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

IAI America Inc.

CC-Link
RCM-GW-CC
Gateway Unit

Operation Manual First Edition

Table of Contents

1. Outline······················································································································································· 1

1.1 CC-Link gateway unit··························································································································· 1

1.2 What is CC-Link··································································································································· 2

1.3 Application example of gateway unit···································································································· 3

1.4 Features ·············································································································································· 4

1.5 How to identify model ·························································································································· 6

2. Specifications and name of each part ······································································································· 7

2.1 General specifications ························································································································· 7

2.2 External dimension drawing················································································································· 8

2.3 Name and function of each part··········································································································· 9

3. Installation and Noise Elimination ··········································································································· 14

3.1 Installation Environment ···················································································································· 14

3.2 Power Supply ···································································································································· 14

3.3 Noise Elimination and Grounding ······································································································ 14

3.4 Installation ········································································································································· 16

4. Wiring······················································································································································ 17

4.1 Overall Configuration ························································································································· 17

4.2 Input and output signal of gateway unit ····························································································· 20

4.3 Building of SIO communication network (SIO communication)·························································· 23

5. Outline of CC-Link··································································································································· 32

5.1 Data communication·························································································································· 32

5.2 Address assignment of master PLC ·································································································· 33

6. Address configuration of gateway ··········································································································· 35

6.1 Gateway control signal ······················································································································ 35

6.2 Position data limit designation mode ································································································· 38

6.3 Position No. designation mode ·········································································································· 42

6.4 Position/speed/acceleration and deceleration designation ································································ 47

6.5 Push operation enable mode············································································································· 52

6.6 Simple direct value/position No. designation mode ··········································································· 58

7. Contents of communication signal ·········································································································· 75

7.1 Outline of timing for communication signal ························································································ 75

7.2 Communication signal and operation timing ······················································································ 76

7.3 Command transmission and reception ······························································································88

8. System build-up ······································································································································ 90

8.1. Communication setting for controller ································································································· 90

8.2. CC-Link communication setting ········································································································· 91

8.3. Master PLC address assignment······································································································· 93

8.4. CSP file·············································································································································· 97

9. CC-Link operation case ·························································································································· 98

9.1 Outline of configuration······················································································································ 98

9.2 Actuator operating pattern ················································································································· 99

9.3 Various settings on SIO link side ······································································································· 99

9.4 Setting of gateway unit ···················································································································· 101

9.5 Setting on CC-Link master side ······································································································· 101

9.6 Address Correlation Diagram ·········································································································· 108

9.7 Ladder Sequence Flowchart············································································································· 110

9.8 Ladder Sequence ·····························································································································112

10. Troubleshooting ···································································································································· 122

10.1 Action to Be Taken upon Occurrence of Trouble ············································································· 122

10.2 Troubleshooting ······························································································································· 123

1

1. Outline

1.1 CC-Link gateway unit

CC-Link Gateway Unit (hereinafter, referred to as CC-Link gateway or gateway unit) is a unit to connect the

network of CC-Link communication protocol for an upper programmable controller (hereinafter, referred to as

PLC) and SIO communication network (Modbus communication protocol) for a controller (for robo-cylinder)

which is a sub-network.

Physical standard for SIO communication network is RS-485, and slave addresses on this network are 1-16.

All data exchanged between the CC-Link and the Modbus protocol communication network are once stored in

the internal memory of the gateway unit, and transmitted to CYCLIC. The gateway unit is handled from the

PLC side as a remote I/O.

Adaptable controllers are PCON-SE, ACON-SE, SCON and ERC2-SE.

* Gateway is communication terminology, and is equipment which mutually converts data of which media and

protocols are different on networks, and allows for communication.

2

1.2 What is CC-Link

(1) System of FA communication

For FA communication, communication specifications depend on equipment on the communicating end,

content of information and its purpose, however, are roughly divided into information level, controller

level and field level as shown in the following diagram.

(2) Information level

This is mainly used to transmit production information to an information terminal, and is referred to as

“PLC upper network.” Ethernet is mostly used for this level.

(3) Controller level

This frequently handles real time information for a production line, and is referred to as “Network

between PLCs.”

(4) Field level

This is referred to as “PLC lower network,” and is mainly used to save wiring for a control system of

which one controller is in charge, and is positioned as “Wiring save communication.”

This level is largely classified into device level and sensor level.

Information level Controller level Field level

FA computer

Device level

Primary open network

Robot

Remote I/O

Motor
driver

Sensor level

Installed

instrument

Solenoid

valve

Limit switch

3

(5) CC-Link

CC-Link has become wide spread mainly for FA as an open network for device level. Communication

specifications are open to the public, therefore, equipment in compliance with CC-Link can be

communicated without a program regardless of manufacturer.

Presently, CC-Link is spread and operated by CC-Link association (CLPA: CC-Link Partner Association),

which is a non-profitable organization.

Main features are as follows.

[1] Highly perfected saved wiring communication which has realized complete multi-vendor connection.

[2] This is a unified standard, therefore, it can be used even overseas.

[3] Since slave equipment is handled as a PLC remote I/O to which CC-Link unit is installed,

communication can be made without a particular program.

[4] Since line efficiency is high, communication with high-speed response can be made.

※ For details of CC-Link, refer to Operation Manuals of the master unit and the PLC to be installed.

Use this Operation Manual together with the Operation Manual of the controller to be connected.

This CC-Link gateway cannot be used in ways other than those for which this Operation Manual expressly

allows. Further, do not perform setting and wiring other than those for which this Operation Manual

expressly allows.

1.3 Application example of gateway unit

Application example is shown on the network in the following diagram.

CPU unit CC-Link

unit
(master
station)

Remote I/O

s

t

ation

CC-Link gateway

(remote device

station)

Remote I/O

station

Remote I/O

station

SIO communication network (Modbus)

4

1.4 Features

For CC-Link gateway, operation modes of the following four patterns can be selected.

(1) Position data limit designation mode

Only position data can be directly designated, and the maximum connecting axis number totals 14

axes.

Further, various status signals can be input and output, and present position data can be read.

Speed, acceleration and deceleration can be set for parameters for each axis as fixed values.

(2) Position No. designation mode

This is a mode to designate No. of position table for operation, and the maximum connecting axis

number totals 14 axes.

Position data, speed, acceleration and deceleration are input into the position data table of each axis in

advance. Input and output of various status signals and completed position No. can be read.

(3) Positioning data designation mode

This is a mode to directly designate position data for operation, and there are two patterns of normal

positioning and push operation.

[1] Normal positioning mode

This mode directly designates speed, acceleration and deceleration in addition to position data, and

the maximum connecting axis number totals 7 axes.

Further, input and output of various status signals and present position data can be read.

[2] Push operation mode

Push operation can be performed, and the maximum connecting axis number totals 3 axes.

This is a mode in which direct designation of current limit value (%) and positioning width for push is

added to the normal positioning mode.

(4) Simple direct value/Position No. designation mode

This mode can mix position No. designated axis and simple direct value designated (position data is

designated by numeric value, and the other movement data is designated by position table) axis.

Axis number is assigned from position No. designated axes, and subsequently, it is necessary to assign

the number to simple direct value designated axis. Depending on the size of the assignment area,

there is a Large pattern (88 words respectively for input and output), Middle pattern (68 words

respectively for input and output) and Small pattern (34 words respectively for input and output), and

the maximum connecting axis number totals 16 axes.

This Manual only describes content which can be controlled by using the Gateway unit. Content of this Manual

takes precedence over content of the Operation Manual for the controller. For detailed contents of functions,

parameter settings and alarms, refer to the Operation Manual for the controller.

5

Operation mode and primary functions

Positioning data designated

mode

Primary functions

Position data

limit designated

mode

Position No.

designated

mode

Normal

positioning

mode

Push

operation

mode

Simple direct

value/Position

No. designated

mode

Position data

designated operation

○ × ○ ○ ○

Speed, acceleration

and deceleration direct

designation

× × ○ ○ ×

Push operation

× ○ × ○ ○

Present position

reading

○

○ ○ ○

Position No. designated

operation

× ○ × × ○

Completed position No.

reading

× ○ × × ○

Connectable axis

number

14 14 7 3 16

Settable axis No. (*1) 0 - 13 0 - 13 0 - 6 0 - 2 0 - 15

Position data

designated maximum

value (*2)

327.67mm

Designated

to position

table

327.67mm 9999.99mm

Operable CC-Link

version

Ver. 1, Ver. 2 Ver. 2

CAUTION

*1 A range of effective axis No. which is set to axis connected by SIO communication. Values set

exceeding this range are ignored. This case does not generate an alarm.

*2 In the case of position data direct designated operation, maximum value of position data is limited by

limiting data length of input and output register.

6

1.5 How to identify model

RCM-GW-CC

Basic model For CC-Link

Gateway unit

7

2. Specifications and name of each part

2.1 General specifications

Item Specification

Power supply 24V DC ±10%

Consuming current 300mA max.

Communications standard CC-Link Ver1.10 (*1)

Communications speed 10M/5M/2.5M/625k/156kbps (Selection with rotary switch)

Communications system Broadcast polling system

Synchronization system Frame synchronization system

Encoding system NRZI

Transmission path format Bus format (EIA RS485 conformance)

Transmission format HDLC conformance

Error control system CRC (X16 + X12 + X5 + 1)

Number of occupied stations Remote device station 4 stations

Communications speed (bps) 10M 5M 2.5M 625k 156KCommunications cable length

(*2)

Overall cable length (m) 100 160 400 900 1200

CC-Link specification

Communication cable CC-Link dedicated cable

Transmission path configuration Our dedicated multi-drop difference communication

Communications system Half-duplex

Synchronization system Asynchronous type

Transmission path format Equivalent to EIA RS485 2-wire type

Communication speed 30.4kbps

Error control system No parity bit, CRC (*3)

Communication cable length Total cable length 100m or shorter

Connecting unit number Maximum 3/7/14/16 axes (depending on operation mode)

SIO communication specification

Communication cable Two-paired twist-pair shielded cable

(Recommended brand: Taiyo Electric Wire & Cable

HK-SB/20276×L 2P×AWG22)

Operating ambient temperature 0 - 40°C

Operating ambient humidity 85%RH or less (non-condensing)

Operating atmosphere Not subject to corrosive gas, flammable gas, oil mist, powdered dust

Storage temperature -10 - 65°C

Storage humidity 90%RH or less (non-condensing)

Environmental

Vibration resistance 4.9m/s2 (0.5G)

Protection class IP20

Weight 480g or less

(*1) Certification has been acquired

(*2) For T branch communication, refer to the Operation Manuals for the master unit and PLC to be

mounted.

