pause -

13 CSTR Positioning start - Unavailable -

14 RES Reset RES Reset RES Reset

15 SON Servo ON command SON Servo ON command SON Servo ON command

0 PM1 PE0 Position 0 complete LS0

1 PM2 PE1 Position 1 complete LS1

2 PM4 PE2 Position 2 complete LS2

3 PM8 PE3 Position 3 complete -

4 PM16 PE4 Position 4 complete -

5 PM32 PE5 Position 5 complete -

6 PM64 PE6 Position 6 complete -

7 PM128 ZONE1 Zone 1 ZONE1 Zone 1

8 PM256

9 RMDS Operation mode status RMDS Operation mode status RMDS Operation mode status

10 HEND

11 PEND

12 SV

13 *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop

14 *ALM Alarm *ALM Alarm *ALM Alarm

LOAD/

TRQS

Command position No.

Operating mode

selector

Completed position No.

Home return

completion

Positioning completion

signal

Operation preparation

end

Load output judgment/

torque level

RMOD

PZONE Position zone PZONE Position zone

HEND

PEND

LOAD/

TRQS

Positioning completion

Operation preparation

Load output judgment/

Unavailable

Operating mode

selector

Home return

completion

signal

end

torque level

Unavailable

RMOD

HEND

- Unavailable

Operating mode

selector

Unavailable

Retracting end

movement command 0

Retracting end

movement command 1

Retracting end

movement command 2

Unavailable

Home return

completion

Operation preparation

end

2. ACON-C/CG, PCON-C/CG

Page 36

2.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8)

In this operation mode, EtherNet/IP communication is used to select and command movements that have been predefined in the controller’s position data table. Alternatively, through use of a PMOD signal, this mode also allows the target position to be established directly. For the speed, acceleration/deceleration and positioning band, etc., except for the target position, the values in the position table within the controller are used. Setup the position data by referring to the instructions provided in the controller’s operation manual. The settable No. of position data items is max 768 points. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.

ROBO cylinder function

2. ACON-C/CG, PCON-C/CG

Home-return operation Positioning operation Speed and acceleration /

deceleration setting Pitch feed (inching) U Pressing operation U Speed change during the

movement Operation at different

acceleration and deceleration Pause

Zone signal output

PIO pattern selection x

{:Direct control U:Indirect control x:Disable

{ {

{

Remarks

These items must be set in

the position data table.

Zones are set using

parameters.

(1) PLC address configuration (* “n” indicates the first address of each axis.)

Parameter

No.84

ACON/PCON side

input register

Target position

PLC side output

address (bytes)

n+0, n+1 n+0, n+1 n+2, n+3

Specified position number n+4, n+5

ACON/PCON side

output register

Current position

Completed position No.

(Simple alarm code)

Control signal n+6, n+7 Status signal n+6, n+7

(Note) Be careful of using duplicated node addresses.

PLC side input

address (bytes)

n+2, n+3

n+4, n+5

Page 37

(2) I/O signal allocation for each axis

(

)

(upp

)

The I/O signals of each axis consist of four input words (4 words = 8 bytes) and four output words in the I/O areas.

z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2 words (32 bits) binary data. The figures

from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator concerned.

z The specified position No. and completed position No. are expressed using 1-word (16 bits) binary data.

The figures from 0 to 767 can be set in PLC. However, set the position No. for which the operation conditions have been set in advance using the PC software or teaching tools.

PLC output Address (* "n" indicates the first output address of each axis.)

1 word = 2 bytes =16 bits

n+0, n+1

Target position

lower word

n+2, n+3

2. ACON-C/CG, PCON-C/CG

Target position

er word

When the target position is shown using the negative figure, it is expressed using the complement of 2.

n+4, n+5

Specified

position number

n+6, n+7

Control signal

Page 38

PLC input

(

)

(

)

Address (* “n” indicates the first input address of each axis.)

n+0, n+1

Current position

lower word

n+2, n+3

Current

position

2. ACON-C/CG, PCON-C/CG

upper word

When the current position is shown using the negative figure, it is expressed using the complement of 2.

n+4, n+5

Completed

position No.

1 word = 2 bytes =16 bits

n+6, n+7

Status signal

Page 39

(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)

Signal type Bit Symbol Contents Details

32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.

Target

position

32-bit

data

(Example) When it is “+25.40mm”, set it as “2540”.

If the value larger than the value (0.2mm) inside the soft limit for the

2.8 (1)

parameter, the movement would be limited to the inside the soft limit (0.2mm). When the input is performed in hexadecimal notation, input the negative value using a complement of 2.

16-bit integer For the operation, the position data is required, for which the operation conditions have been set in advance using the teaching

Specified

position number

16-bit

data

PC1 to PC512

tools such as PC software. Set up the position No. for which the data has been input using this register.

2.8 (1)

The settable range is 0 to 767. In the case that any value out of the range is set, or position No. that has not been set is specified, an alarm is output.

b15 BKRL Forced brake release: When it is turned ON, the brake is released. 2.6.7 (18)

Operating mode selector: The AUTO mode is selected when this

b14 RMOD

signal is OFF, and the MANU mode is selected when the signal is

2.6.7 (19)

ON.

b13 b12

- Unavailable -

Position/simple-direct switching:

b11 PMOD

PLC output

The position mode is selected when this signal is OFF, and the simple direct mode is selected when the signal is ON.

2.6.7 (20)

Teaching mode command:

b10 MODE

The normal mode is selected when this signal is OFF, and the

2.6.7 (16)

teaching mode is selected when the signal is ON.

b9 PWRT

Position Data Import Command: Position data is read when this signal is ON.

2.6.7 (17)

b8 JOG+ +Jog: “ON” for Movement in the Opposite Direction of Home 2.6.7 (13)

Control

signal

b7 JOG- -Jog: “ON” for Movement in the Home Direction 2.6.7 (13)

Jog-speed/inch-distance switching: The values set in parameter No. 26, “Jog speed” and parameter

b6 JVEL

No. 48, “Inch distance” are used when this signal is OFF, and the

2.6.7 (14) values set in parameter No. 47, “Jog speed 2” and parameter No. 49, “Inch distance 2” are used when the signal is ON.

Jog/inching selector:

b5 JISL

Jog operation is performed when this signal is OFF, and inch

2.6.7 (15) operation is performed when the signal is ON.

b4 SON

Servo ON command: The servo turns ON when this signal turns ON.

2.6.7 (5)

b3 RES Reset: A reset is performed when this signal turns ON. 2.6.7 (4) b2 STP Pause: A pause command is issued when this signal turns ON. 2.6.7 (11)

b1 HOME

b0 CSTR

Home return: A home-return command is issued when this signal turns ON.

Positioning start:

move command is issued when this signal turns

ON.

2.6.7 (6)

2.6.7 (7)

2. ACON-C/CG, PCON-C/CG

Page 40

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

Signal type Bit Symbol Contents Details

Current position

Completed

position No.

(Simple

alarm code)

2. ACON-C/CG, PCON-C/CG

PLC input

Status code

Current position: 32-bit signed Integer. The setting unit is 0.01mm.

32-bit -

(Example) Reading:000003FFH=1023 (decimal)=10.23mm

2.8 (1)

* When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.

16-bit integer It is moved to the target position and the positioning completed position No. within the positioning band is output.

16-bit

PM1 to PM512

In the case that the position movement has not been performed at all, or during the movement, “0” is output.

2.8 (1)

When an alarm is issued (in the case that the status signal ALM is “ON”), the simplified alarm code (Refer to the operation manual for the controller main body) is output.

b15 EMGS

b14 PWR

Emergency stop: An emergency stop is actuated when this signal turns ON.

Controller ready : This signal turns ON when the controller becomes ready.

2.6.7 (2)

2.6.7 (1)

b13 ZONE2 Zone 2:“ON” for the current position within the zone set range 2.6.7 (12)

b12 ZONE1 Zone 1:“ON” for the current position within the zone set range 2.6.7 (12)

Position zone:

b11 PZONE

This signal turns ON when the current position is inside the

2.6.7 (12)

specified position zone.

b10 MODES

b9 WEND

Teaching mode signal: This signal is ON while the teaching mode is selected.

Position-data read complete : This signal turns ON when reading is complete.

2.6.7 (16)

2.6.7 (17)

Operation mode status:

b8 RMDS

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

2.6.7 (19)

the current mode is MANU.

- Unavailable -

b5 PSEL

b4 SV

Pressing and a Miss: This signal turns ON when the actuator missed the work part in pressing operation.

Operation preparation end: This signal turns ON when the servo turns ON.

2.6.7 (23)

2.6.7 (5)

b3 ALM Alarm: This signal turns ON when an alarm occurs. 2.6.7 (3)

b2 MOVE

b1 HEND

b0 PEND

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

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

Positioning completion signal: This signal turns ON when positioning is completed.

2.6.7 (9)

2.6.7 (6)

2.6.7 (10)

Page 41

2.6.4 Half Direct Value Mode (Number of Occupied Bytes: 16)

This is the operation mode with the target position, positioning band, speed, acceleration/deceleration and pressing current value set up in the PLC. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.

{:Direct control

ROBO cylinder function

U:Indirect control x:Disable

Home-return operation Positioning operation Speed and acceleration /

deceleration setting Pitch feed (inching) Pressing operation Speed change during the

movement Operation at different

acceleration and deceleration Pause

{ {

{

{ {

{

Zone signal output U Parameters must be set. PIO pattern selection x

Remark

2. ACON-C/CG, PCON-C/CG

(1) PLC address configuration. (* "n" indicates the first address of each axis.)

Parameter

No.84

ACON/PCON side

input register

Target position

Positioning band

Speed n+8, n+9 n+8, n+9

Acceleration/

deceleration

Pressing current-limiting

value

PLC side output

address (bytes)

n, n+1 n, n+1 n+2, n+3 n+4, n+5 n+4, n+5 n+6, n+7

n+10, n+11

ACON/PCON side

output register

Current position

Command current

Current speed

n+12, n+13 Alarm code n+12, n+13

Control signal n+14, n+15 Status signal n+14, n+15

(Note) Be careful of using duplicated node addresses.

PLC side input

address (bytes)

n+2, n+3

n+6, n+7

n+10, n+11

Page 42

(2) I/O signal allocation for each axis

The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas.

z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures

from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator concerned.

z Set the positioning band. The positioning band is expressed using 2-word (32 bits) binary data. The

figures from 1 to +999999 (Unit: 0.01mm) can be set in PLC.

z The speed is expressed using 1-word (16 bits) binary data. The figures from 0 to +65535 (Unit:

1.0mm/sec) can be set in PLC. Set the value that does not exceed the max. speed value concerned.

z The Acceleration/deceleration is expressed using 1-word (16 bits) binary data. The figures from 1 to 300

(Unit: 0.01G) can be set in PLC. However, set the value that does not exceed the max. acceleration/deceleration value for the actuator in question.