(*3) CRC: Cyclic Redundancy Check

Data error detecting method which is mostly used for synchronizing transmission

8

2.2 External dimension drawing

(Mounting dimension)

9

2.3 Name and function of each part

[1] Gateway status

indication LED
RUN: Normal
G.ER: Error
C.ER: CC-Link error
T.ER: SIO link error

[2] SIO communication

status LED
TxD: Data transmission
RxD: Data reception

[3] Mode setting switch

[SIO communication connector]

[4] External port switching input

PORT IN
PORT N

Port switching

[5] Controller communication line

SDA: Communication line
SDB: Communication line
GND: Ground
FG: Frame ground

[11] Power supply input connector

[6] CC-Link communication

connector
DA: Communication line
DB: Communication line
DG: Ground
SLD: Shield
FG: Earth

[7] CC-Link setting switch

BR: Baud rate

SA × 10 and Sa × 1:

Station No. (Decimal,
2 digits)

[8] CC-Link communication

status LED
SD: Data communication
RD: Data reception
RUN: Normal
ERR: Error

[9] Port switch

ON: Port on
OFF: Port off

[10] Connector for teaching box

and personal computer

10

[1] Gateway status indication LED

Indicating status Description

Lit in green Indicates that the CPU of the gateway is operating. RUN

Unlit Indicates CPU operation stop status, and indicates that there is an error in the

CPU of the gateway when this is not lit even if power is turned on.

Lit in red Gateway CPU is in error, major fault stop status. G. ER

Unlit Normal

Lit in red

A status that CC-Link is in error, or CC-Link connection is not recognized from
the gateway CPU. (Check CC-Link communication status in [8].)

It is necessary to connect the teaching box or personal computer supporting

software if the RUN is lit even when this LED is lit.

Flash in red This flashes at an interval of one second in the case of port on status.

C.ER

Unlit Normal

Lit in red Communication error occurs in communication between the CC-Link gateway

and controller (No response, overrun, framing error or CRC(*) error) Normal

T. ER

Unlit Normal

* CRC: Cyclic Redundancy Check

Data error detecting method which is mostly used for synchronizing transmission

[2] SIO communication status LED

Communication status between CC-Link gateway and controller can be checked.

This LED flashes when communication between the upper PLC and controller is being performed through

CC-Link gateway, or communication is being performed with the controller by connecting the teaching box

or personal computer supporting software to the CC-Link gateway.

Indicating status Description

Flash in green Data is transmitting (from the CC-Link gateway to controller) TxD

Unlit Data transmission is suspended (from the CC-Link gateway to controller)

Flash in green Data is receiving (from controller to the CC-Link gateway) RxD

Unlit Data reception is suspended (from controller to the CC-Link gateway)

11

[3] Mode setting switch

This switch sets the operation mode of the CC-Link gateway.
Turn off the power for the CC-Link gateway to operate this switch.
When selecting No.1, No.3 and No.4, setting of the position table for the controller is disabled.

SW1

Input and output byte

number

No.

4 3 2 1

Description

Output Input

1

× × × ×

Position data limit designating mode

46 46

2

× × ○ ×

Position No. designating mode

46 46

3

× ○ × ×

Position/speed/acceleration and deceleration
designating mode

46 46

4

× ○ ○ ×

Push operation enable mode

46 46

5

× × × ○

Simple direct value/Position No. designating mode
Large

176 176

6

×

× ○

Simple direct value/Position No. designating mode
Middle

136 136

7

○ × × ○

Simple direct value/Position No. designating mode
Small

68 68

[4] External port switching input

Connector port for teaching box and personal computer can be switched ON/OFF by external signal
(no-voltage contact).
When the port switch [9] for the CC-Link gateway main body is OFF, this input is enabled, and when the
input signal is ON, the port is turned ON. (Refer to the [9] port switch.)

[5] Controller communication line

This is a wiring connecting terminal for the communication line of the SIO communication (Modbus)
connector.

[6] CC-Link communication connector

This is a wiring connecting terminal for the CC-Link communication.

12

[7] CC-Link setting switch

Switch Description

BR

[Baud rate setting switch]
This switch sets the communication rate.
Setting of 5 or higher is prohibited.

SA × 10

SA × 1

[Station No. setting switch]
This switch sets with decimal two digits, however,
effective setting is from 1 to 64.
Positions of SA × 10 ･･･10 are set.

Positions of SA × 1･･･1 are set.
(Example) When setting station No. 12,
set 1 to SA × 10, and
set 2 to SA × 1.

* When changing the setting with the power on, the ERRLED of the next [8] is lit.

[8] CC-Link communication status LED

Operating status of the CC-Link gateway and network status can be checked by the four LEDs.

Indicating status Description

Lit Normal operation (Lit by starting communication) RUN Green
Unlit Does not participate in network or time out status (Communication is

interrupted for a certain time or longer)

Lit Reception data to self station is abnormal (CRC error).

Setting of baud rate setting switch or station No. setting switch is changed
during communication.

ERR Red

Unlit Normal
Lit Data is being received RD Green
Unlit No reception data
Flashing Data is being transmitted SD Green
Unlit No transmission data

13

[9] Port switch

This is a switch to enable the connector (T.P.) for teaching box and personal computer (PORT
ON=Communication start).
When connecting and disconnecting the teaching box and the communication cable connector for
personal computer supporting software, turn OFF this switch. When using this switch, turn ON after
connecting the connector.
(Also pay attention to signal status of the port switching input [4].)
For communication rate between the teaching box, personal computer supporting software and the
CC-Link gateway, up to 115.2kbps can be set. And, the communication rate between the CC-Link
gateway and the controller is fixed to 230.4kbps.

When the PORT is ON, the CC-Link communication does not become abnormal, however, data
communication for SIO communication stops. Therefore, output signal (data) from the PLC is not
outputted to the controller, and input signal (data) from the controller keeps a value immediately before
PORT was ON.
PORT ON status signal (TPC) is outputted from the CC-Link gateway to the PLC, therefore, performs
processing such as interlock if necessary.

[10] Connector for teaching box and personal computer

This is a connecting connector for the teaching box and personal computer.

[11] Power supply input connector

This is a connecting connector for the power supply (24V DC) for the CC-Link gateway.

14

3. Installation and Noise Elimination

Pay sufficient attention to the installation environment.

3.1 Installation Environment

a. Since the gateway unit is not dust-proof or waterproof (oil proof), avoid using the gateway unit in a

place subject to significant dust, oil mist or splashes of cutting oil.

b. Do not expose the gateway unit to direct sunlight or radiating heat from a large heat source such as

heat treatment furnace.

c. Use the gateway unit in an environment free from corrosive or inflammable gasses, under a

temperature of 0 to 40°C and humidity of 85% or less (non-condensing).
d. Use the gateway main body where it will not receive any external vibration or shock.
e. Prevent electrical noise from entering the gateway main body or its cable.

3.2 Power Supply

The power supply specification is 24V DC±10%. （Supply current: 300mA max.）

3.3 Noise Elimination and Grounding

a. Installation of gateway unit main body

Directly fix the gateway unit main body to the metallic enclosure with screws for connection.

* Provide a dedicated class D grounding (Third class).

Use a cable of the maximum
possible size and keep the wiring
length at a minimum.

Metallic enclosure

15

b. Precautions regarding wiring method

Separate the communication lines for the gateway unit and the wiring for the CC-Link
communication line from high-power lines such as a cable connecting to a power circuit. (Do not
bundle together wiring for the communication lines with high-power lines or place them in the same
cable duct.)

c. Noise sources and elimination

Among the numerous noise sources, solenoid valves, magnet switches and relays are of particular
concern when building up a system. Noise from these sources can be eliminated by implementing
the measures specified below.

[1] AC solenoid valves, magnet switches and relays

Measure: Install a surge absorber in parallel with the coil.

[2] DC solenoid valves, magnet switches and relays

Measure: Install a diode in parallel with the coil. Determine the diode capacity in accordance

with the load capacity.

← Point

Install a surge absorber to each
coil over a minimum wiring
length. Installing a surge
absorber to the terminal block or
other part will be less effective
because of a longer distance
from the coil.

In a DC circuit, connecting a diode in reverse polarity
will damage the diode, internal parts of the controller
and/or DC power supply, so exercise sufficient caution.

16

3.4 Installation

Design the control box size, installing position of the gateway unit and cooling method of the control box in
such a way that the temperature around the gateway unit will not exceed 40°C.
Install the gateway unit vertically on a wall, as shown below, and provide a minimum clearance of 50mm
above and below the gateway unit and a minimum clearance of 100mm on the front for wiring.
For lateral installation such as installing multiple gateway units side by side, secure a sufficient space so that
the gateway unit is easily installed and removed.
If affection of heat or noise is a concern, take the measure into account.

17

4. Wiring

4.1 Overall Configuration

The following diagram shows an example of configuration to build a CC-Link by using a gateway unit.

Host system (PLC master station)

Terminal resistor

Slave station

Gateway unit

Teaching box

Terminal

resistor

4-direction junction

SIO communication network

Terminal resistor

24V

power

supply

18

SIO communication connection is allowed even by multi-drop method using terminal blocks as follows.

Gateway unit

Terminal block

Terminal resistor

19

Reference Outline of CC-Link network configuration

For details of the CC-Link, refer to the Operation Manual for the master side (PLC). This section
describes a point for network wiring.
The following diagram shows an example of network connection.

(1) Equipment connected by the CC-Link is referred to as a station, and 0 to 64 can be set as a station No.

The master station and slave station can be placed on any position.

(2) Connection is made by a multi-drop method directly branching at each station, and a T-branch using

commercially available terminal block, etc., is allowed.

(3) Use a dedicated shielded 3-core twisted paired cable as a cable.

The dedicated cable is as follows.

Color Signal type

Blue Communication line A (DA)

White Communication line B (DB)

Yellow Communication ground line (DG)

- Shield (SLD)

(4) It is necessary to install terminal resistors on both ends of the CC-Link system. The terminal resistor is

connected between “DA” and “DB,” however, it differs with the cable being used.

(5) Communication rate is restricted by network length (total branch length, network maximum length).

CAUTION

Set the GND (ground) level of the power supply for each controller connected to the gateway to the power

supply for the gateway.

Master station Slave station Slave station

Terminal resistor

(Blue)

(White)

(Yellow)

Terminal resistor

CC-Link dedicated

cable

CC-Link dedicated

cable

20

4.2 Input and output signal of gateway unit

(1) Connection diagram

Gateway unit

CC-Link cable

(Blue)

(White)

(Yellow)

(Not colored)

Connector for teaching box

and personal computer

Teaching box

Teaching box

Emergency stop signal output
Allowable load voltage: 30V DC
Allowable load current: 1A

Port switch

Gateway power supply

24V DC±10%

300mA max.