2. ACON-C/CG, PCON-C/CG

z The pressing current-limiting value is expressed using 1-word (16 bits) binary data. The figures from 0

(0%) to 255 (100%) can be set in PLC. However, set the value within the settable range for the pressing current-limiting value (Refer to the Catalog or operation manual for the actuator) for the actuator concerned.

Set value

Pressing current-limiting value

for the actuator

z The command current is expressed using 2-word (32 bits) binary data (Unit: 1mA). z The current speed is expressed using 2-word (32 bits) binary data (Unit: 0.01mm/sec). z The alarm code is expressed using 1-word (16 bits) binary data.

Page 43

PLC output Address (* “n” indicates the first output address of each axis.)

1 word = 2 bytes =16 bits

n+0, n+1

Target

position

(Lower word)

n+2, n+3

Target

position

(Upper word)

When the target position is shown using the negative figure, it is expressed using the complement of 2.

n+4, n+5

Positioning

band

(lower word)

n+6, n+7

Positioning

band

(upper word)

2. ACON-C/CG, PCON-C/CG

n+8, n+9

Speed

n+10, n+11

Acceleration/

deceleration

n+12, n+13

Pressing

current-limitin

n+14, n+15

Control signal

Page 44

PLC input

(upp

)

Address (* “n” indicates the first input address of each axis.)

1 word = 2 bytes =16 bits

n+0, n+1

Current

position

(lower word)

n+2, n+3

Current position

(upper word)

2. ACON-C/CG, PCON-C/CG

When the current position is shown using the negative figure, it is expressed using the complement of 2.

n+4, n+5

Command

current

(lower word)

n+6, n+7

Command

current

er word

n+8, n+9

Current

speed

(lower word)

n+10, n+11

Current

speed

(upper word)

When the current speed is shown using the negative figure, it is expressed using the complement of 2.

n+12, n+13

Alarm code

n+14, n+15

Status signal

Page 45

(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)

Signal type Bit Symbol Contents Details

32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999.

Target

position

32-bit

data

(Example) When it is “+25.41mm”, set it as “2541”.

If the value larger than the value (0.2mm) inside the soft limit

for the parameter, the movement would be limited to the inside the soft limit (0.2mm). * When the input is performed in hexadecimal notation, input

the negative value using a complement of 2.

32-bit integer The unit is 0.01mm and settable range is between 1 to +999999. (Example) When it is “25.40mm”, set it as “2540”. This register

Positioning

band

32-bit

data

value has two meanings depending on the operation type. [1] In the case of positioning operation, it shows the

allowable range from the target position, that is regarded as the positioning completion.

[2] In the case of pressing operation, it shows the pressing

PLC output

width value. Specify the normal operation or pressing operation using the “PUSH” control signal setting.

16-bit integer Specify the speed at which to move the actuator.

Speed

16-bit

data

The unit is 1.0mm/sec and settable range is 0 to 65535.

(Example) When it is “254.0mm/sec”, set it as “254”. When

the movement command is set with the value bigger than the max. speed, an alarm is issued.

16-bit integer Specify the acceleration / deceleration at which to move the actuator (the acceleration and deceleration will be the same

Acceleration/

Deceleration

16-bit

data

value).

The unit is 0.01G and settable range is 1 to 300. (Example) To set “0.30 G”, specify “30”. If a move command is issued by specifying “0” or any value exceeding the maximum acceleration or deceleration, an alarm will occur.

2. ACON-C/CG, PCON-C/CG

2.8 (2)

Page 46

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

Signal type Bit Symbol Contents Details

Pressing

current-limiting

value

2. ACON-C/CG, PCON-C/CG

PLC output

Control signal

16-bit integer Specify the current-limiting value to be used during pressing operation.

16-bit

data

The allowable specification range is 0 (0%) to 255 (100%).

The actual settable range varies depending on each actuator.

2.8 (2)

(Refer to the catalog or operation manual for the actuator.) If a move command is issued by specifying a value exceeding the maximum pressing current, an alarm will occur.

b15 BKRL

Forced brake release: When it is turned ON, the brake is released.

2.6.7 (18)

Operating mode selector: The AUTO mode is selected when this

b14 RMOD

signal is OFF, and the MANU mode is selected when the signal

2.6.7 (19)

is ON. Pressing direction specification:

“OFF” for the direction reducing the positioning band from the

b13 DIR

target position,

2.6.7 (22) “ON” for the direction adding the positioning band to the target position

Pressing specification: Positioning operation is performed when

b12 PUSH

this signal is OFF, and pressing operation is performed when the

2.6.7 (21) signal is ON.

b11

b10

- Unavailable -

b8 JOG+ + Jog: “ON” for movement in the opposite direction of home 2.6.7 (13)

b7 JOG- -Jog: “ON” for movement in the home direction 2.6.7 (13)

Jog-speed/inch-distance switching: The values set in parameter No. 26, “Jog speed” and parameter

b6 JVEL

No. 48, “Inch distance” are used when this signal is OFF, and the values set in parameter No. 47, “Jog speed 2” and

2.6.7 (14)

parameter No. 49, “Inch distance 2” are used when the signal is ON.

Jog/inch switching:

b5 JISL

Jog operation is performed when this signal is OFF, and inch

2.6.7 (15) operation is performed when the signal is ON.

b4 SON

Servo ON command: The servo turns ON when this signal turns ON.

2.6.7 (5)

b3 RES Reset: A reset is performed when this signal turns ON. 2.6.7 (4)

b2 STP Pause: A pause command is issued when this signal turns ON. 2.6.7 (11)

b1 HOME

b0 DSTR

Home return: A home-return command is issued when this signal turns ON.

Positioning command: A move command is issued when this signal turns ON.

2.6.7 (6)

2.6.7 (8)

Page 47

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

Signal type Bit Symbol Contents Details

32-bit signed integer indicating the current position The setting unit is 0.01mm.

Current

position

Command

current

Current

speed

32-bit

data

32-bit

data

32-bit

data

(Example) Reading: 000003FF

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

figure is expressed as

32-bit integer The electrical current presently specified by a command is indicated. The setting unit is mA.

(Example) Reading: 000003FF

32-bit signed integer indicating the current position The current speed is indicated. Positive value: The actuator is moving in the direction opposite home. Negative value: The actuator is moving in the direction of home.

The setting unit is 0.01mm/sec. (Example) Reading: 000003FFH=1023 (decimal)

=10.23mm

a complement of 2.

=1023mA

=10.23mm/sec

=1023 (decimal)

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

figure is expressed as a complement of 2.

16-bit integer When an alarm is issued, the alarm code is output. When any alarm is not issued, it is “0

Refer to the operation manual for the controller main body for the details of the alarms.

Emergency stop: An emergency stop is actuated when this signal turns ON.

Controller ready: This signal turns ON when the controller becomes ready.

Zone 2: “ON” for the current position within the zone set range 2.6.7 (12)

Zone 1: “ON” for the current position within the zone set range 2.6.7 (12)

”.

2.6.7 (2)

2.6.7 (1)

Alarm code

PLC input

16-bit

data

b15 EMGS

b14 PWR

b13 ZONE2

b12 ZONE1

b11

Unavailable -

b10

Operation mode status:

Status

signal

b8 RMDS

b5 PSEL

b4 SV

b3 ALM

b2 MOVE

b1 HEND

b0 PEND

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

Unavailable -

Pressing and a Miss: This signal turns ON when the actuator missed the work part in pressing operation. Operation preparation end: This signal turns ON when the servo turns ON.

Alarm: This signal turns ON when an alarm occurs. 2.6.7 (3)

Moving signal: This signal remains ON while the actuator is moving. 2.6.7 (9) Home return completion: This signal turns ON when home return is

completed. Positioning completion signal: This signal turns ON when positioning is completed.

2.6.7 (19)

2.6.7 (23)

2.6.7 (5)

2.6.7 (6)

2.6.7 (10)

2.8 (2)

2. ACON-C/CG, PCON-C/CG

Page 48

2.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32)

This is the operation mode with all the values (target position, speed, etc.) set up directly using values from PLC. Set each value in the I/O area. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.

ROBO cylinder function

Home-return operation Positioning operation Speed and acceleration / deceleration

setting Pitch feed (inching) Pressing operation

2. ACON-C/CG, PCON-C/CG

Speed change during the movement Operation at different acceleration and

deceleration Pause Zone signal output PIO pattern selection x

(1) PLC address configuration (* "n" indicates the first address of each axis.)

Parameter

No.84

ACON Occupied area

PCON

{: Direct control x: Disable

{ {

{

{ { {

{

{ {

ACON/PCON side

input register

Target position

Positioning band

Speed

Zone boundary +

Zone boundary -

PLC side output

address (bytes)

n, n+1 n, n+1 n+2, n+3 n+4, n+5 n+4, n+5 n+6, n+7 n+8, n+9 n+8, n+9

n+10, n+11

ACON/PCON side

output register

Current position

Command current

Current speed

PLC side input

address (bytes)

n+2, n+3

n+6, n+7

n+10, n+11 n+12, n+13 Alarm code n+12, n+13 n+14, n+15

n+14, n+15 n+16, n+17 n+16, n+17 n+18, n+19

n+18, n+19

Acceleration n+20, n+21 n+20, n+21 Deceleration n+22, n+23 n+22, n+23

Pressing current-limiting

value

Load current

n+24, n+25

n+26, n+27

Occupied area

n+24, n+25

n+26, n+27

threshold

Control signal 1 n+28, n+29

n+28, n+29

Control signal 2 n+30, n+31 Status signal n+30, n+31

(Note) The areas denoted by Occupied area cannot be used for any other purpose.

Also, exercise caution to avoid node address duplication.

Page 49

(2) I/O signal allocation for each axis

The I/O signals of each axis consist of one input word (16 words = 32 bytes) and one output word in the I/O areas.

z Control signals 1 and 2 and status signals are ON/OFF bit signals. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures

from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator concerned.

z Set the positioning band. The positioning band is expressed using 2-word (32 bits) binary data. The

figures from 1 to +999999 (Unit: 0.01mm) can be set in PLC.

z The specified speed is expressed using 2-word (32 bits) binary data. The figures from 0 to +999999

(Unit: 0.01mm/sec) can be set in PLC. Set the value that does not exceed the max. speed value actuator concerned.

z The Acceleration/deceleration is expressed using 1-word (16 bits) binary data. The figures from 1 to 300

(Unit: 0.01G) can be set in PLC. However, set the value that does not exceed the max. acceleration/deceleration value for the actuator in question.

z The pressing current-limiting value is expressed using 1-word (16 bits) binary data. The figures from 0

Set value

Pressing current-limiting value

2. ACON-C/CG, PCON-C/CG

for the

z Set the load current threshold. The load current threshold is expressed using 1-word (16 bits) binary

data. The figures from 0 (0%) to 255 (100%) can be set in PLC. (Refer to the graph of pressing current-limiting value (above graph).)

z Zone Boundary “+” and Zone Boundary “–“ are expressed using 2-word (32 bits) binary data. The figures

from -999999 to +999999 can be set in PLC. However make sure to set the smaller value for the Zone Boundary “-“ than that for the Zone Boundary “+”.

Page 50

PLC output Address (* “n” indicates the first output address of each axis.)

1 word = 2 bytes =16 bits

n+0, n+1

Target

position

(lower word)

n+2, n+3

Target

position

(upper word)

2. ACON-C/CG, PCON-C/CG

When the target position is shown using the negative figure, it is expressed using the complement of 2.

n+4, n+5

Positioning

band

(lower word)

n+6, n+7

Positioning

band

(upper word)

n+8, n+9

Speed

(lower word)

n+10, n+11

Speed

(upper word)

n+12, n+13

Zone

boundary +

(lower word)

n+14, n+15

Zone

boundary +

(upper word)

When the zone boundary is shown using the negative figure, it is expressed using the complement of 2.

Page 51

Address (* “n” indicates the first output address of each axis.)

1 word = 2 b

tes =16 bits

n+16, n+17

n+18, n+19

When the zone boundary is shown using the negative figure, it is expressed using the complement of 2.

n+20, n+21

Acceleration

n+22, n+23

Deceleration

2. ACON-C/CG, PCON-C/CG

n+24, n+25

Pressing

current-limiti

ng value

n+26, n+27

Load current

threshold

(*3)

n+28, n+29

Control

signal 1

SO1

SO0

n+30, n+31

Control

signal 2

(*1) Signal assignment for b10 of n+28, n+29 (*2) Signal assignment for b7 and b6 of n+28, n+29

Symbol Symbol

Controller ACON PCON Controller ACON PCON

b10 - SMOD b7 MOD1 -

b6 MOD0 -

(*3) This is a dedicated function for PCON controllers. It is not available with ACON controllers.

Page 52

PLC input

(

)

(

)

(upp

)

Address (* “n” indicates the first input address of each axis.)

1 word = 2 bytes =16 bits

n+0, n+1

Current position

lower word

n+2, n+3

Current position

(upper word)

When the current position is shown using the negative figure, it is expressed using the complement of 2.

n+4, n+5

2. ACON-C/CG, PCON-C/CG

Command

current

lower word

n+6, n+7

Command

current

er word

n+8, n+9

Current

speed

(lower word)

n+10, n+11

Current

speed

(upper word)

When the current speed is shown using the negative figure, it is expressed using the complement of 2.

n+12, n+13

Alarm code

n+14 ~ n+29

Unavailable

n+30, n+31

Status signal

Symbol

Controller ACON

b10 -

b9 -

(*1) Signal assignment for b10 and b9 of n+30, n+31

PCON

LOAD TRQS

Page 53

(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.)

Signal type Bit Symbol Contents Details

32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is–999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”. If the value larger than the value (0.2mm) inside the soft limit for the parameter, the movement would be limited to the inside the soft limit (0.2mm). * When the input is performed in hexadecimal notation, input

the negative value using a complement of 2.

32-bit integer The unit is 0.01mm and settable range is 1 to +999999. (Example) When it is “25.40mm”, set it as “2540”. This register value has two meanings depending on the operation type.

1) In the case of positioning operation, it shows the allowable range from the target position, that is regarded as the positioning completion.

2) In the case of pressing operation, it shows the pressing width value. Specify the normal operation or pressing operation using the “PUSH” control signal setting.

32-bit integer Specify the speed at which to move the actuator. The unit is 0.01 mm/sec and the settable range is 0 to 999999. (Example) When it is “25.41mm/sec”, set it as “2541”. When the movement command is set with the value bigger than the max. speed, an alarm is issued.

32-bit signed integer indicating the current position After completion of home return, an effective zone signal can be output separately from the zone boundaries specified by parameters. The status signal PZONE turns ON when the current position is inside these +/- boundaries. (Example) When it is “+25.40mm”, set it as “2540”. The unit is 0.01mm and the settable range is -999999 to

999999.

Enter a value that satisfies the relationship of “Zone boundary +> Zone boundary –”. If this function is not used, enter the same value for both the positive and negative boundaries. *

When the input is performed in hexadecimal notation, input the negative value using a complement of 2.

Positioning

PLC output

boundary+

boundary–

Target

position

band

Speed

Zone

/Zone

32-bit

data

32-bit

data

32-bit

data

32-bit

data

2. ACON-C/CG, PCON-C/CG

2.8 (3)

Page 54

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

Address Bit Symbol Function Details

Acceleration

Deceleration

Pressing

current-limiting

value

2. ACON-C/CG, PCON-C/CG

Load current

threshold

16-bit

data

16-bit

data

16-bit

data

16-bit

data

b15

b14

b13

b12 b11

16-bit integer

Specify the acceleration and deceleration at which to move the actuator. The unit is 0.01G and settable range is 1 to 300. (Example) When it is “0.30G”, set it as “30”. If a move command is issued by specifying “0” or any value exceeding the maximum acceleration or deceleration, an alarm will occur.

16-bit integer Specify the current- limiting value to be used during pressing operation. The allowable specification range is 0 (0%) to 255 (100%). The actual settable range varies depending on each actuator. (Refer to the catalog or operation manual for the actuator.) If a move command is issued by specifying a value exceeding the maximum pressing current, an alarm will occur.

16-bit integer Set the current threshold in this register when whether or not the load current exceeds the threshold is judged. The allowable specification range is 0 (0%) to 255 (100%). If threshold judgment is not required, enter “0”.

Unavailable -

2.8 (3)

PLC output

Control

signal 1

ACON

b10

PCON SMOD

b9 ASO1

ASO0

b7 MOD1

ACON

MOD0

PCON

Unavailable

Stopping control mode: When this signal is ON, servo control is performed during stopping.

Select stop mode while standing by

Stop

Mode 1

Stop

Mode 0

Acceleration / deceleration mode: When both signals are OFF, the trapezoid pattern mode is selected. When one signal is OFF and the other signal is ON, the S-motion mode is selected. When one signal is ON and the other signal is OFF, the primary delay filter mode is selected.

Unavailable -

ASO1 ASO0 Functions

OFF OFF

OFF ON

ON OFF

ON ON

Disable (Servo is ON at all times) Sever turns OFF in time set in Parameter No. 36 Sever turns OFF in time set in Parameter No. 37 Sever turns OFF in time set in Parameter No. 38

2.6.7 (28)

2.6.7 (30)

2.6.7 (29)

Page 55

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

Address Bit Symbol Function Details

Unavailable -

Incremental Command: Absolute position commands are issued when this signal is OFF, and incremental position commands are issued when the signal is ON.

Pressing direction specification: “OFF” for the direction reducing the positioning band from the target position “ON” for the direction adding the positioning band to the target position

Pressing specification : Positioning operation is performed when this signal is OFF, and pressing operation is performed when the signal is ON.

Unavailable -

Forced brake release: When it is turned ON, the brake is released

Operating mode selector: The AUTO mode is selected when this signal is OFF, and the MANU mode is selected when the signal is ON.

Control

signal 1

b3 INC

b2 DIR

b1 PUSH

b0 -

b15 BKRL

b14 RMOD

b13

b12

Unavailable -

PLC output

b11

b10

b8 JOG+

b7 JOG-

Control

signal 2

b6 JVEL

b5 JISL

b4 SON

b3 RES

b2 STP

b1 HOME

b0 DSTR

+Jog: “ON” for Movement in the Opposite Direction of Home

-Jog: “ON” for Movement in the Home Direction 2.7.7 (13)

Jog-speed/inch-distance switching: The values set in parameter No. 26, “Jog speed” and parameter No. 48, “Inch distance” are used when this signal is OFF, and the values set in parameter No. 47, “Jog speed 2” and parameter No. 49, “Inch distance 2” are used when the signal is ON.

Jog/inch switching: Jog operation is performed when this signal is OFF, and inch operation is performed when the signal is ON.

Servo ON command: The servo turns ON when this signal turns ON.

Reset: A reset is performed when this signal turns ON.

Pause: A pause command is issued when this signal turns ON.

Home return: A home-return command is issued when this signal turns ON.

Positioning start: A move command is issued when this signal turns ON.

2. ACON-C/CG, PCON-C/CG

2.6.7 (24)

2.6.7

(22)

2.6.7

(21)

2.6.7

(18)

2.6.7

(19)

2.6.7

(13)

2.6.7

(14)

2.6.7

(15)

2.6.7 (5)

2.6.7 (4)

2.6.7

(11)

2.6.7 (6)

2.6.7 (8)

Page 56

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

Signal type Bit Symbol Contents Details

Current position

Command

current

2. ACON-C/CG, PCON-C/CG

Current

speed

Alarm

code

PLC input

Status

signal

32-bit

data

32-bit

data

32-bit

data

16-bit

data

b15 EMGS Emergency stop: An emergency stop is actuated when this signal turns ON. 2.6.7 (2) b14 PWR Controller ready : This signal turns ON when the controller becomes ready. 2.6.7 (1) b13 ZONE2 Zone 2:“ON” for the current position within the zone set range 2.6.7 (12) b12 ZONE1 Zone 1:“ON” for the current position within the zone set range 2.6.7 (12)

b11 PZONE

b10

b8 RMDS

b7 GHMS

b6 PUSHS

b5 PSEL

b4 SV Operation preparation end: This signal turns ON when the servo turns ON. 2.6.7 (5) b3 ALM Alarm: This signal turns ON when an alarm occurs. 2.6.7 (3) b2 MOVE Moving signal: This signal remains ON while the actuator is moving. 2.6.7 (9) b1 HEND Home return completion: This signal turns ON when home return is completed. 2.6.7 (6)

b0 PEND

32-bit signed integer indicating the current position The setting unit is 0.01mm.

(Example) Reading:000003FF =10.23mm

=1023 (decimal)

2.8 (3)

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

expressed as a complement of 2. 32-bit integer The electrical current presently specified by a command is indicated.

The setting unit is mA. (Example) Reading:000003FF

=1023 (decimal)

2.8 (3)

=1023mA 32-bit signed integer indicating the current position The current speed is indicated. Positive value: The actuator is moving in the direction opposite home. Negative value: The actuator is moving in the direction of home.

The setting unit is 0.01mm/sec. (Example) Reading:000003FF

2.8 (3)

=1023 (decimal) =10.23mm/sec * When the value is read in hexadecimal notation, the negative figure is

expressed as a complement of 2. 16-bit integer When an alarm is issued, the alarm code is output.

When any alarm is not issued, it is “0”.

2.8 (3) Refer to the operation manual for the controller main body for the details of the alarms.

Position zone: This signal turns ON when the current position is inside the specified position

2.6.7 (12)

zone.