External port switching input

(Supplied by customer)

(Load 24V DC 7mA)

Port switch

SIO
communication
cable

21

(2) Port control and emergency stop signal output

The connector port for the teaching box and personal computer can be also turned ON/OFF by an
external signal other than the ON/OFF signal from the port switch on the gateway unit main body.
Further, since the contact signal from the emergency stop pushbutton switch on the teaching box is
outputted to the outside while the port is ON, this signal can be incorporated into the emergency stop
circuit for the whole system.

External port

switching input

Port switch

Teaching box emergency stop

signal output

Connector port for teaching box

and personal computer

OFF OFF Ineffective (S1-S2 short circuit) Ineffective

ON OFF

OFF ON

ON ON

Effective (S1-S2= Teaching box

emergency stop contact)

Effective

22

(3) Specification of input and output signal and wiring material

Connecting plug is

standard attachment.

MC1.5/6-ST3･81

(PHOENIX CONTACT)

Connecting plug is

standard attachment.

MC1.5/4-ST3･5

(PHOENIX CONTACT)

The gateway unit

incorporates a terminal

resistor, therefore,

connect the terminal

resistor to the end of the

SIO communication.

Connecting plug is

standard attachment.

It is necessary to connect

a terminal resistor to both

ends of the CC-Link

system (between DA and

DB), therefore, check the

Operation Manual for the

master side (PLC).

Connector and applicable electric wire

0.8 – 1.3mm

2

AWG 18 – 16

0.08 – 1.5mm

2

AWG 28 - 16

0.08 – 1.5mm

2

AWG 28 - 16

Two-paired twist

shielded cable

(AWG22)

Recommended

brand: Taiyo Electric

Wire & Cable

HK-SB/20276 XL

2P × AWG22

CC-Link Ver. 1.10

supporting

dedicated cable

(Such as

FANC-SBH,

FANC-SB)

Specification

24V DC ±10%

Consuming current 300mA

max.

Allowable load voltage: 30V

DC

Allowable load current: 1A

No voltage (dry) contact input

load: 24V DC 7mA

Set GND (ground) level to that

of controller or ERC actuator

to be connected.

Internally connected to frame.

Internally connected.

Contents

Gateway power supply Positive

side of 24V DC

Gateway power supply Negative

side of 24V DC

Teaching box emergency stop

signal output

External port switching input

SIO communication line A

SIO communication line B

Ground

Frame ground

CC-Link communication line A

CC-Link communication line B

CC-Link communication ground line

Shield

Frame ground

* The gateway unit is provided with the following one terminal resistor respectively. Since the terminal resistor depends on the

CC-Link cable to be used, use a resistor suitable for the cable.

Cable FANC-SBH

(CC-Link dedicated high-performance cable) 130Ω, 1/2W

Cable FANC-SB

(CC-Link dedicated cable) 110Ω, 1/2W

Symbol

24V

N

S1

S2

PORT

IN

PORT

N

SDA

SDB

GND

FG

DA

DB

DG

SLD

FG

Power supply

input connector

SIO

communication

connector

CC-Link

communication

connector

23

4.3 Building of SIO communication network (SIO communication)

4.3.1 Wiring

(1) Basic

Item Contents
Number of connecting units 16 axes max. (Depends on the operation mode. Refer to “1.4 Features”)
Communication cable length Total cable length 100m or shorter
Communication cable Two-paired twisted pair shielded cable
Terminal resistor Recommended cable: Taiyo Electric Wire & Cable

CAUTION

1. Provide a communication path via a bus connection, and be sure to connect a terminal resistor at the

end. A terminal resistor is incorporated into the gateway unit side, therefore, it is unnecessary to connect

it.

2. The communication cable should be supplied by customer. If the recommended communication cable

is not used, use an electric wire size AWG22.

(2) Link connection for PCON-SE, ACON-SE

Gateway unit

(Incorporating

terminal resistor)

e-CON connector (AMP made 4-1473562-4: Green)
e-CON connector (AMP made 3-1473562-4: Orange)

Junction (AMP made 3-1473574-4:)

Recommended brand HK-SB/20276 × L 2P ×
AWG22

SIO communication

main line

First axis Second axis n

th

axis

Controller link cable
CB-RCB-CTL002

Terminal resistor
R=220Ω
1/4W

24

a. Detail Connection Diagram

The diagram below shows the details of the SIO communication connection. The controller link cables
are optionally prepared, but the communication main line must be prepared by the customer.

b. Preparation of Communication Main Line

[1] Strip off approx. 15-20mm of the sheath

from the two-paired shielded cable.
[2] Install the cable protective tube.
[3] Insert three cables into the cable insertion

hole of the connector without stripping off

the envelope of the conductors.
[4] Pressure-weld the cable press-fit housing

with the cables inserted from above.
[5] Heat-treat the cable protective tube.

Pin numbers of e-CON connector

Be sure to insert the terminal resistor (220Ω, 1/4W) into the end of the communication main line.
(between No. 1 and No. 2 of the e-CON connector)

Gateway unit

Two-paired shielded cable
Recommended brand:
Taiyo Electric Wire & Cable

SIO

communication

main line

Four-way junction (AMP: 5-1473574-4)

e-CON connector (AMP: 4-1473562-4)
Housing color: Green

Controller link cable

Yellow

Orange

Controller 1 Controller 2

Yellow

Orange

e-CON connector (AMP: 3-1473562-4)
Housing color: Orange

Press wielding

Locking tab

Cable tube

Two-paired shielded cable

Locking tab

e-CON connector

25

c. Controller Link Cable (CB-RCB-CTL002)

* Controller’s option

The following parts are provided together:
[1] Four-way junction

Model: 5-1473574-4, Manufacturer: MP, Quantity: 1
[2] E-Con connector

Model: 4-1473562-4, Manufacturer: MP, Quantity: 1

Compatible wire coating outline: 1.35-1.6mm
[3] Terminal resistor: 220Ω, 1/4W, with E-Con connector, Quantity: 1

Controller end

Mini DIN connector

E-Con connector
3-1473562-4
(Housing color: Orange)

1

2

3

4

Signal

SGA

SGB

GND

Signal

SGA 1

SGB 2

+5V 3

ENB 4

EMGA 5

+24V 6

GND 7

EMGB 8

Yellow

Orange

Blue

26

(3) Link connection for ERC2-SE

Gateway unit

(Incorporating

terminal resistor)

e-CON connector (AMP made 4-1473562-4: Green)
e-CON connector (AMP made 3-1473562-4: Orange)

Junction (AMP made 3-1473574-4:)

Recommended brand: Taiyo Electric Wire & Cable

SIO communication
main line

First axis

Second axis

n

th

axis

Terminal resistor

27

Detail connection diagram

Connection between the gateway unit and four-way junction is the same as in item (2).
Connection between each ERC2-SE and four-way junction is as shown in the following diagram.
For details, refer to the Operation Manual for the ERC2-controller.

(4) In the case of a combination of PCON-SE, ACON-SE, ERC2-SE and SCON

The previous items (2) and (3) are basic connections. Perform wiring by the method introduced in 4.1
Overall configurations.

Four-way junction

SIO main line

Orange

Blue

Green

e-con connector

Nichiatsu Nichiatsu Nichiatsu

Relay cable 2 Relay cable 1

28

(5) Wiring of emergency stop (EMG) circuit

When incorporating an emergency stop switch on the teaching box connected to the gateway unit into an
emergency stop circuit, emergency stop signal output outputted from the “S1” and “S2” terminals for the
gateway unit can be used.
The controller for all of the connected robo-cylinders can be put into an emergency stop status by the
emergency stop switch on the teaching box connected to the gateway unit.

CAUTION

1. The following example shows a wiring path for an emergency signal, and does not show a safety circuit

(such as emergency stop reset circuit). Provide a safety circuit including an emergency stop reset

circuit, etc., on the outside for an actual emergency stop.

2. For details of emergency stop processing for the robo-cylinder, refer to the Operation Manuals for

PCON-SE, ACON-SE, SCON and ERC2-SE.

29

[1] Example of drive signal shutdown

Caution: [1] The input current to the EMG terminal of PCON-SE is 5 mA. When connecting the

contact of the EMG relay R to the EMG terminals of multiple controllers, check the

current capacity of the relay contact.

Input power supply

24V DC

(2A max/one unit)

Teaching box

EMG push

button

T.P. connector

Gateway unit

PCON-SE controller

EMG reset

switch

EMG
push

button

Gateway

p

ower suppl

y

SIO

communication

SIO connector

SIO

connector

connection

detecting

circuit

Connection

detecting

signal (H)

Drive stop
signal (L)

Time

constant

Control
power
supply

Power supply terminal block

Power supply terminal block (Unit 2)

EMG signal

detection

(H)

Motor drive
power
supply

Motor

drive

Power supply terminal block (Unit 3)

30

[2] Example of motor drive power shutdown

Input power supply

24V DC

(2A max/one unit)

Teaching box

EMG push

button

T.P. connector

Gateway unit

PCON-SE controller

EMG reset

switch

EMG
push

button

Gateway

p

ower suppl

y

SIO

communication

SIO connector

SIO

connector

connection

detecting

circuit

Connection

detecting

signal (H)

Drive stop
signal (L)

Time

constant

Control
power
supply

Power supply terminal block

Power supply terminal block (Unit 2)

EMG signal

detection

(H)

Motor drive
power
supply

Motor

drive

Power supply terminal block (Unit 3)

31

4.3.2 Setting of axis No.
For PCON-SE, ACON-SE and ERC2-SE

Set axis No. for slave station No. on the SIO link.
Set the axis No. in a hexadecimal of 0 to F so that the first axis No. is 0, and 16th axis No. is F.
Axis No. is set by the teaching box or personal computer supporting software.

◎ Operation of personal computer supporting software

[1] Open the main screen. [2] Click the setting (S). [3] Move the cursor to the controller setting (c).

[4] Move the cursor to the axis No. assignment (N) and click. [5] Enter No. into the axis No. table.

◎ Operation of teaching box RCM-T

[1] Open the user adjusting screen. [2] Move the cursor to the assignment NO._ with ▼key. [3]

Enter axis No. and press the Return key. [4] Enter 2 into adjusting NO._ and press the Return key.

◎ Operation of simple teaching box RCM-E

[1] Open the user adjusting screen. [2] Open the Return key to open a screen of the assignment

NO._. [3] Enter axis No. and press the Return key. [4] Enter 2 into adjusting NO._ and press the

Return key.