ACON - Unavailable (ON/OFF is undefined) -

Load output judgment:

PCON LOAD

When this signal is ON, the specified load has been reached. When the signal is OFF, the load has not been reached yet.

2.6.7 (26)

(Refer to operation manual for the controller main body for more information)

ACON - Unavailable (ON/OFF is undefined) -

Torque level:

PCON TROS

When this signal is ON, the specified load has been reached. When the signal is OFF, the load has not been reached yet.

2.6.7 (27)

(Refer to operation manual for the controller main body for more information) Operation mode status: This signal is OFF when the current mode is AUTO, or ON when the current

2.6.7 (19) mode is MANU. Under Home return Operation: This signal remains ON while home return is in progress. Pressing in progress: This signal remains ON while pressing operation is in progress. Pressing and a Miss: This signal turns ON when the actuator missed the work part in pressing operation.

Positioning completion signal: This signal turns ON when positioning is completed.

2.6.7 (6)

2.6.7 (25)

2.6.7 (23)

2.6.7 (10)

Page 57

2.6.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12)

In this operation method, EtherNet/IP communications is used to mimic the operation of hardware PIO (24V I/O). Set the position data using the teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available. The features of each PIO pattern are shown below. (Refer to operation manual for the controller main body for more information)

Value set in

parameter No. 25

0 Positioning mode 1 Teaching mode

2 256-point mode 3 512-point mode 4 Electromagnetic

5 Electromagnetic

Operation mode I/O specification

64 positioning points and two zone output points are available. 64 positioning points and one zone output point are available.

Positioning operation and jog operation are supported. The current position can be written to a specified position.

256 positioning points and one zone output point are available. 512 positioning points are available. There are no zone outputs. 7 positioning points and two zone output points are available.

valve mode 1

The direct operation command is available for each position No. A position complete signal is output for each position number.

3 positioning points and two zone output points are available.

valve mode 2

The actuator is operated by specifying forward, backward and intermediate position commands. A position complete signal is output separately for the front end, rear end and intermediate position.

2. ACON-C/CG, PCON-C/CG

The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.

PIO Pattern

ROBO cylinder function

0: Positioning mode

1: Teaching mode

2: 256-point mode

3: 512-point mode

4: Electromagnetic valve mode 1

Home-return operation

Positioning operation

Speed and acceleration/ deceleration setting

Pitch feed (inching)

Pressing operation

Speed change during the movement

{ { { { {

{ { { { { {

{ { { { {

{ { { {

Operation at different acceleration and

{ { { { { {

deceleration

Pause

Zone signal output

PIO pattern selection (set by a parameter)

{:Supported, x:Not supported

{ { { { {

{ { {

{ {

{ { { { { {

5: Electromagnetic valve mode 2

{

{ (*1)

(*1) It is available when the parameter No. 27 “Movement Command Type” is set to “0”.

Turning “OFF” the “Movement Command” can stop the system temporarily.

Page 58

(1) PLC address configuration (* “n” indicates the first address of each axis.)

Parameter

No.84

(Note) The areas denoted by Occupied area cannot be used for any other purpose.

Also, exercise caution to avoid node address duplication.

2. ACON-C/CG, PCON-C/CG

(2) I/O signal allocation for each axis

The I/O signals of each axis consist of 6 input words (channels) and 6 output words (6 words=12 bytes) in the I/O areas.

z The areas controlled by port number are controlled using ON/OFF bit signals. z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm). z The command current is expressed using 2-word (32 bits) binary data (Unit: 1mA).

PLC output Address (* “n” indicates the first output address of each axis.)

n+0ޔn+1

n+0, n+1

ACON/PCON side

DI and input register

PLC side output

address (bytes)

ACON/PCON side

DO and output register

Port No.0 to 15 n, n+1 Port No.0 to 15 n, n+1

n+2, n+3 Occupied area n+2, n+3

Occupied area

n+4, n+5 n+4, n+5 n+6, n+7 n+8, n+9 n+8, n+9

n+10, n+11

Current position

Command current

1 word = 2 bytes =16 bits

PLC side input

address (bytes)

n+6, n+7

n+10, n+11

Controller

input port

Page 59

PLC input

Address (* “n” indicates the first input address of each axis.)

1 word = 2 b

tes =16 bits

n+0, n+1

Controller

output port

number

n+2, n+3

Unavailable

n+4, n+5

Current position

(lower word)

n+6, n+7

Current position

(upper word)

2. ACON-C/CG, PCON-C/CG

When the current position is shown using the negative figure, it is expressed using the complement of 2.

n+8, n+9

Command

current

(lower word)

n+10, n+11

Command

current

(upper word)

Page 60

(3) I/O signal assignment

For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 2.6.2 (3).

The signal allocation for the Command current and Current position is shown in the following table.

Signal type Bit Symbol Contents Details

Current position

PLC input

Command

2. ACON-C/CG, PCON-C/CG

current

32-bit data -

32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FF

=1023 (decimal)

=10.23mm

* When the value is read in hexadecimal notation, the

negative figure is expressed as a complement of 2.

32-bit integer The value of electrical current specified by the current command is indicated. The setting unit is 1mA. (Example) Reading:000003FF

=1023 (decimal)

=1023mA

Page 61

2.6.7 I/O Signal Controls and Function

* ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the Position/Simplified Direct Value Mode, Half direct value mode and Full direct value mode, are described as follows. For the I/O signals for the Remote I/O mode and Remote I/O mode 2, refer to the controller’s operational manual.

(1) Controller ready (PWR) PLC input signal

When the controller can control the system after the power is applied, it is turned “ON”.

Ŷ Function

Regardless of the alarm or servo conditions, when the controller initialization is completed normally after the power is applied and the controller can control the system, it is turned “ON”. Even in the alarm condition, when the controller can control the system, it is turned “ON”.

(2) Emergency stop (EMGS) PLC input signal

When the controller is stopped in an emergency, it is turned “ON”.

Ŷ Function

When the controller is stopped in an emergency (motor driving power is cut off), it is turned “ON”. When the emergency stop status is cleared, it is turned “OFF”.

(3) Alarm (ALM) PLC input signal

When any error is detected using the controller protection circuit (function), it is turned “ON”.

Ŷ Function

When any error is detected and the protection circuit (function) is activated, this signal is turned “ON”. When the cause of the alarm is eliminated and the reset signal is turned “ON”, the alarm is turned “OFF” in the case that it is the alarm with the operation cancellation level. (In the case of the alarm with the cold start level, cycling of the power is required) When the alarm is detected, the Status Indicator LED (Refer to 2.3, "EtherNet/IP Interface”) on the front surface of the controller illuminates in red.

2. ACON-C/CG, PCON-C/CG

(4) Reset (RES) PLC output signal

This signal has two functions. It can reset the controller alarm and cancel the reminder for planned movements during pause conditions.

Ŷ Function

[1] When this signal is turned ON from OFF condition after eliminating the cause of the alarm during the

alarm output, the alarm (ALM) signal can be reset. (In the case of the alarm with the cold start level, cycling of the power is required)

[2] When this signal is turned ON from OFF condition during the pause condition, the reminder of the

planned movement left can be cancelled.

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(5) Servo ON command (SON) PLC output signal

Operation preparation end (SV) PLC input signal When the SON signal is turned ON, the servo will turn ON.

When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON, the Status Indicator LED (Refer to 2.3, "EtherNet/IP Interface”) on the front surface of the controller illuminates in green. The “SV” signal is synchronized with this LED.

Ŷ Function

Using the “SON” signal, the turning ON/OFF of the controller is available. While the “SV” signal is ON, the controller's servo-motor is turned “ON” and the operation becomes available. The relationship between the “SON” signal and “SV” signal is as follows.

2. ACON-C/CG, PCON-C/CG

(PLC o ACON, PCON)

(ACON, PCON o PLC)

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(6) Home return (HOME) PLC output signal

Home return completion (HEND) PLC input signal Under home return operation (GHMS) PLC input signal

When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the home return operation is performed automatically. During the home return operation, the “GHMS” signal is turned “ON”. When the “HEND” signal is turned “ON”, turn “OFF” the “HOME” signal. Once the “HEND” signal is turned “ON”, it can not be turned “OFF” until the power is turned “OFF” or the “HOME” signal is input again. Once the HEND signal is turned ON, it can not be turned OFF until the power is turned OFF or the HOME signal is input again. Even after the completion of the home return operation, when the “HOME” signal is turned “ON”, the home return operation can be performed.

(PLC o ACON, PCON)

(ACON, PCON o PLC)

2. ACON-C/CG, PCON-C/CG

(ACON, PCON o PLC)

Actuator operation

Mechanical end Stop at the home position

Caution: In the Remote I/O mode, Remote I/O mode 2 and Position/Simplified Direct Value Mode, when

the positioning command is issued without performing the home return operation after the power is applied, the positioning is performed after the automatic home return operation. Exercise caution that in the half direct mode or full direct mode,

issuing a positioning command to a given position following the power on, without performing a home return first, will generate an alarm “Error Code 83: ALARM HOME ABS (absolute position move command when home return is not yet completed)” (operation-reset alarm).

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(7) Positioning start (CSTR): Used in the position/simple direct mode PLC output signal

This signal is processed at the startup (ON edge) and the positioning is performed to the target position with the specified position No. or set using the PLC's target position register. Whether if the target position with the specified position No. is used or the setting using the PLC's target position register is used, depends on the Control signal b11: “Position/Simplified Direct Value Change-Over (PMOD) Signal”.

x PMOD䋽OFF: Target position data for the specified position No. is used. x PMOD䋽ON : Value for the target position set using the PLC's target position register is used.

When this signal is issued in the condition where the home return operation has not performed at all after the power is applied (HEND signal OFF), the positioning to the target position is performed after the home return operation is performed automatically. Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been turned “OFF”.

2. ACON-C/CG, PCON-C/CG

(PLC o ACON, PCON)

(ACON, PCON o PLC)

(8) Positioning command (DSTR): Used in the half direct mode and full direct mode PLC output signal

This signal is processed at the startup (ON edge) and the positioning to the target position input in the PLC's target position register is performed. When this signal is issued in the condition where the home return operation has not performed at all after the power is applied (HEND signal OFF), an alarm is issued (Operation Cancellation Level). Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been turned “OFF”.

Target position

(PLC o ACON, PCON)

(ACON, PCON o PLC)

(9) Moving signal (MOVE) PLC input signal

This signal is turned ON while the actuator's slider or rod is moving. (Including the pressing or jog operation after the home return operation) After the completion of the positioning, home return or pressing operation, or during the pause condition, this signal is turned “OFF”.

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(10) Positioning completion signal (PEND) PLC input signal

This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed.

Timing at which the position complete signal turns ON

Speed

Target position

Travel

Time

Positioning band

When the servo-motor is turned ON from OFF condition, the positioning is performed with the position set as the target position. Accordingly, this signal is turned “ON” and after that, when the positioning operation is started with the home return (HOME) signal, positioning start (CSTR) signal and positioning command (DSTR) signal, this signal is turned “OFF”.

Caution: When the servo-motor is turned OFF or stopped in an emergency while the actuator is

stopped at the target position, the PEND signal is turned “OFF” temporarily. Then, when the servo-motor is turned “ON” and the actuator is within the positioning band, the PEND signal is turned “ON” again. When the positioning is completed with the CSTR signal or DSTR signal turned “ON”, the PEND signal is not turned “ON”.

2. ACON-C/CG, PCON-C/CG

(11) Pause (STP) PLC output signal

When this signal is turned “ON”, the actuator movement is decelerated and stopped. When it is turned “OFF”, the actuator movement is restarted. The acceleration in the operation restart or the deceleration in stopping operation, is expressed as the value for the acceleration/deceleration for the position No. set using the specified position No. resister in the Position/Simplified Direct Value Mode, and as the value set in the acceleration/deceleration register in the Half direct value mode. In the Full direct value mode, the value is expressed as the value set in the acceleration register or deceleration register.

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(12) Zone 1 (ZONE1) PLC input signal

Zone 2 (ZONE2) PLC input signal Position zone (PZONE) PLC input signal

These signals are turned ON when the current position of the actuator is within the set area and turned OFF when the current position is out of the set area.

[1] Zone 1, Zone 2 The zone is set using the user parameters. The Zone 1 Signal is set using the parameter No. 1 “Zone Boundary 1 “+” Side” and No. 2 “Zone Boundary 1 “–“ Side”. The Zone 2 Signal is set using the parameter No. 23 “Zone Boundary 2 “+” Side” and No. 24 “Zone Boundary 2 “–“ Side”. The Zone 1 Signal and Zone 2 Signal become effective when the home return operation is completed. After that, even during the servo OFF, it is effective.

2. ACON-C/CG, PCON-C/CG

[2] Position zone Each zone is set in the position table or using the zone boundary resister. In the case of the Position/Simplified Direct Value Mode, the PZONE signal is set using the position table. In the case of the Full direct value mode, the PZONE signal is set using the Zone Boundary Value Register. (*) In the half direct value mode, there is no PZONE signal. The PZONE signal becomes effective with the movement command after the home return operation. After that, even during the servo OFF, it is effective.

Actuator operation

Zone signal

Home

Zone setting -

+ direction

Zone setting +

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(13) +Jog (JOG+) PLC output signal

–Jog (JOG–) PLC output signal This signal is the command for the jog operation startup or inching operation startup.

If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home.

[1] Jog operation Jog operation can be performed when the jog/inch switching (JISL) signal is OFF. While the “JOG+” is turned “ON”, the movement direction is to the opposite of the home and when it is turned “OFF”, the actuator is decelerated and stopped. While the JOG – is ON, the actuator will operate in the direction of home and when it is turned OFF, it is decelerated to a stop. The operation is performed based on the set values of the following parameters. x The speed is based on the parameter value specified using the Jog Speed/Inching Distance

Change-Over (JVEL) signal. If the JVEL signal is OFF, the actuator operates according to parameter No. 26, “PIO jog speed”. If the JVEL signal is ON, the actuator operates according to parameter No. 47, “PIO jog speed 2”.

x The acceleration/deceleration conforms to the rate acceleration/deceleration (the specific

value varies depending on the actuator).

x When both the JOG+ and JOG- signals are turned “ON”, the actuator is decelerated and stopped.

[2] Inch operation The inching operation is available while the JISL signal is turned “ON”. Once it is turned “ON”, the actuator is moved as much as the inching distance. When the JOG+ is turned “ON”, the movement is to the opposite of the home and when the JOG- is turned “ON”, the movement is to the home. The operation is performed based on the set values of the following parameters. x The speed conforms to the value of the parameter specified by the JVEL signal.

If the JVEL signal is OFF, the actuator operates according to parameter No. 26, “PIO jog speed”. If the JVEL signal is ON, the actuator operates according to parameter No. 47, “PIO jog speed 2”.

x The travel conforms to the value of the parameter specified by the JVEL signal.

If the JVEL signal is OFF, the actuator operates according to parameter No. 48, “PIO inch distance”. If the JVEL signal is ON, the actuator operates according to parameter No. 49, “PIO inch distance 2”.

x The Acceleration/deceleration is based on the rated acceleration/deceleration (depending on the

actuator).

2. ACON-C/CG, PCON-C/CG

During the normal operation, even when the “+” Jog Signal or “-“ Jog Signal is turned “ON”, the normal operation is continued. (The Jog signal is ignored) In the pause condition, even when the “+” Jog Signal or “-“ Jog Signal is turned “ON”, the actuator is not moved.

(Note) Because the software stroke limit is disabled before the home return operation, the actuator might

run against the mechanism end. Take the greatest care.

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(14) Jog-speed/inch-distance switching (JVEL) PLC output signal

This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. The relationship is as follows.

JVEL signal Jog operation: JISL=OFF Inch operation: JISL=ON

OFF Parameter No. 26, “Jog speed”

ON Parameter No. 47, “Jog speed 2”

(15) Jog/inch switching (JISL) PLC output signal

This signal changes over the jog operation and the inching operation.

2. ACON-C/CG, PCON-C/CG

JISL=OFF: Jog operation JISL=ON : Inch operation When the JISL signal is turned “ON” (for inching operation) during the jog operation, the actuator is decelerated and performs the inching operation. When the JISL signal is turned OFF (jog) while the actuator is moving by inching, the actuator will complete the movement and then switch to the jog function. The table below summarizes the relationship of the ON/OFF statuses of the JISL signal and jog speed/inch-distance switching (JVEL) signal.

Jog operation Inch operation

JISL OFF ON

Speed Parameter No. 26, “Jog speed” Parameter No. 26, “Jog speed”

Travel – Parameter No. 48, “Inch distance”

JVEL=OFF

Acceleration/deceleration

Speed Parameter No. 47, “Jog speed 2” Parameter No. 47, “Jog speed 2”

Travel – Parameter No. 49, “Inch distance 2”

JVEL=ON

Acceleration/deceleration

Operation

Parameter No. 26, “Jog speed” Parameter No. 48, “Inch distance”

Parameter No. 47, “Jog speed 2” Parameter No. 49, “Inch distance 2”

Rated value (The specific value varies depending on the actuator.)

When the JOG +/JOG – signal is ON.

Rated value (The specific value varies depending on the actuator.)

Upon detection of the leading (ON) edge of the JOG +/JOG – signal.

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(16) Teaching mode command (MODE) PLC output signal

Teaching mode signal (MODES) PLC input signal When the MODE signal is turned “ON”, the normal operation mode is changed to the teaching mode.

When the mode for the controllers for each actuator is changed to the teaching mode, the MODES signal is turned ON. After confirming that the MODES signal is turned “ON” on the PLC side, start the teaching operation.

(Note) In order to change the normal operation mode to the teaching mode, the following conditions are

required.

x The actuator operation (motor) is stopped. x The + JOG (JOG+) signal and – JOG (JOG-) signal are turned “OFF”. x The Position Data Import Command (PWRT) Signal and Positioning start (CSTR) Signal are turned

“OFF”.

(Note) When the PWRT signal is not turned OFF, the mode is not returned to the normal operation mode.

(17) Position data import command (PWRT) PLC output signal

Position data import complete (WEND) PLC input signal The PWRT signal is available when the teaching mode signal (MODES) is turned “ON”.

Turn the PWRT signal ON (*1), and the data of the current position will be written to the “Position” field under the position number set to the specified position number resister of the PLC (*2). When the data writing is completed, the WEND signal is turned “ON”. After the WEND signal is turned ON, turn OFF the PWRT signal in the host machine. When the PWRT signal is turned ON before the WEND signal is turned “ON”, the WEND signal is not turned “ON”. When the PWRT signal is turned “OFF” the WEND signal is also turned “OFF”.

(*1) Turn it on for 20msec or more. If the time is shorter than 20msec, the writing is not completed. (*2) When the data items except for the position have not been defined, the parameter initial values are

written. (Refer to the operation manual for the controller main body)

2. ACON-C/CG, PCON-C/CG

(ACON, PCON o PLC)

(PLC o ACON, PCON)

(ACON, PCON o PLC)

(18) Forced brake release (BKRL) PLC output signal

Turning this signal “ON” can release the brake forcibly.

20 msec or more

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(19) Operating mode selector (RMOD) PLC output signal

Operation mode status (RMDS) PLC input signal The operation mode is selected with the RMOD signal and the MODE switch located on the front surface of

the controller. Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal. The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are described as follows.

RMOD signal = OFF (AUTO mode is specified)

RMOD signal = ON (MANU mode is specified)

(Note) In MANU mode, the startup of the operation from PLC is not available.

2. ACON-C/CG, PCON-C/CG

(20) Position/simple-direct switching (PMOD) PLC output signal

This signal changes over the use of the value registered in the controller position table for the target position in the movement and the use of the value specified in the PLC's target position register. PMOD=OFF: Use the position table PMOD=ON :Use the value of the target position resister

(21) Pressing specification (PUSH) PLC output signal

When the movement command signal is output after this signal is turned ON, the pressing operation is performed. When this signal is set to “OFF”, the normal positioning operation is performed. (Refer to Item (2) Operation in Half direct value mode in “2.8 Operation” for the setting timing for this signal)

(22) Pressing direction specification (DIR) PLC output signal

This signal specifies the pressing direction. When this signal is turned “OFF”, the pressing operation is performed to the position expressed using the value reducing the positioning band from the target position. When this signal is turned “ON”, the pressing operation is performed to the direction of the value determined by adding the positioning band to the target position. In the case of the normal positioning operation, this signal is disabled. (Refer to Item (2) Operation in Half direct value mode in “2.8 Operation” for the setting timing for this signal)

Controller MODE

Switch = AUTO

AUTO mode

(RMDS=OFF)

MANU mode (RMDS=ON)

Controller MODE

Switch = MANU

MANU mode (RMDS=ON)

Speed

Travel

Positioning band Positioning band Positioning band

DIR = OFF Target position

DIR = ON

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(23) Pressing and a miss (PSFL) PLC input signal

In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning band or set using the PLC's positioning band register, but it was not pushed against the work part, this signal is turned “ON”. (Refer to Item (2) Operation in Half direct value mode in “2.8 Operation” for the setting timing for this signal)

(24) Incremental command (INC) PLC output signal

When the movement command is issued while this signal is turned “ON”, the actuator is moved to the position expressed as the value input in the PLC's target position register based on the current position. (Incremental move) When this signal is turned “OFF”, the actuator is moved to the position expressed as the value set in the PLC's target position register.

(25) Pressing in progress (PUSHS) PLC input signal

This signal is turned “ON” during the pressing operation.