For details of the setting method, refer to the Operation Manuals for the teaching box or the personal
computer supporting software.

CAUTION

1. Set an axis No. so as not to be duplicated.

2. Remove the link connection for the axis to be set for setting and changing the axis No.

3. Connect the terminal resistor between SGA and SGB on the ends.

32

5. Outline of CC-Link

5.1 Data communication

A scheme for basic data communication of the CC-Link is as shown in the following diagram.
For slave to master station of the PLC, there are remote I/O stations which handle bit information only and
remote device stations which handle bit information and word information (numeric data).
The master station has a buffer memory which is divided into remote input RX, remote output RY and remote
register RWw/RWr. The remote input and output RX/RY handle bit information, and the remote register
RWw/RWr handle word information (numeric data). Data is automatically communicated between the master
station and slave station via this buffer memory regardless of the CPU for the PLC.
The CPU uses the buffer memory in the master station and the CPU internal device (such as X.Y.M.D.W) to
communicate data.

Network

parameter

Automatic

refresh

parameter

CPU device

corresponded to RX

(such as X.M)

CPU device

corresponded to RY

(such as Y.M)

CPU device

corresponded to

RWw (such as D.W)

CPU device

corresponded to RWr

(such as D.W)

Network

parameter

Master station

Buffer memory

Remote input

Remote output

Remote register

Remote register

Link scan

Link scan

Link scan

Link scan

Remote input

(bit signal)

Remote output

(bit signal)

Remote register

(numeric data)

Remote register

(numeric data)

Slave

Remote device station

The remote I/O
stations have
these only.

33

* CPU internal user device for PLC

Input: X

Bit device Output: Y

Internal relay: M

Data register: D

Link register: W

5.2 Address assignment of master PLC

Number of maximum link points per one system is respectively 2048 points for remote input and output (RX,
RY) and 256 points for remote register (RWw, RWr), and a buffer memory for this size is available.
Address assignment for the master station buffer memory is as shown in a diagram on the next page.
The remote input RX is assigned to 0E0H-15F H addresses, the remote output RY is to 160 H -1DF H addresses,
the remote register RWw is to 1E0

H

-2DFH addresses, and the remote register RWr is assigned to 2E0 H -3DF H

addresses.

Number of links per one remote station is respectively 32 points (2 words) for remote input and output (RX,
RY), and 4 points (4 words) for remote register (RWw, RWr), then links of a maximum 64 stations are available
for one system.
Station No. of 1 to 64 can be set to a remote station, however, the number of exclusive stations vary with the
remote station, so it is necessary to exercise sufficient caution to set the station No.

Data communication between the internal device of the CPU and the master station buffer memory is
sometimes performed by sequence command such as FROM command and TO command, and is, in some
case, automatically performed by setting the parameters in advance (automatic refresh).

Word device

34

CC-Link memory map (MITSUBISHI Q series)

PLC-CPU Master station buffer memory Remote station

Internal device

Remote input (RX)

Automatic

refresh

Automatic

refresh

Automatic

refresh

Automatic

refresh

(2 words) for

one station

(2 words) for

one station

(2 words) for

one station

(2 words) for

one station

Remote output (RY)

Remote register (RWw)

Remote register (RWr)

Remote input

I/O station
Device station

Bit data

Remote output

Bit data

Remote register

Word data

(numeric data)

Remote register

Word data

(numeric data)

35

6. Address configuration of gateway

As described in 1.4 Features of gateway unit, actuators can be roughly operated by five modes.
Address configuration as a slave depends on each mode.

6.1 Gateway control signal

This is a signal to control the gateway, and consists of respective two words of word register for input and
output.
It is recommended to use data of this word register on the bit register by performing transmission processing.
ON/OFF control for communication of SIO link, and monitoring of communication status of SIO link and status
of gateway can be performed.

PLC output

1 word = 16 bits

Gateway

control

si

g

nal 0

Gateway

control

si

g

nal 1

PLC input

1 word = 16 bits

(RY00)

(RY10)

(RX00)

(RX10)

Gateway

status

si

g

nal 0

Gateway

status

si

g

nal 1

36

Details of input and output signal

Signal type Bit

Signal

name

Contents

15 MON

Link communication starts at ON, and stops at OFF.
When all of CFG15 to 0 (link connection axis selection) are OFF, do not
turn ON MON signal.
Further, while MON signal is ON, do not turn OFF all of CFG15 to 0.
When all of CFG15 to 0 are OFF and MON signal is ON, the gateway
unit becomes SIO link error, and the LED (T.ER) on the front of the unit
is lit.

14 - 8 -

This cannot be used.

Always turn this OFF (0).
7 NPS4
6 NPS3
5 NPS2
4 NPS1
3 NPS0

Use this in simple direct value/position No. designating mode.

In another mode, always turn this OFF (0).

Set number (0-16) of axes used in position No. designating mode by 5

bit binary.

2 PPS2
1 PPS1

Control

signal 0

0 PPS0

Use this in simple direct value/position No. designating mode.

In another mode, always turn this OFF (0).

Set I/O pattern (pattern 0-5) for position No. designating mode axis by

3 bit binary.

15 CFG15 Link ON Axis No.15
14 CFG14 14
13 CFG13 13
12 CFG12 12
11 C FG11 11
10 CFG10 10

9 CFG9 9
8 CFG8 8
7 CFG7 7
6 CFG6 6
5 CFG5 5
4 CFG4 4
3 CFG3 3
2 CFG2 2
1 CFG1 1

PLC output

Control

signal 1

0 CFG0 0

Set axis No. to which the link is
connected.
Link is connected at ON (1), and is
released at OFF (0).
Even while MON signal is ON,
ON/OFF is allowed.

(Note)

● Do not turn ON axis No. which is

not actually connected.

● Do not turn ON axes other than

settable axis No. which is selected
by the mode setting switch.

SIO link error occurs in each case.

37

Signal type Bit

Signal

name

Contents

15 RUN

Gateway unit now normally

operating output

This is turned ON while
gateway unit is normally
operating. This is synchronized
with light up of the LED (RUN)
on the front of the unit.

14 G.ER

Gateway unit error detection output This is turned ON when major

fault stop status is detected.
This is synchronized with light
up of the LED (G.ER) on the
front of the unit.

13 T.ER

SIO link communication error

detection output

This is turned ON when
communication error of the SIO
link is detected. This is
synchronized with light up of the
LED (T.ER) on the front of the
unit.

12 TPC

Port switch ON output This outputs status of the port

switch on the front of the unit.
This is turned ON when the port

switch is ON.
11 MOD4 Mode setting switch 4 ON output
10 MOD3 Mode setting switch 3 ON output

9 MOD2 Mode setting switch 2 ON output
8 MOD1 Mode setting switch 1 ON output

This outputs setting status of

the mode setting switch.

7 Major V.4

6 Major V.2

5 Major V.1

Outputs Major Version No. by 3 bit
binary.

4 Minor V.16

3 Minor V.8

2 Minor V.4

1 Minor V.2

Control

signal 0

0 Minor V.1

Outputs Minor Version No. by 5 bit
binary.

This outputs version information

of gateway unit. This may be

checked when any fault occurs.

Keep this in a status that this is

read by the PLC.

Example) In the case of Ver.

1.03

Major Version No.=1

(Data is 001)

Minor Version No.=3

(Data is 0011)

15 LINK15 Link is being connected. Axis No.15
14 LINK14 14
13 LINK13 13
12 LINK12 12
11 L INK 11 11
10 LINK10 10

9 LINK9 9
8 LINK8 8
7 LINK7 7
6 LINK6 6
5 LINK5 5
4 LINK4 4
3 LINK3 3
2 LINK2 2
1 LINK1 1

PLC input

Control

signal 1

0 LINK0 0

For axis for which link

connection is selected by

CFG15-0, link connection

becomes effective when MON

signal is ON.

Signal for link connection

effective axis is turned ON.

38

6.2 Position data limit designation mode

This is an operation mode in which function of the controller is limited only to positioning, and allows for control
of a maximum 14 axes.
Position data for positioning is directly written in the data register of the PLC, and operation is performed.
Communication for setting of speed, acceleration and deceleration cannot be performed.
Speed, acceleration and deceleration are set to parameter No.8 “Speed initial value” and No.9 “Acceleration
and deceleration initial value” for each axis.
Setting of position table for each axis is unnecessary.

Primary functions controllable in this mode are as shown in the following table.

Primary functions

○: Direct control
△: Indirect control
×: Ineffective

Remarks

Home return operation

○

Positioning operation

○

Speed, acceleration and
deceleration setting

△

This is set to a parameter.
Therefore, this is fixed during operation.

Pitch (incremental) feed

△

Pitch feed data cannot be directly processed.
Give command by adding or subtracting data of
same moving amount to/from the present position
by host PLC.

Push operation

×

Speed change during movement

×

Operation in different acceleration
and deceleration

×

Pause

○

Zone signal output

△

Monitor the present position data by the PLC. (*)

PIO pattern selection

×

* There is no strobe signal in the present position data. Therefore, when checking the present position by the

PLC during movement, provide a range to check that there is data of 2 scans or more in the range.

39

(1) Address configuration

In this mode, gateway control signal/status signal consists of two words respectively for input and output
word register (RWr, RWw), and control signal/status signal for each axis consists of one byte respectively
for input and output bit register (RX, RY) and one word for input and output word register (RWr, RWw).
Numeric values in parentheses represent axis Nos.

PLC output⇒Gateway unit⇒Each axis input Each axis output⇒Gateway unit⇒PLC input

Output

register

bF

Higher byte b8

b7

Lower byte b0

Input

register

bF

Higher byte b8

b7

Lower byte b0

RY 0F – 00 Control signal (1) Control signal (0) RX 0F – 00 Status signal (1) Status signal (0)
RY 1F – 10 Control signal (3) Control signal (2) RX 1F – 10 Status signal (3) Status signal (2)
RY 2F – 20 Control signal (5) Control signal (4) RX 2F – 20 Status signal (5) Status signal (4)

RY 3F – 30

Control signal (7) Control signal (6)

RX 3F – 30

Status signal (7) Status signal (6)

RY 4F – 40

Control signal (9) Control signal (8)

RX 4F – 40

Status signal (9) Status signal (8)

RY 5F – 50

Control signal (11) Control signal (10)

RX 5F – 50

Status signal (11) Status signal (10)

RY 6F – 60

Control signal (13) Control signal (12)

RX 6F – 60

Status signal (13) Status signal (12)

RY 7F – 70

Prohibited from use because this is in
CC-Link system region

RX 7F – 70

Prohibited from use because this is in
CC-Link system region

Output (writing) Register=Word register Input (writing) Register=Word register

RWw 0 Gateway control signal 0 RWr 0 Gateway status signal 0
RWw 1 Gateway control signal 1 RWr 1 Gateway status signal 1
RWw 2 Position data designation (0) RWr 2 Present position data (0)
RWw 3 Position data designation (1) RWr 3 Present position data (1)
RWw 4 Position data designation (2) RWr 4 Present position data (2)
RWw 5 Position data designation (3) RWr 5 Present position data (3)
RWw 6 Position data designation (4) RWr 6 Present position data (4)
RWw 7 Position data designation (5) RWr 7 Present position data (5)
RWw 8 Position data designation (6) RWr 8 Present position data (6)
RWw 9 Position data designation (7) RWr 9 Present position data (7)
RWw A Position data designation (8) RWr A Present position data (8)

RWw B Position data designation (9) RWr B Present position data (9)
RWw C Position data designation (10) RWr C Present position data (10)
RWw D Position data designation (11) RWr D Present position data (11)
RWw E Position data designation (12) RWr E Present position data (12)
RWw F Position data designation (13) RWr F Present position data (13)

40

(2) Assignment for each axis

Input and output signal for each signal consists of one byte respectively for input and output bit register
(RX, RY) and one word for input and output word register (RWr, RWw).
Control signal and status signal are ON/OFF signals in bit units.
Position data designation and present position data are integers with a sign of one word (16 bits), and the
PLC can handle numeric values of –32,768 to +32,767 (unit=1/100mm), however, set the position data in
a range (0 to effective stroke length) of soft stroke for its actuator.

1 word = 16 bits

PLC output

PLC input

1 word = 16 bits

1 word = 16 bits

Control signal Control signal

Position data designation Integer with sign

(Sign) (Sign)

Status signal

Present position data Integer with sign

1 word = 16 bits

41

Details of input and output signal

Signal type Bit

Signal

name

Contents Detail

F/7 - Cannot be used. ­E/6 - Cannot be used. ­D/5 - Cannot be used. ­C/4 SON Servo on command
B/3 STP Pause command
A/2 HOME Home return command
9/1 CSTR Start command

Control

signal

8/0 RES Reset command

PLC output

Position

data

designation

16 bit

data

-

16 bit integer with sign (unit: 0.01mm)
Set position data in hexadecimal number.
Example) The signal becomes 09EC

H

(decimal

2540) in the case of +25.4.

(Note)

● When the integer is negative, it is indicated

by complement of 2, therefore, the

uppermost bit becomes “1.”
F/7 EMGS On emergency stop
E/6 - Cannot be used. ­D/5 PWR Controller preparation completion

C/4 SV

Operation preparation completion (Servo on

status)
B/3 MOVE On moving
A/2 HEND Home return completion
9/1 PEND Positioning completion

Status

signal

8/0 ALM Alarm occurring

PLC input

Present
position

data

16 bit

data

-

16 bit integer with sign (unit: 0.01mm)

Present position data is outputted in

hexadecimal number.

Example) 09EC

H

(decimal 2540) is outputted in

the case of +25.4.

(Note)

● When the integer is negative, it is indicated

by complement of 2, therefore, the
uppermost bit becomes “1.”

42

6.3 Position No. designation mode

This is an operation mode to operate by designating position No. of the position table, and allows for control of
a maximum 14 axes.
It is necessary to set the position table for each axis by personal computer supporting software or teaching
box. Operation is performed by writing the position No. into the data register of the PLC.
Positions which can be designated are 64 points of No.0 to No.63, however, number of points depends on
setting mode for each axis.

Primary functions controllable in this mode are as shown in the following table.

Primary functions

○: Direct control
△: Indirect control
×: Ineffective

Remarks

Home return operation

○

Positioning operation

△

This operation is performed by designating No. of

position table.
Speed, acceleration and
deceleration setting

△

This is set to position table

Pitch (incremental) feed

△

This is set to position table
Push operation

△

This is set to position table
Speed change during movement

△

This is performed by combining two or more

position Nos. (Refer to the Operation Manual for

the main body.)
Operation in different acceleration
and deceleration

△

This is set to position table

Pause

○

Zone signal output

○

PIO pattern selection

×

43

(1) Address configuration

In this mode, the input and output signal for gateway control signals consist of two words respectively,
and control signals for each axis consist of one byte respectively for input and output bit register and one
byte respectively in input and output word register.
Numeric values in the parentheses represent axis Nos.

PLC output⇒Gateway unit⇒Each axis input Each axis output⇒Gateway unit⇒PLC input

Output

register

bF

Higher byte b8

b7

Lower byte b0

Input

register

bF

Higher byte b8

b7

Lower byte b0

RY 0F – 00 Control signal (1) Control signal (0) RX 0F – 00 Status signal (1) Status signal (0)
RY 1F – 10 Control signal (3) Control signal (2) RX 1F – 10 Status signal (3) Status signal (2)
RY 2F – 20 Control signal (5) Control signal (4) RX 2F – 20 Status signal (5) Status signal (4)

RY 3F – 30

Control signal (7) Control signal (6)

RX 3F – 30

Status signal (7) Status signal (6)

RY 4F – 40

Control signal (9) Control signal (8)

RX 4F – 40

Status signal (9) Status signal (8)

RY 5F – 50

Control signal (11) Control signal (10)

RX 5F – 50

Status signal (11) Status signal (10)

RY 6F – 60

Control signal (13) Control signal (12)

RX 6F – 60

Status signal (13) Status signal (12)

RY 7F – 70

Prohibited to use because this is in
CC-Link system region

RX 7F – 70

Prohibited to use because this is in
CC-Link system region

Output (writing) Register=Word register Input (writing) Register=Word register

RWw 0 Gateway control signal 0 RWr 0 Gateway status signal 0
RWw 1 Gateway control signal 1 RWr 1 Gateway status signal 1
RWw 2 Command

position No. (1)

Command

position No. (0)

RWr 2 Completion No. +

zone signal (1)

Completion No. +

zone signal (0)

RWw 3 Command

position No. (3)

Command

position No. (2)

RWr 3 Completion No. +

zone signal (3)

Completion No. +

zone signal (2)

RWw 4 Command

position No. (5)

Command

position No. (4)

RWr 4 Completion No. +

zone signal (5)

Completion No. +

zone signal (4)

RWw 5 Command

position No. (7)

Command

position No. (6)

RWr 5 Completion No. +

zone signal (7)

Completion No. +

zone signal (6)

RWw 6 Command

position No. (9)

Command

position No. (8)

RWr 6 Completion No. +

zone signal (9)

Completion No. +

zone signal (8)

RWw 7 Command

position No. (11)

Command

position No. (10)

RWr 7 Completion No. +

zone signal (11)

Completion No. +

zone signal (10)

RWw 8 Command

position No. (13)

Command

position No. (12)

RWr 8 Completion No. +

zone signal (13)

Completion No. +

zone signal (12)

RWw 9 RWr 9
RWw A RWr A
RWw B RWr B
RWw C RWr C
RWw D RWr D
RWw E RWr E
RWw F

Cannot be used

RWr F

Cannot be used

44

(2) Assignment for each axis

Input and output signal for each axis consists of one byte respectively for input and output bit register and
one byte respectively for input and output word register.
Control signal and status signal are ON/OFF signals in bit units.
Command position No. and completed position No. are handled in binary data of one byte (8 bits). Set
the command position No. in a range of position number set by the controller for each axis.

1 word = 16 bits

PLC output

PLC input

1 word = 16 bits

1 word = 16 bits

Control signal Control signal

1 word = 16 bits

Command position No. Command position No.

Status signal Status signal

Completed position No. Completed position No.

45

Details of input and output signal

Signal type Application

Signal

name

Contents Detail

F/7 - Cannot be used. ­E/6 - Cannot be used. ­D/5 - Cannot be used. ­C/4 SON Servo on command
B/3 STP Pause command
A/2 HOME Home return command

9/1 CSTR Start command

Position

data

designation

8/0 RES Reset command

PLC output

Position

data

designation

16 bit data -

Set command position No. in hexadecimal
number.
Example)
Perform setting for two axes on higher byte

and lower byte. When the higher byte axis
is position No. 15 and lower byte axis is

position No.33, the setting is Hex0F21.
F/7 EMGS On emergency stop
E/6 - Cannot be used. ­D/5 PWR Controller preparation completion

C/4 SV

Operation preparation completion (Servo on

status)
B/3 MOVE On moving
A/2 HEND Home return completion

9/1 PEND Positioning completion

Status

signal

8/0 ALM Alarm occurring

Zone signal

output 2

b15/b17 ZONE2

Zone signal

output 1

b14/b6 ZONE1

PLC input

Completed
position No.

(Alarm

output)

6 bit data

(b13-8/b5-

0)

PM32

–

PM1

Outputs completed position No. and status of

zone signal in hexadecimal number. Read the

completed position No. in binary value of 6 bits.

And, alarm content is outputted to the completed

position No. while an alarm occurring (ALM signal

is ON).

(For alarm content to be outputted, refer to the

“List of alarm content” in the next table.)

46

[List of alarm content]

This list shows alarm content to be outputted (binary code) in PM8 to PM1 while an alarm occurring. For
details of alarm content, refer to the Operation Manual for the controller.

○: ON ×: OFF

ALM PM8 PM4 PM2 PM1

Output

code

Contents Remarks

× - - - - -

Normal

○ × × × ○ 1

For manufacturer *

○ × × ○ × 2

For manufacturer *

○ × × ○ ○

3

Moving command in servo off status (80)
Position command in home return
non-completion status (82)
Absolute position moving command in
home return non-completion status (83)
Moving command in home return
executing (84)

○ × ○ × × 4

PCB inconsistency error (F4)

○ × ○ × ○ 5

Non-volatile memory writing abnormality
(F7)

*

○ × ○ ○ ×

6

Parameter data abnormality (A1)
Position data abnormality (A2)
Position command information data
abnormality (A3)

○ × ○ ○ ○

7

Excitation detection error (B8)
Operation time time-out in home return
operation (BE)

○ ○ × × × 8

Actual speed excessively large (C0)

○ ○ × × ○

9

Overvoltage (C9)
Overheat (CA)
Control power voltage abnormality (CC)
Control power voltage drop (CE)

○ ○ × ○ × A

For manufacturer *

○ ○ × ○ ○ B

Position deviation counter overflow (D8)

○ ○ ○ × × C

Servo abnormality (C1)

○ ○ ○ × ○ D

A, B phase breakage (E8)
A phase breakage (E9)
B phase breakage (E9)
RCP2 absolute encoder abnormality
detection 1 (ED)
RCP2 absolute encoder abnormality
detection 2 (EE)
RCP2 absolute encoder abnormality
detection 3 (EF)

○ ○ ○ ○ × E

CPU abnormality (FA)
FPGA abnormality (FB)

○ ○ ○ ○ ○ F

Non-volatile memory writing times over
(F5)
Non-volatile memory writing time-out (F6)
Non-volatile memory data destruction
(F8)

Insides of parentheses represent alarm codes indicated by personal computer supporting software or teaching
box.
* Error which never occurs when gateway is used

47

6.4 Position/speed/acceleration and deceleration designation

This is an operation mode to perform operation by directly writing position data, acceleration and deceleration
and speed in the register of the PLC, and allows for control of a maximum seven axes.
Further, it is always possible to read present position data.
Setting of position table for each axis is unnecessary.