Speed

Target position

Travel

Positioning band PUSHS = ON

2. ACON-C/CG, PCON-C/CG

This signal is turned “OFF” when the pressing and a miss signal or the next movement command signal is output, or the servo-motor is turned “OFF”. (Refer to Item (2) Operation in Half direct value mode in “2.8 Operation” for the setting timing for this signal)

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(26) Load output judgment (LOAD) PLC input signal Dedicated PCON function

This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be known if the set load threshold is reached during the pressing operation. The load threshold and check range are set by the PLC and the LOAD signal will turn ON when the command torque (motor current) exceeds the threshold inside the check range. This signal judges the load output based on the fact that the command torque exceeds the threshold for the specified time period. This processing procedure is the same as for the pressing judgment. The judgment time period can be changed freely using the parameter No. 50 “Load Output Judgment Time Period”. This signal is continued until the next movement command is received.

2. ACON-C/CG, PCON-C/CG

Speed

x Set the pressing speed using the parameter No. 34 “Pressing Speed”.

When the machine is delivered, it has been individually set depending on the actuator characteristics. Set an appropriate speed considering the work part material and shape.

x Set the parameter No. 50 “Load Output Judgment Time Period”. x Set the parameter No. 51 “Torque Inspected Range” to “0” (enabled). x Set the threshold inspected width using the PLC's Zone Boundary + Register or Zone Boundary -

x Set the threshold using the PLC's Load Current Threshold Register. x Set the positioning band using the PLC's Positioning Band Register.

Set it a bit longer from the backmost position considering the mechanical dispersion of the work part. Refer to the operation manual for the controller for more information.

Position where this signal is turned ON when the command torque exceeds the threshold within the torque inspected width range

Crack range

Travel

Target position

Position where the actuator is pushed against the work part and the pressing completion is judged so the positioning completion signal is turned “ON”

Positioning band (max. pressing level)

Caution: x If the actuator pushes against the work part before the target position, it is regarded as a

servo-motor error. Take care of the positional relationship between the target position and the work part position.

x The actuator continues to push the work part with the pressing current at the stop time

decided with the current-limiting value. It is not the stop condition, so take the greatest care to deal with it.

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(27) Torque level (TRQS) PLC input signal Dedicated PCON function

This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning band), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON” or "OFF.” The speed available for the pressing varies depends on the motor and leads, it is required to adjust the parameters.

Position where the actuator is pushed against the work part and the pressing completion is judged so the positioning completion signal is turned “ON”

Speed

2. ACON-C/CG, PCON-C/CG

Travel

Range where the TRQS signal is output.

Positioning band (max. pressing level)

Target position

x Set the pressing speed using the parameter No. 34 “Pressing Speed”.

When the machine is delivered, it has been individually set depending on the actuator characteristics. Set an appropriate speed considering the work part material and shape.

x Set the parameter No. 50 “Load Output Judgment Time Period”. x Set the parameter No. 51 “Torque Inspected Range” to “1” (disable). x Set the threshold using the PLC's Load Current Threshold Register. x Set the positioning band using the PLC's Positioning Band Register.

Set it a bit longer from the backmost position considering the mechanical dispersion of the work part. Refer to the operation manual for the controller for more information.

Caution: x If the actuator pushes against the work part before the target position, it is regarded as a

servo-motor error. Take care of the positional relationship between the target position and the work part position.

x The actuator continues to push the work part with the pressing current at the stop time

decided with the current-limiting value. It is not the stop condition, so take the greatest care to deal with it.

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(28) Stopping control mode (SMOD) PLC output signal Dedicated PCON function

One of the pulse motor general characteristics is that that the holding current in the stop mode is larger than that for the AC servo-motor. Because of this, when the stop time is longer at the standby position, the measure to reduce the power consumption at the stop mode is taken as one of the energy saving measures. SMOD=ON: Full Servo Control System is used in the standby condition. SMOD=OFF: Standby condition

x Full-servo control mode

By means of servo control of the pulse motor, the holding current can be reduced. The reduction level varies depending on the actuator type or load conditions. However, generally, the holding current will be 1/2 to 1/4. The actual holding current can be confirmed in the current monitor window in the PC software. (Note) Under the condition where any external force is given or depending on the stop position, slight

vibration or abnormal noise might be caused.

2. ACON-C/CG, PCON-C/CG

Before implementing this feature, take care to investigate its effects on the whole system in a controlled manner.

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(29) Acceleration/deceleration mode (MOD1ޔMOD0) PLC output signal Dedicated ACON function

This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command.

MOD1 MOD0 Pattern name Remarks

OFF OFF Trapezoid pattern Factory setting OFF ON S-shaped motion

ON OFF First-order lag filter ON ON Unavailable

Trapezoid pattern

Speed

Acceleration

Deceleration

Time

* The Acceleration and Deceleration are set in the “Acceleration” and “Deceleration” data boxes on the

position data.

S-shaped motion

When the value in the “Acceleration/deceleration mode” field in the position table is set to 1 (S-shaped motion), the S-shaped motion degree is defined by parameter No. 56. The setting unit is % and the setting range is from “0" to “100.” This is set to 0% (S-shaped motion disabled) in the factory setting.

Speed

2. ACON-C/CG, PCON-C/CG

mplitude

Time

Acceleration time

An S-shaped motion becomes a sine waveform after one cycle of the acceleration time. Specify the degree of amplitude by parameter No. 56.

Parameter No. 56 setting [%] Degree of amplitude

0 [Factory setting] S-shaped motion disabled (Dashed line in the figure below)

100 Sine waveform amplitude x 1 (Chain double-dotted line in the figure below)

50 Sine waveform amplitude x 0.5 (Chain single-dotted line in the figure below) 10 Sine waveform amplitude x 0.1 (Solid line in the figure below)

Setting: 50

Setting: 10

Setting: 100

Page 76

Caution: [1] Even if a position command or direct value command with S-shaped motion setting is

[2] When the index mode is set on the rotary actuator, S-shaped motion is not executed,

[3] Set the acceleration/deceleration speed so that the time for each will be within two

[4] An input to pause is not allowed during acceleration or deceleration. It may cause an

[5] If a large value is set, the speed will accelerate significantly at around the mid-point of

2. ACON-C/CG, PCON-C/CG

First-order lag filter

This describes a much gentler acceleration/deceleration curve than that for the linear acceleration/deceleration (trapezoid pattern). Use it when it is not desired to give any slight vibration to the work part in acceleration/deceleration operation.

issued when the actuator is running, S-shaped motion control will not be executed. Issue these commands when the actuator is stopped.

and, instead, trapezoid control will be executed.

seconds.

excessive change in speed.

the acceleration/deceleration time. Do not exceed the rated acceleration/deceleration time of the actuator.

Speed

Time

* The first-order lag degree set using the parameter No. 55 “Position Command Primary Filter Time

Constant”. The minimum input unit is 0.1msec and setting range is from “0.0” to “100.0”. When it is set to “0”, the first-order lag filter is disabled. However, the setting is not reflected on the jog operation or inching operation performed using the teaching tools such as PC.

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(30) Stop Mode Selection (ASO1, ASO0) PLC Output Signal

Select the stop mode for the duration before the movement to the next position after a positioning is completed. If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption. Refer to the operation manual for the controller for more information.

2. ACON-C/CG, PCON-C/CG

ASO1 ASO0

Functions

Reference

OFF OFF Disabled (Set in delivery)

OFF ON

ON OFF

ON ON

Movement Command

Servo Condition

ctuator

Moving

Automatic Servo OFF Method Parameter No. 36 is valid for T Automatic Servo OFF Method Parameter No. 37 is valid for T Automatic Servo OFF Method Parameter No. 38 is valid for T

In automatic servo OFF duration (Green LED blinks)

Servo ON Condition

Target Position

T :

Waiting time (sec) before servo is turned OFF after the positioning is completed

Page 78

2.7 I/O Signal Timings

When any of the control signal is turned ON to perform the operation of the robot cylinder using the PLC's sequence program, the response (status) is returned to the PLC. The maximum response time is expressed using the following formula.

Maximum response time (msec)䋽Yt+Xt+3+ command processing time (operation time, etc.)

Yt: Master stationoslave transmission delay time Xt: Slaveomaster station transmission delay time

Master Station o For the master station o slave transmission delay (Yt) and slave omaster station

2. ACON-C/CG, PCON-C/CG

PLC sequence program

Control signal

Status signal

Filed network transmission delay time

transmission delay (Xt), refer to the operation manuals for the EtherNet/IP master unit and PLC installed in the master unit.

CON, PCON

Control signal

Status signal

Master station o Slave transmission delay time (Yt)

Command processing time

Slave o Master station Transmission delay time (Xt)

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2.8 Operation

The timings for the basic operation examples in the Position/Simplified Direct Value Mode, Half direct value mode and Full direct value mode, are described. For the Remote I/O mode and Remote I/O mode 2, refer to the controller’s operational manual. (In remote I/O mode 2, read the current position and current speed from the respective byte of the PLC, as deemed appropriate.)

(1) Operation in the position/simple-direct mode

It is operated with the position data written in the PLC's register and the speed, acceleration /deceleration, positioning band and pressing current-limiting value, etc. set using the position table.

z Example of operation (normal positioning operation)

(Preparation) Set the position data items (speed, acceleration/deceleration, positioning band, etc)

except for the target position item, in the position table.

Turn on the Position/Simplified Direct Value Change-Over Signal (PMOD). [1] Set the target position data in the target position register. [2] Set the position No. where the speed and acceleration/deceleration, etc., have been set, in the

setup position No. register.

[3] In the condition where the positioning completion (PEND) signal is turned “ON” or, Under Movement

(MOVE) signal is turned “OFF”, turn “ON” the Positioning start (CSTR) signal. The data items set in Steps 1) and 2) are read in the controller at the startup (ON edge) of the CSTR signal. The data items set in Steps 1) and 2) are read in the controller at the startup (ON edge) of the CSTR

signal. [4] After the CSTR signal is turned “ON”, the PEND signal is turned OFF after tdpf. [5] After confirming that the PEND signal is turned “OFF” or MOVE signal is turned “ON”, turn “OFF” the

CSTR signal. Do not change the value in the target position register until the CSTR signal is turned

“OFF”. [6] At the same time when the PEND signal is turned “OFF”, the MOVE signal is turned “ON”. [7] The current position data is continuously updated. When the remaining travel distance becomes

within the range of the positioning band set in the position data, and the CSTR signal is turned

“OFF”, the PEND signal is turned “ON”. Then, the completed position No. is output to the completed

position No. register.

Accordingly, for the read of the completed position No. register when the positioning is completed,

confirm it some time (Remaining Travel Distance Movement Time) after the PEND signal is turned

“ON”.

The current position data might be changed slightly even when the system is stopped. [8] The target position data can be changed during the actuator movement.