Primary functions controllable in this mode are as shown in the following table.

Primary functions

○: Direct control
△: Indirect control
×: Ineffective

Remarks

Home return operation

○

Positioning operation

○

Speed, acceleration and
deceleration setting

○

Pitch (incremental) feed

△

Pitch feed data cannot be directly processed.
Give command by adding or subtracting data of
same moving amount to/from the present position
by host PLC.

Push operation

×

Speed change during movement

○

Speed data is accepted at start of positioning.
Therefore, if you attempt to change the speed in
process of movement, change the speed data

and restart during moving.
Operation in different acceleration
and deceleration

○

Acceleration and deceleration data is accepted at

start of positioning. Therefore, if you attempt to

designate deceleration different from

acceleration, change the acceleration and

deceleration data during movement and restart.
Pause

○

Zone signal output

△

Monitor the present position data by the PLC. (*)
PIO pattern selection

×

* There is no strobe signal in the present position data. Therefore, when checking the present position by

the PLC during movement, provide a range to check that there is data of 2 scans or more in the range.

48

(1) Address configuration

In this mode, input and output for gateway control signal consist of two words respectively, and control
signal for each signal consists of one word respectively for input and output bit register and two words
respectively for input and output word register.
Numeric values in the parentheses represent axis Nos.

PLC output⇒Gateway unit⇒Each axis input Each axis output⇒Gateway unit⇒PLC input

Output

register

bF

Higher byte b8

b7

Lower byte b0

Input

register

bF

Higher byte b8

b7

Lower byte b0

RY 0F – 00 Acceleration and

deceleration
designation (1)

Control signal (0) RX 0F – 00

Cannot be used Status signal (0)

RY 1F – 10 Acceleration and

deceleration
designation (3)

Control signal (2) RX 1F – 10

Cannot be used Status signal (1)

RY 2F – 20 Acceleration and

deceleration
designation (5)

Control signal (4) RX 2F – 20

Cannot be used Status signal (2)

RY 3F – 30

Acceleration and
deceleration
designation (7)

Control signal (6)

RX 3F – 30 Cannot be used Status signal (3)

RY 4F – 40

Acceleration and
deceleration
designation (9)

Control signal (8)

RX 4F – 40 Cannot be used Status signal (4)

RY 5F – 50

Acceleration and
deceleration
designation (11)

Control signal (10)

RX 5F – 50 Cannot be used Status signal (5)

RY 6F – 60

Acceleration and
deceleration
designation (13)

Control signal (12)

RX 6F – 60 Cannot be used Status signal (6)

RY 7F – 70

Prohibited from use because this is in
CC-Link system region

RX 7F – 70

Prohibited from use because this is in
CC-Link system region

Output (writing) Register=Word register Input (writing) Register=Word register
RWw 0 Gateway control signal 0 RWr 0 Gateway status signal 0
RWw 1 Gateway control signal 1 RWr 1 Gateway status signal 1
RWw 2 Speed designation (0) RWr 2 Cannot be used
RWw 3 Position data designation (0) RWr 3 Present position data (0)
RWw 4 Speed designation (1) RWr 4 Cannot be used
RWw 5 Position data designation (1) RWr 5 Present position data (1)
RWw 6 Speed designation (2) RWr 6 Cannot be used
RWw 7 Position data designation (2) RWr 7 Present position data (2)
RWw 8 Speed designation (3) RWr 8 Cannot be used
RWw 9 Position data designation (3) RWr 9 Present position data (3)

RWw A Speed designation (4) RWr A Cannot be used
RWw B Position data designation (4) RWr B Present position data (4)
RWw C Speed designation (5) RWr C Cannot be used
RWw D Position data designation (5) RWr D Present position data (5)
RWw E Speed designation (6) RWr E Cannot be used
RWw F Position data designation (6) RWr F Present position data (6)

49

(2) Assignment for every axis

Control signal and status signal are set by ON/OFF signal in bit units, and acceleration and deceleration
are set by binary data of one byte (8 bits). Further, speed, position data designation and present position
data can be handled in binary data of one word (16 bits), and the PLC can handle numeric values of
–32,768 to +32,767.
Set the acceleration and deceleration and speed in a range of specification of the actuator, and set
position data in a range of soft stroke.

1 word = 16 bits

PLC output

PLC input

1 word = 16 bits

Speed

Acceleration and deceleration speed Control signal

1 word = 16 bits

Cannot be used Command position No.

Unit: Acceleration and deceleration = 0.01G Speed = 1/100mm/sec Position data = 1/100mm

Position data designation Integer with sign

Present position Integer with sign

(Sign) (Sign)

50

Details of input and output signal

Signal type Bit

Signal

name

Contents Detail

Acceleration

and

deceleration

designation

8 bit
data

Set acceleration and deceleration in hexadecimal
number.
(Unit: 0.01G)
Example) When setting to 0.2G, designate 14H

(RynC and RynA are ON).

C8

H

(decimal 200) at maximum 2G.

● When acceleration and deceleration are not

set, note that setting of parameter No.9
“Acceleration and deceleration initial value” is

not applied.
7 - Cannot be used. ­6 - Cannot be used. ­5 - Cannot be used. ­4 SON Servo on command
3 STP Pause command
2 HOME Home return command
1 CSTR Start command

Control

signal

0 RES Reset command

Speed

designation

16 bit

data

-

16 bit integer (Unit 0.01mm/sec)
Set command speed in hexadecimal number.
Example) In the case of 200mm/sec., it is set

E20

H

(decimal 2000)

(Note)

● When speed is not set, or the setting is “0,”

stop is kept. Alarm does not occur.
When changing the speed by changing the
setting to “0” during movement, it
decelerates and stops.

PLC output

Position data

designation

16 bit

data

16 bit integer with sign (Unit: 0.01mm)
Set position data in hexadecimal number.
Example) In the case of +25.4mm, it is set to

09EC

H

(decimal 2540).

(Note)

● When the integer is negative, it is indicated by

complement of 2, therefore, the uppermost bit

becomes “1.”

51

Signal type Bit

Signal

name

Contents Detail

7 EMGS On emergency stop
6 - Cannot be used. ­5 PWR Controller preparation completion

4 SV

Operation preparation completion (Servo on

status)
3 MOVE On moving
2 HEND Home return completion
1 PEND Positioning completion

Status signal

0 ALM Alarm occurring

PLC input

Present

position data

16 bit

data

-

16 bit integer with sign (Unit: 0.01mm)

Set position data in hexadecimal number.

Example) In the case of +25.4mm, it is set to

09EC

H

(decimal 2540).

(Note)

● When the integer is negative, it is indicated by

complement of 2, therefore, the uppermost bit
becomes “1.”

52

6.5 Push operation enable mode

This is an operation mode to perform operation by directly writing current limit value (%) and positioning width
for push in addition to direct designation of position data, acceleration and deceleration and speed into the
register of the PLC, and allows for control of a maximum 3 axes.
Further, it is always possible to read present position data.
Setting of position table for each axis is unnecessary.

Primary functions controllable in this mode are as shown in the following table.

Primary functions

○: Direct control
△: Indirect control
×: Ineffective

Remarks

Home return operation

○

Positioning operation

○

Speed, acceleration and
deceleration setting

○

Pitch (incremental) feed

△

Pitch feed data cannot be directly processed.
Give command by adding or subtracting data of
same moving amount to/from the present position
by host PLC.

Push operation

○

Speed change during movement

○

Speed data is accepted at start of positioning.
Therefore, if you attempt to change the speed in
process of movement, change the speed data

and restart during moving.
Operation in different acceleration
and deceleration

○

Acceleration and deceleration data is accepted at

start of positioning. Therefore, if you attempt to

designate deceleration different from

acceleration, change the acceleration and

deceleration data during movement and restart.
Pause

○

Zone signal output

△

Monitor the present position data by the PLC. (*)
PIO pattern selection

×

* There is no strobe signal in the present position data. Therefore, when checking the present position by

the PLC during movement, provide a range to check that there is data of 2 scans or more in the range.

53

(1) Address configuration

In this mode, input and output for gateway control signal consist of two words respectively, and control
signal for each axis consists of six words respectively for input register and three words respectively for
output register.
Further, axis No.0 uses bit register, and axis No.1 and 2 use word register.
Numeric values in the parentheses represent axis Nos.

PLC output⇒Gateway unit⇒Each axis input Each axis output⇒Gateway unit⇒PLC input

Output

register

bF

Higher byte b8

b7

Lower byte b0

Input

register

bF

Higher byte b8

b7

Lower byte b0

RY 0F – 00 Position data designation (0) RX 0F – 00 Status signal (0)

RY 1F – 10

Current limit value

(0)

Position data

designation (0)

RX 1F – 10 Present position data (0)

RY 2F – 20 Speed designation (0) RX 2F – 20 Cannot be used

Present position

data (0)

RY 3F – 30

Acceleration and

deceleration

designation (0)

Speed

designation (0)

RX 3F – 30

RY 4F – 40 Positioning width designation (0) RX 4F – 40

RY 5F – 50 Control signal (0)

Positioning width

designation (0)

RX 5F – 50

RY 6F – 60 Cannot be used RX 6F – 60

Cannot be used

RY 7F – 70

Prohibited from use because this is in
CC-Link system region

RX 7F – 70

Prohibited from use because this is in
CC-Link system region

Output (writing) Register=Word register Input (writing) Register=Word register

RWw 0 Gateway control signal 0 RWr 0 Gateway status signal 0
RWw 1 Gateway control signal 1 RWr 1 Gateway status signal 1
RWw 2 Position data designation (1) RWr 2 Status signal (1)

RWw 3

Current limit value

(1)

Position data

designation (1)

RWr 3 Present position data (1)

RWw 4 Speed designation (1) RWr 4 Cannot be used

Present position

data (1)

RWw 5

Position data

designation (1)

Speed

designation (1)

RWr 5 Status signal (2)

RWw 6 Positioning width designation (1) RWr 6 Present position data (2)

RWw 7 Control signal (1)

Positioning width

designation (1)

RWr 7 Cannot be used

Present position

data (2)

RWw 8 Position data designation (2) RWr 8

RWw 9

Current limit value

(2)

Position data

designation (2)

RWr 9

RWw A Speed designation (2) RWr A

RWw B

Position data

designation (2)

Speed

designation (2)

RWr B

RWw C Positioning width designation (2) RWr C

RWw D Control signal (2)

Positioning width

designation (2)

RWr D

RWw E RWr E
RWw F

Cannot be used

RWr F

Cannot be used

54

(2) Assignment for each axis

Control signal and status signal are set by ON/OFF signal in bit units, and acceleration and deceleration
are set by binary data of one byte (8 bits). Designations of speed, position and positioning width and
present position data handle numeric values in binary data of 1.5 words (24 bits).
It is recommended to use control signal and status signal on bit register by performing transmission
processing.
Set current limit value, acceleration and deceleration and speed in a range of the specification of the
actuator, and set position data in a range of the soft stroke.

1 word = 16 bits

PLC output

Position data designation

Speed designation

Control signal Positioning width designation

Unit: Current limit value=1% Acceleration and deceleration=0.01G Speed=1/100mm/sec

Position, positioning width=1/100mm

Positioning width designation

Current limit value

Position data designation (integer with sign)

Acceleration and deceleration designation Speed designation

(Sign)

55

CAUTION

1. 24 bit binary data with a sign of PLC output and input is handled as a negative number when the

uppermost bit is “1.” However, note that the data is handled as normal numeric data on the PLC.

PLC input

1 word = 16 bits

Position data designation

Present position data

Cannot be used Present position data (integer with sign)

56

Details of input and output signal

Signal type Application

Signal

name

Contents Detail

Position data

designation

24bit data -

24 bit integer with sign (unit: 0.01mm)
Set position data in hexadecimal number of 24 bits.
Example) In the case of +25.4mm, designate

0009EC

H

(decimal 2540).

(Note)

● When the integer is negative, it is indicated by

complement of 2, therefore, the uppermost bit
becomes “1.”

Current limit

value

8bit data -

Set current limit value when push to set push force
in hexadecimal number. (unit%)
Setting range is from 00

H

to FFH, and FFH =100%.

Example) When setting to 50%, set it as

FF

H

50%=255×50%=127(decimal)=7FH.

Speed

designation

24bit data -

24 bit integer (unit 0.01mm/sec)
Set command speed in hexadecimal number.
Example) In the case of 200mm/sec, the data is

0004E20

H

(decimal 20000).

(Note)

● When speed is not set, or setting is “0,” or the

setting is “0,” stop is kept. Alarm does not occur.
When changing the speed by changing the
setting to “0” during movement, it decelerates and
stops.

PLC input

Acceleration

and

deceleration

8bit data -

Set acceleration and deceleration in hexadecimal
number.
(Unit: 0.01G)
Example) When setting to 0.2G, it is 14

H

. It is C8H

(decimal 200) at maximum 2G.

(Note)

● When acceleration and deceleration are not set,

note that setting of parameter No.9 “Acceleration
and deceleration initial value” is not applied.

57

Signal type Application

Signal

name

Contents Detail

Positioning

width

designation

24 bit data -

24 bit integer (Unit: 0.01mm)
Set it in hexadecimal number.
Example) In the case of +25.4mm, designate it as
0009EC

H

(decimal 2540).

● Set position data in a range of soft stroke.

● Designate push operation direction in DIR.

● When positioning width designating data is not

set, note that setting of parameter No.10
“Positioning width initial value” is not set.

F/b 15 - Cannot be used

E/b 14 DIR

Designation of push direction

(0－Home return direction, 1－Home return
reverse direction)

D/b 13 PUSH Push operation mode designation

C/b 12 SON

Servo on command

B/b 11 STP

Pause command

A/b 10 HOME

Home return command

9/b9 CSTR

Start command

PLC output

Control

signal

8/b8 RES

Reset command

F-8/b15-8 - Cannot be used

7/b7 EMGS On emergency stop

6/b6 PSFL Push outside

5/b5 PWR Controller preparation completion
4/b4 SV Operation preparation completion (Servo on status)
3/b3 MOVE On moving
2/b2 HEND Home return completion
1/b1 PEND Positioning completion

Status signal

0/b0 ALM Alarm occurring

Present

position data

24 bit data -

24 bit integer with sign (Unit: 0.01mm)
Data of present position is outputted in
hexadecimal number.
Example) In the case of +25.4mm, the data is

0009ECH (decimal 2540).

(Note)

● When the integer is negative, it is indicated by

complement of 2, therefore, the uppermost bit
becomes “1.”

PLC input

- - b15-8 Cannot be used

58

6.6 Simple direct value/Position No. designation mode

This is an operation mode for operation by mixing a mode to operate by designating position No. and a simple
direct value mode in which target position data is designated by numeric value and the other movement
parameters are designated by position No.
However, this mode is allowed only for CC-Link Ver. 2, and not used for Ver. 100 and Ver. 1.10.
Primary controllable functions are as shown in the following table.

Primary functions

Position No.

designated axis

Simple direct

value axis

Remarks

Home return operation

○ ○

Positioning operation

△

○

Position table/Position direct

command
Speed, acceleration and
deceleration setting

△

○

Position table

Pitch (incremental) feed

△

×

Position table

Push operation

△ △

Position table

Speed change during movement

△ △

Operation in different
acceleration and deceleration

△ △

Position table

Pause

○

△

Zone signal output

○ ×

Zone is set by parameter
PIO pattern selection

△ ×

59

6.6.1 Overall address configuration

Input and output for gateway control signal are two words respectively, and only in this mode, patterns of
position No. designated axes and number of axes are set by PPS0 to PPS2 and NPS0 to NPS4 of control
word 0. Subsequently, command input and output regions are exclusive, and gateway control signal and
input and output are in a fixed region together with command region.
Control region for each axis is assigned after fixed region, however, position No. designated axis is
assigned at first, then simple direct value mode axis is assigned. They cannot be alternately assigned.
Size of input and output region of overall gateway is determined by the mode setting switch SW1 as
shown in the following table.

SW1

Overall input

and output

region

Fixed region

Axis control

region

88 words

respectively

Mode

No.

4 3 2 1

5 × × × ○
6 × ○ × ○
7 ○ × × ○

Up to 16 axes including position No. designated axis/simple direct value mode axis can be assigned.
Each axis control signal is one word respectively for input and output in the case of position No.
designated axis, and each control signal is three words for PLC input, and four words for PLC output.
For CC-Link master side, it is necessary to perform expansion cyclic setting by remote net Ver. 2 mode or
remote net addition mode to expand number of cyclic points.

60

PLC output⇒Gateway unit⇒Each axis input Each axis output⇒Gateway unit⇒PLC input

Output register Input register

Higher byte Lower byte Higher byte Lower byte

Gateway control signal 0

Gatewa

y

control signal 1

Re

q

uest command

Data 0

Data 1

Data 2

Data 3

Data 4

(

Reserve

)

Data 5 (Reserve

)

Gateway control signal 0

Gatewa

y

control signal 1

Response command

Data 0

Data 1

Data 2

Data 3

Data 4

(

Reserve)

Data 5

(

Reserve)

Fixed region

(10 word)

(20 word)

(24 word)

(64 word)

(48 word)

(24 word)

4 word

1 word

Output (writing) Register=Word register

Position No. designated axis control signal

Input (writing) Register=Word register

Position No. designated axis status signal

1 word

3 word

Simple direct value axis control signal Simple direct value axis control signal

61

6.6.2 Assignment for each axis

Input and output signals for each axis position No. designated mode and those in simple direct value
mode are different from each other in size of region and its content. Further, in the position No.
designated mode, meaning of each bit depends on the pattern set by gateway control signal PPS.

(1) Control signal and status signal of position No. designated axis

Pattern 0
(Standard)

Pattern 1
(Teach)

Pattern 2
(Positioning 256
points)

Pattern 3
(Positioning 512
points)

Pattern 4
(Air cylinder)

PLC output RWw PLC input RWr

Pattern 0

Pattern 1

Pattern 2

Pattern 3

Pattern 4

Control signal Command position No.

Control signal Command position No.

Control signal Command position No.

Control signal Command position No.

Control signal Start position No.

Status signal Completed position No.

Status signal Completed position No.

Status signal Completed position No.

Completed position No.

Status signal Completed position No.

Status signal

62

Detail of input and output signal

Signal type Bit

Signal

name

Pattern

No.

Contents Detail

b15 SON 0 – 4 Servo on command
b14 RES 0 – 4 Reset command

CSTR 0, 2, 3 Start command

b13

PWRT 1 Position data capturing command TEAC
b12 STP 0 – 4 Pause command
b11 HOME 0 – 4 Home return command
b10 BKRL 0, 2 – 4 Brake compulsory release

b9 JOG- 1 Jog- command
b8 JOG+ 1 Jog+ command
b7 JISL 1 Jog/inching changeover

Control

signal 0

b6 MOD 1 Teach mode command

b8–b0 PC*** 0 – 3

Command position No. is designated by
command position No.

PLC output

Command

position No.

b6–b0 ST0-ST6 4 Start position is designated by bit pattern.

b15 BALM 0 – 4 Battery voltage drop alarm
b14 ALM 0 – 4 Alarm occurring
b13 EMGS 0 – 4 On emergency stop

b12 SV 0 – 4

Operation preparation completion (Servo on
status)

b11 PEND 0, 2 – 4 Positioning completion

b11 WEND 1

Position data capturing command status
TEAC

b10 HEND 0 – 4 Home return completion

b9 RMDS 0 – 4 Operation mode status
b8 PZONE 0, 2 – 4 Position zone output monitor
b7 ZONE1 0, 4 Zone output monitor 1
b7 MODS 1 Teach mode status

Status

signal

b6 MOVE 0, 1 On moving

b8-b0 PM*** 0 – 3

Completed position No. is read by binary
number.

PLC input

Completed

position No.

b6-b0 PE0-PE6 4 Completed position is read by bit pattern.

63

(2) Simple direct value designated axis

Each axis consists of four words for output and three words for input as shown below.
Position data designation and present data are hexadecimal numbers of 32 bit integer with the sign in
units of 0.01mm.

PLC output = Control signal

m is a head address assigned as simple direct value axis.
n is a number of simple direct designated axis.

Position data designation

Present position data (integer with sign)

Movement parameter position No.