In order to change the target position, change the target data and turn ON the CSTR signal after the

time longer than the PLC scanning time has passed.

Change the value for the CSTR signal after the time longer than the PLC scanning time has passed.

2. ACON-C/CG, PCON-C/CG

z Example of operation (Pressing operation)

For the pressing operation, the current-limiting value is set in the pressing data box on the position data at the preparation stage. When the positioning is performed onto the position No. for which the value is set in the pressing data box, the pressing operation is performed.

Page 80

Set value of target

position data

Specific position

number

2. ACON-C/CG, PCON-C/CG

Positioning start

[1]

[2]

[3]

Positioning completion

Current position

Moving

Actuator moving

[4]

[5]

[7]

[6]

Positioning band

* T1: Considering the scanning time of the host controller, set it

so that “T1  0ms”.

* Yt+Xt  tdpf  Yt+Xt+3 (msec)

Page 81

(2) Operation in the half direction mode

It is operated with the data set in the PLC's target position register, positioning band register, setup speed register, acceleration/deceleration register and pressing current-limiting setup register. z Example of operation (Pressing operation)

[1] Set the target position data in the target position register. [2] Set the positioning band data in the positioning band register. [3] Set the speed data to the speed resister. [4] Set the acceleration/deceleration data to the acceleration/deceleration resister. [5] Set the pressing current-limiting data in the pressing current-limiting value register. [6] Turn “ON” the pressing setup (PUSH) signal. [7] Specify the pressing direction using the pressing direction setup (DIR) signal. (refer to 2.6.7 (22)) [8] In the condition where the positioning completion (PEND) signal is turned “ON” or under movement

signal (MOVE) is turned “OFF”, turn “ON” the positioning command (DSTR) signal.

The data items set in Steps 1) through 5) are read in the controller at the startup (ON edge) of the

DSTR signal. [9] After the DSTR signal is turned “ON”, the PEND signal is turned “OFF” after tdpf. [10] After confirming that the PEND signal is turned “OFF” or the MOVE signal is turned “ON”, turn “OFF”

the DSTR signal. Do not change any value in each register until the DSTR signal has been turned

“OFF”. [11] At the same time when the PEND signal is turned “OFF”, the MOVE signal is turned “ON”. [12] The current position data is continuously updated. [13] When the DSTR signal is turned “OFF” and the motor current reaches the current-limiting value set

in Step 5, the PEND signal is turned “ON”. (Completion of pressing operation)

Even when the positioning band set in Step 2 is reached, in the case that the current does not reach

the motor current-limiting value set in Step 5, the pressing and a miss (PSFL) signal is turned "ON”.

In this case, the PEND signal is not turned “ON” (Pressing and a Miss). [14] After the PEND signal or PSFL signal is turned “ON”, turn “OFF” the PUSH signal.

2. ACON-C/CG, PCON-C/CG

z Example of operation (normal positioning operation)

For the general positioning operation, set the signal in Step 6 to “OFF”. When the remaining travel distance becomes within the range of the positioning band set in the position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”.

Page 82

2. ACON-C/CG, PCON-C/CG

[1]

[2]

[3]

[4]

[5]

[6]

[7]

[8]

[9]

[10]

[12]

[14]

Set value of target

position data

Set value of positioning

band data

Set value of speed data

Set value of acceleration/

deceleration data

Set value of pressing

current-limiting value

Pressing specification

Push direction specification

Positioning command

Positioning completion/

pressing and a miss

PEND/PSFL

Current position

Moving

Actuator operation

(Pressing)

Actuator operation

(Normal positioning)

* T1

Pressing

Positioning band

*T1: Considering the scanning time of the host controller, set it

so that “T1  0ms”.

*Yt+Xt  tdpf  Yt+Xt+3(msec)

Page 83

(3) Operation in the full direct mode

The actuator is operated by specifying all conditions required for positioning such as the target position resister and positioning band resister of the PLC. z Example of operation (Pressing operation)

register. [5] Set the acceleration data in the acceleration register. [6] Set the deceleration data in the deceleration register. [7] Set the pressing current-limiting data in the pressing current-limiting value register. [8] Set the load current threshold data in the load current threshold setup register. [9] Turn “ON” the pressing setup (PUSH) signal. [10] Specify the pressing direction using the pressing direction setup (DIR) signal. (Refer to 2.6.7 (22)) [11] In the condition where the positioning completion (PEND) signal is turned “ON” or under movement

signal (MOVE) is turned “OFF”, turn “ON” the positioning command (DSTR) signal.

The data items set in Steps 1) through 8) are read in the controller at the startup (ON edge) of the

DSTR signal. [12] After the DSTR signal is turned “ON”, the PEND signal is turned “OFF” after tpdf. [13] After confirming that the PEND signal is turned “OFF” or the MOVE signal is turned “ON”, turn “OFF”

the DSTR signal. Do not change any value in each register until the DSTR signal has been turned

“OFF”. [14] At the same time when the PEND signal is turned “OFF”, the MOVE signal is turned “ON”. [15] The current position data is continuously updated. [16] When the DSTR signal is turned “OFF” and the motor current reaches the current-limiting value set

in Step 7, the PEND signal is turned “ON” (Completion of pressing operation)

Even when the positioning band set in Step 2 is reached, in the case that the current does not reach

the motor current-limiting value set in Step 7, the pressing and a miss (PSFL) signal is turned "ON”.

In this case, the PEND signal is not turned “ON” (Pressing and a Miss). [17] After the PEND signal or PSEL signal is turned “ON”, turn “OFF” the PUSH signal.

2. ACON-C/CG, PCON-C/CG

z Example of operation (normal positioning operation)

For the general positioning operation, set the signal in Step 9 to “OFF”. When the remaining travel distance becomes within the range of the positioning band set in the position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”.

Page 84

Set value of target

position data

Set value of positioning

band data

Set value of speed data

2. ACON-C/CG, PCON-C/CG

Set value of position zone

boundary data

Set value of acceleration

data

[1]

[2]

[3]

[4]

[5]

Set value of deceleration

data

Set value of pressing current-limiting value

Set value of load current

threshold data

[6]

[7]

[8]

Page 85

Pressing specification

Push direction specification

[9]

2. ACON-C/CG, PCON-C/CG

[10]

Positioning command

Positioning completion/

pressing and a miss

PEND/PSFL

Current position

Moving

Actuator operation

(Pressing)

Actuator operation

(Normal positioning)

[11]

[17]

[12]

[14]

[13]

[16]

[15]

Pressing

Positioning band

*T1: Considering the scanning time of the host controller, set it

so that “T1  0ms”.

*Yt+Xt  tdpf  Yt+Xt+3 (msec)

Page 86

(4) Data change during movement

In the half direct mode or full direct mode, the value currently set to a given resister among the resisters for target position data, acceleration/deceleration data, speed data, positioning band and pressing current-limiting value, can be changed while the actuator is moving. After changing the data, turn “ON” the positioning command (DSTR) for more than tdpf. Also, after turning “OFF” the DSTR, set aside some time for “twcsON + twcsOFF” or more, until the next DSTR is turned “ON”. The example is shows as follows, where the speed and acceleration/deceleration data items have been changed.

[1]

Set value of speed or

acceleration/deceleration

2. ACON-C/CG, PCON-C/CG

Actuator speed

Caution

1. When the speed has not been set or it is set to “0”, the actuator is not moved, but an alarm

2. When the speed setting is changed to “0” during the movement, the actuator is

3. Even when the acceleration/deceleration data only is changed during the movement, the

4. Even when the target position data only is changed during the movement, the setting of

[2]

Speed n2

twcsON  Yt+Xt+3 (msec) twcsOFF  Yt+Xt+3 (msec) *Yt+Xt  tpdf  Yt+Xt+3 (msec)

is not issued.

decelerated and stopped, but an alarm is not issued.

setting of the target position data is required.

the acceleration/deceleration data is required.

[3]

Speed n3

Page 87

2.9 EtherNet/IP Related Parameters

Parameters relating to EtherNet/IP are No. 84, No. 86 to 87, No. 90 and No. 140 to 142.

Category: C: External interface parameter

No. Category Symbol Name

Refer to operation manual for the controller for the parameters No. 1 through No. 83.

Default value set in the

factory before delivery

84 C FMOD Field bus operation mode 0 86 C FBRS Field bus baud rate 0 87 C NTYP Network type 7

90 C FMIO Field I/O format 3 140 C IPAD IP address 192.168.0.1 141 C SNMK Subnet mask 255.255.255.0 142 C DFGW Default gateway 0.0.0.0

z Field bus operation mode (No.84 FMOD)

Specify the operation mode in parameter No. 84 using a value between 0 and 4.

Value set in

parameter No. 84

(Factory setting)

Mode

Remote I/O mode

Position/simple direct mode

Number of

occupied bytes

Contents

Operation using PIOs (24 V I/Os) is performed via EtherNet/IP.

The target position can be set directly using the value or the operation can be performed using position data value. The other values required for the operation are set on the position data.

Half direct value

mode

In addition to the target position, the speed, acceleration/deceleration and pressing current value are set directly using the values to perform the operation.

Full direct value

mode

All the values related to the position control are set using the values to perform the operation.

Remote I/O mode

The current position and current speed reading functions are added to the functions in the remote I/O mode.

2. ACON-C/CG, PCON-C/CG

z Fieldbus baud rate (No. 86: FBRS)

Specify the baud rate in parameter No. 86.

Set value Baud rate

0 (Factory setting) Auto negotiation (recommended)

Other than the above Baud rate setting error

1 10 Mbps, half-duplex 2 10 Mbps, full-duplex 3 100 Mbps, half-duplex 4 100 Mbps, full-duplex

Page 88

z Network type (No.87 NTYP)

The network module type is set for the parameter No. 87. Do not change the default value.

z Field I/O format (No.90 FMIO)

Addresses in the PLC are assigned in units of 16 points (2 bytes) based on the node address set in the controller and the occupied bytes in each operation mode. By changing the setting of parameter No. 90, data elements can be swapped within a boundary of two words or less in units of bytes during communication using the I/O areas of the PLC.

Value set in

parameter No. 90

2. ACON-C/CG, PCON-C/CG

3 (Factory setting)

(Example i) Set value = “0” z indicates ON, while c indicates OFF

CON, PCON Input resister

Hexadecimal

data

PLC: Output CH

Contents

Data exchange is not performed. The data is sent directly to the PLC. (Refer to “Example i”.)

The host bytes are exchanged with slave bytes in the host words and slave words. (Refer to “Example ii”.)

In the case of word register, the host words are exchanged with the

slave words. (Refer to “Example iii”.)

The host bytes are exchanged with slave bytes in the host words and slave words. In addition, the upper word and lower word are swapped for word resisters. (Refer to “Example iv”.)

Hexadecimal

data

CON, PCON Output resister

Hexadecimal

data

PLC: Input CH

Hexadecimal

data

Page 89

(Example ii) Set value = “1” z indicates ON, while c indicates OFF

CON, PCON Input resister

Hexadecimal

data

PLC: Output CH

Hexadecimal

data

CON, PCON Output resister

Hexadecimal

data

2. ACON-C/CG, PCON-C/CG

PLC: Input CH

Hexadecimal

data

Page 90

(Example iii) Set value = “2” z indicates ON, while c indicates OFF

CON, PCON Input resister

Hexadecimal

data

PLC: Output CH

2. ACON-C/CG, PCON-C/CG

Hexadecimal

dat

CON, PCON Output resister

Hexadecimal

data

PLC: Input CH

Hexadecimal

data

Page 91

(Example iv) Set value = “3” z indicates ON, while c indicates OFF

CON, PCON Input resister

Hexadecimal

data

PLC: Output CH

Hexadecimal

data

CON, PCON Output resister

Hexadecimal

data

2. ACON-C/CG, PCON-C/CG

PLC: Input CH

Hexadecimal

data

Page 92

z IP address (No. 140: IPAD)

Specify the IP address in parameter No. 140.

Setting range: 0.0.0.0 to 255.255.255.255 (Factory setting: 192.168.0.1) (Note) When this parameter is set to 0.0.0.0, DHCP is enabled. Manual setting is recommended.

z Subnet mask (No. 141: SNMK)

Specify the subnet mask in parameter No. 141.

Settable range: 0.0.0.0 to 255.255.255.255 (Factory setting: 255.255.255.0)

z Default gateway (No. 142: DFGW)

Specify the default gateway in parameter No. 142.

Settable range: 0.0.0.0 to 255.255.255.255 (Factory setting: 0.0.0.0)

2. ACON-C/CG, PCON-C/CG

2.10 Troubleshooting

z Alarm messages and causes/actions

When an alarm occurs, a corresponding simple alarm code is indicated by the completed position number bits (four bits of PM1 to PM8) in remote I/O mode 1, 2 or 3. In position/simple direct mode 1 or 2, this simple alarm code is output to the (n+4, n+5) bytes. In half direct mode 1, 2 or 3 or in the full direct mode, this alarm code is output to the (n+12, n+13) bytes [1] Check the alarm code using the monitor function of the PLC, etc., or connect the RC PC software or

other teaching tool and check the status monitor screen.

[2] Search the alarm list in the operation manual for your controller to find the section corresponding to

the identified alarm code.

[3] Take an appropriate action according to the explanation of the alarm code.

For the alarm codes listed below, take the corresponding actions:

Code Error name

0F2 Fieldbus module error 05 x

0F3

(*1) ID o Simple alarm code (*2) RES o Alarm can/cannot be reset – O: Alarm can be reset / X: Alarm cannot be reset

Fieldbus module

non-detection error

(*1)

RES

(*2)

04 x

Cause/action

Cause: A fieldbus module error has been

detected. Action: Check the applicable parameters. Cause: The module could not be detected. Action: Reconnect the power. If the problem

persists, please contact IAI.

Page 93

3. PCON-CA/CFA

3.1 Operation Modes and Functions

PCON-CA/CFA controllers equipped with EtherNet/IP can be operated in the following five operational modes:

Operation Modes and Main Functions

Position/

Simplified direct

value mode

c c c c

Half direct

value mode

c c

X X

Full direct

value mode

Remote I/O

mode 2

Main functions

Number of occupied bytes

Position data setup operation

Speed and acceleration direct setup

Pressing operation

Current position read

Current speed read

Operation with the position No. specified

Completion position No. read

No. of max. position tables

Remote I/O

mode

2 8 16 32 12

X c(*1)

X X

c c c c c

X X

c c

512 768 Unused Unused 512

(*1) For the position data items except for position data, operate the system with the position No. set up.

3. SCON-CA/CFA

[1] Remote I/O mode: In this operation method, EtherNet/IP communications is used to mimic the

operation of hardware PIO (24V I/O). Number of occupied bytes: 2 bytes

PCON-CA/CFA not applicable to EtherNet/IP

Flat cable

In the case of the connection using PIO

In the case of the connection using EtherNet/IP

PCON-CA/CFA applicable to EtherNet/IP

Communication

cable

Page 94

[2] Position/simplified direct value mode:

Target position: 100.00mm

3. SCON-CA/CFA

Position No. 0

Speed Acceleration Deceleration Push

PCON-CA/CFA applicable to EtherNet/IP

Actuator

[3] Half direct value mode: In this operation mode, “Speed”, “Acceleration/Deceleration,” and “Pressing

Current Values,” are directly established along with the “Target Position.” Number of occupied bytes: 16 bytes

Target position: 100.00 mm Positioning band: 0.10 mm Speed setup: 100.0 mm/s

cceleration/deceleration:

0.30 G Pressing current value: 50%

PCON-CA/CFA applicable to EtherNet/IP

Actuator

Page 95

[4] Full direct value mode: In this operation mode, all values regarding position control (“Target Position,”

"Speed” and "Acceleration/Deceleration,” etc.) are directly established. Number of occupied bytes: 32 bytes

Target position: 100.00 mm Positioning band: 0.10 mm Speed setup: 100.0 mm/s

cceleration: 0.30 G Deceleration: 0.30 G Pressing current value: 50% Load current threshold: 0 Zone +: 50.00 mm Zone -: 30.00 mm

3. SCON-CA/CFA

PCON-CA/CFA applicable to EtherNet/IP

Actuator

[5] Remote I/O mode 2: In this operation method, EtherNet/IP communications is used to mimic the

operation of hardware PIO (24V I/O). The use of this mode expands the functionality of “Remote I/O Mode” to include position and command current feedback. Number of occupied bytes: 12 bytes

PCON-CA/CFA applicable to EtherNet/IP

Communication

cable

Flat cable

In the case of the connection using PIO

PCON-CA/CFA not applicable to EtherNet/IP

In the case of the connection using EtherNet/IP

Page 96

3.2 Model Numbers

The Model numbers of PCON-CA/CFA applicable to EtherNet/IP are described as follows.

Ɣ PCON-CA--EP- Ɣ PCON-CFA--EP-

3. SCON-CA/CFA

Printed series name y PCON

Front panel color

y PCON-CA : Dark green y PCON-CFA : Light green

Page 97

3.3 EtherNet/IP Interface

3.3.1 Names of the Parts

The names of each section related to EtherNet/IP are described as follows.

SV/ALM Status indicator LEDs

֥Status LEDs

EtherNet/IP port

3.3.2 Monitor LED Indications

Name Display color Explanation

OFF The power is turned off or IP address is not yet set.

GN㧔Illuminating㧕

GN (Flashing)

RED (Illuminating)

RED (Flashing)

OFF The power is turned off.

GN㧔Illuminating)

GN (Flashing)

RED (Illuminating)

RED (Flashing)

Connection has been established and proper communication is in progress. The system is online but connection is not yet established. Communication is stopped (the network is normal). Check the status of the master unit. A communication error is present. Communication cannot be established because an error, such as duplicate IP addresses, has been detected. A communication error is present. (A communication timeout has been detected.)

Operation is normal. The system is in the scanner (master) control mode. Connection is not yet established with the scanner (master). Check the setting of configuration information. Check if the scanner (master) is idle. A hardware error is present. The board must be replaced. Please contact IAI. A configuration error, invalid setting or other minor error is present. The problem can be resolved by, for example, setting the problem item or items again.

Check the IP address setting, wiring condition of the communication line, power supply for the hub, noise measures, etc.

3. SCON-CA/CFA

Page 98

3.4 Wiring Example

3.4.1 Connection Diagram

PLC (EtherNet/IP master unit)

Hub

Ethernet cable*

3. SCON-CA/CFA

Ethernet

cable*

CON-CPCON-CA/CF

* Ethernet cable: Straight cable of category 5e or above, 100 m max

(Aluminum tape and braided double-shielded cable are recommended.)

(Note) Terminal processing is not required.

Ethernet cable*

Other slaves

3.4.2 Connector Pin Layout

RJ45 8-pin modular connector (Controller side)

Pin number Signal name Signal abbreviation

1 Data transmitted + TD+ 2 Data transmitted - TD3 Data received + RD+ 4 Not used 5 Not used 6 Data received - RD7 Not used 8 Not used

Connector hood Grounding pin for security FG

Page 99

3.5 Setting

Using the teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the controller to “MANU” side. Refer to the instruction manual for each teaching tool for the applicable version of the teaching tool that can be applied to EtherNet/IP.

3.5.1 Operation Mode Selecting

Set parameter No. 84 “FMOD: Field bus operation mode.” [Refer to 3.9 EtherNet/IP Related Parameters.]

3. SCON-CA/CFA

Set value Operation mode

0 (Factory setting) Remote I/O mode 2

2 Half direct value mode 16

3 Full direct value mode 32

4 Remote I/O mode 2 12

* Entering any value except for the ones described above will cause an “Excessive Input Value Error”.

Position/simplified direct

value mode

Number of

occupied bytes

3.5.2 Setting the Baud Rate

Set parameter No. 86, “FBRS: Fieldbus baud rate.”

Set value Baud rate

0 (Factory setting) Auto negotiation (recommended)

1 10 Mbps, half-duplex

2 10 Mbps, full-duplex

3 100 Mbps, half-duplex

4 100 Mbps, full-duplex

Other than the above Baud rate setting error

3.5.3 Setting the IP Address

Set parameter No. 140, “IPAD: IP address.” [Refer to 3.9, “EtherNet/IP Parameters.”]

Settable Range:0.0.0.0 to 255.255.255.255 (It is set to “192.168.0.1” when the machine is delivered from the factory.)

(Note 1) Exercise caution to avoid IP address duplication.

For details, refer to the operation manuals of the master unit and PLC in which in the master unit is installed.

(Note 2) When this parameter is set to 0.0.0.0, DHCP (automatic assignment of IP address) is enabled.

Since this setting may result in the IP address being changed unintentionally, it is recommended that you set the address manually.

Page 100

3.5.4 Setting the Subnet Mask

Set parameter No. 141, “SNMK: Subnet mask.” Set the same value you have set in the master unit and other slaves (on the same network). [Refer to 3.9, “EtherNet/IP Parameters.”]

Settable range: 0.0.0.0 to 255.255.255.255 (The factory setting is 255.255.255.0.)

3.5.5 Setting the Default Gateway

If necessary, set parameter No. 142, “DFGW: Default gateway.” [Refer to 3.9, “EtherNet/IP Parameters.”]

3. SCON-CA/CFA

Settable range: 0.0.0.0 to 255.255.255.255 (The factory setting is 0.0.0.0.)

(Note) After the parameter setting, turn on the power to the controller again and return the mode toggle

switch on the front of the controller to “AUTO” side. When the switch is set to “MANU”, the operation using PLC is not available.