Control signal

PLC input = Status signal

Present position data

Present position data (integer with sign)

(Sign) (Sign)

Status signal

64

Details of input and output signal

Signal type Bit

Signal

name

Contents Detail

Target

position

data

32 bit

data

-

This is a 32 bit integer with sign (Unit: 0.01mm),
and is set in hexadecimal number.
Example) In the case of +25.4mm, set it to
0009EC

H

(decimal 2540).

● When the integer is negative, it is indicated

by complement of 2, therefore, the
uppermost bit becomes “1.”

-

Movement
parameter

position No

16 bit

data

-

Set movement parameters other than target
position data on the position table, however,
designate the position No. in hexadecimal
number.

-

b15-b13 - Cannot be used.

b12 SON Servo on command

b11 STP Pause command

b10 HOME Home return command

b9 CSTR Start command
b8 RES Reset command

PLC output

Control

signal

b7-b0 - Cannot be used.

Present
position

data

32 bit

data

-

This is a 32 bit integer with sign (Unit: 0.01mm),
and the present position data is outputted in
hexadecimal number.
Example) and (Note) are the same as those for
the target position data.

b15-b9 - Cannot be used.

b8 PMSS

PIO/Modbus switching status
0: PIO, 1: Modbus
Switching is performed by PIO/Modbus

switching command.
b7 EMGS Emergency stop status
b6 PSFL Push outside ­b5 PWR Controller preparation completion

b4 SV

Operation preparation completion (Servo on

status)
b3 MOVE On moving
b2 HEND Home return completion
b1 PEND Positioning completion

PLC input

Position

data

designation

b0 ALM Alarm occurring

65

CAUTION

Setting of the “Parameter initial value” is not applied to the movement data which must be directly

designated in numeric value from the PLC. Therefore, note that if it is not designated in numeric value,

operation is not performed or alarm occurs.

The following summarizes how to designate movement data for each operation mode.

Position data designation

Simple/Position No.

designation

Designated

data

Position

data limit

designation

Position No.

designation

Normal Push

Simple direct

value

Position No.

designation

Position PLC

numeric

value

designation

Position

table

PLC numeric

value

designation

PLC numeric

value

designation

PLC numeric

value

designation

Position table

Speed Parameter Position

table

(Parameter)

PLC numeric

value

designation

(×Parameter)

PLC numeric

value

designation

(×Parameter)

Position table

(Parameter)

Position table

(Parameter)

Acceleration
and
deceleration
speed

Parameter

Position

table

(Parameter)

PLC numeric

value

designation

(×Parameter)

PLC numeric

value

designation

(×Parameter)

Position table

(Parameter)

Position table

(Parameter)

Positioning
width

Parameter

Position

table

(Parameter)

Parameter

PLC numeric

value

designation

(×Parameter)

Position table

(Parameter)

Position table

(Parameter)

Push
current limit
value

×

Position

table

×

PLC numeric

value

designation

Position table Position table

66

6.6.3 Command region

When request command RY (2F-20) and data RY (8F-30) related to the request command are outputted
from the PLC, response command (2F-20) and data related to the response command are inputted to the
PLC input.
The request command and response command respectively consist of one word, and the request data
and response data respectively consist of seven words, however, actually use five words. (Refer to the
overall address configuration.)

(1) Command list

Commands which can be used and command codes are as follows.

Classification of functions Code Description
Hand shake 0000H Request command clear

1000H Target position write
1001H Positioning width write
1002H Speed write
1003H Individual zone boundary + side write
1004H Individual zone boundary - side write
1005H Acceleration write
1006H Deceleration write
1007H Current limit value write at push

Position table data write

1008

H

Load current threshold value write
1040H Target position read
1041H Positioning width read
1042H Speed read
1043H Individual zone boundary + side read
1044H Individual zone boundary - side read
1045H Acceleration read
1046H Deceleration read
1047H Current limit value read at push

Position table data read

1048

H

Load current threshold value read
0DA0HPOS writing coil write Position table data recorded on ROM

02E0H POS writing completion coil read

Present occurring alarm code read 0342H Presently occurring alarm code read
Present value monitor 0440H Designated axis present position monitor
Group designated broadcast operation 0D03H Synchronizing movement to same POS No. position
PIO/Modbus control switching 0DA1HPIO/Modbus switching

67

(2) Each command and data format

[1] Position table data write command

Command name *1 PLC output (request) PLC input (response)

+2 1000H
3 Position No.
4
5

Position data
(24 bit integer with sign)

6 Axis No. 0 to FH (0-15)
7 0

Target position write

8 0

Same value as request at normal

+2 1001H
3 Position No.
4
5

Positioning width data
(24 bit integer)

6 Axis No. 0 to FH
7 0

Position width write

8 0

Same value as request at normal

+2 1002H
3 Position No.
4 5 Speed data

(24 bit integer)

6 Axis No. 0 to FH
7 0

Speed write

8 0

Same value as request at normal

+2 1003H
3 Position No.
4
5

Position data
(24 bit integer with sign)

6 Axis No. 0 to FH
7 0

Individual zone
boundary + side write

8 0

Same value as request at normal

+2 1004H
3 Position No.
4 Position data

(24 bit integer with sign)
5
6 Axis No. 0 to FH
7 0

Individual zone
boundary - side write

8 0

Same value as request at normal

+2 1005H
3 Position No.
4 Acceleration data (8 bit integer)
5 0
6 Axis No. 0 to FH
7 0

Acceleration write

8 0

Same value as request at normal

68

Command name *1 PLC output (request) PLC input (response)

+2 1006H
3 Position No.
4 Deceleration data (8 bit integer)
5 0
6 Axis No. 0 to FH (0-15)
7 0

Deceleration write

8 0

Same value as request at normal

+2 1007H
3 Position No.
4 0000 to 00FFH (00FFH:

Maximum current)
5 0
6 Axis No. 0 to FH
7 0

Current limit value write
at push *2

8 0

Same value as request at normal

+2 1008H
3 Position No.
4 0000 to 00FFH (00FFH:

Maximum current)
5 0
6 Axis No. 0 to FH
7 0

Load current threshold
value write

8 0

Same value as request at normal

(Note)

1) Relative RY and relative RX from the head

2) This is not enabled unless push operation is set.

69

[2] Position table data read command

Command name *1 PLC output (request) PLC input (response)

+2 1040H
3 Position No.

Same value as request at normal

4 0
5 0

Target position data *2

6 Axis No. 0 to FH (0-15)
7 0

Target position read

8 0

Same value as request at normal

+2 1041H
3 Position No.

Same value as request at normal

4 0
5 0

Positioning width data *3

6 Axis No. 0 to FH
7 0

Positioning width read

8 0

Same value as request at normal

+2 1042H
3 Position No.

Same value as request at normal

4 0
5 0

Speed data *3

6 Axis No. 0 to FH
7 0

Speed read

8 0

Same value as request at normal

+2 1043H
3 Position No.

Same value as request at normal

4 0
5 0

Individual zone boundary + data *2

6 Axis No. 0 to FH
7 0

Individual zone
boundary + side read

8 0

Same value as request at normal

+2 1044H
3 Position No.

Same value as request at normal

4 0
5 0

Individual zone boundary - data *2

6 Axis No. 0 to FH
7 0

Individual zone
boundary - side read

8 0

Same value as request at normal

+2 1045H
3 Position No.

Same value as request at normal

4 0
5 0

Acceleration data *4

6 Axis No. 0 to FH
7 0

Acceleration read

8 0

Same value as request at normal

70

Command name *1 PLC output (request) PLC input (response)

+2 1046H
3 Deceleration reading POS No.

Same value as request at normal

4 0

Deceleration data *4
5 0
6 Axis No. 0 to FH
7 0

Deceleration read

8 0

Same value as request at normal

+2 1047H
3 Position No.

Same value as request at normal

4 0 0000 – 00FFH (00FFH: Max current)
5 0
6 Axis No. 0 to FH
7 0

Current limit value read
at push *5

8 0

Same value as request at normal

+2 1048H
3 Position No.

Same value as request at normal

4 0 0000 – 00FFH (00FFH: Max current)
5 0
6 Axis No. 0 to FH
7 0

Load current threshold
value read

8 0

Same value as request at normal

* 1) Relative RY and relative RX from the head

2) 24 bit integer data with sign

3) 24 bit integer data

4) 8 bit integer data

5) This is not enabled unless push operation is set.

71

[3] Position table data ROM writing command

Command name *1 PLC output (request) PLC input (response)

+2 0DA0H
3 0
4 Coil ON/OFF

00FF

H

= ON

0000

H

= OFF
5 0
6 Axis No. 0 to FH
7 0

Position table data ROM
writing coil write

8 0

Same value as request at normal

+2 02E0H
3 0

Same value as request at normal

4 0 00FFH= Now recording on ROM

0000

H

= Recording on ROM completed
5 0
6 Axis No. 0 to FH
7 0

Position table data ROM
writing completion coil
read

8 0

Same value as request at normal

[4] Presently occurring alarm code read command

Command name *1 PLC output (request) PLC input (response)

+2 0342H
3 0

Same value as request at normal

4 0 Alarm code
5 0
6 Axis No. 0 to FH
7 0

Presently occurring
alarm code read

8 0

Same value as request at normal

* 1) Relative RY and relative RX from the head

72

[5] Group designated broadcast POS movement start
This command simultaneously starts an axis designated by group No. to a position designated by POS
No. This command performs communication between gateway and controller by broadcast, therefore,
response from the controller does not return.
The response result displayed on the PCL input means that communication to the controller normally
ended, and does not indicate status of the controller. Determine the status from the status signal to each
axis.

*1 PLC output (request) PLC input (response)
+2 0D03H
3 POS No. *2
4 Group ID No. *3
5 0
6 0
7 0
8 0

Same value as request at normal

*1) Relative RY and relative RX from the head
*2) Possible values depend on type of robo-cylinder and its setting.
*3) If this is 0, all of the linked axes move regardless of group designation.

Setting of group No. is performed by system parameter setting of personal computer supporting
software.

*4) When movement command is issued by control word for every axis in process of movement by this

command, movement by this command is cancelled and operation is performed by the latest
movement command. Note that each axis has two movement command interfaces.
Use these two interfaces exclusively.

*5) Even if a link to CFG of gateway control signal is eliminated by bit OFF operation, the controller

always receives this command and executes after the link is once established.

[6] PIO/Modbus switching command
*1 PLC output (request) PLC input (response)
+2 0DA1H
3 0
4 Coil ON/OFF

00FF

H

=ON: Modbus (PIO command ineffective)

0000

H

=OFF: PIO (PIO command effective) *2
5 0
6 Axis No. 0 to FH
7 0
8 0

Same value as request at normal

*1) Relative RY and relative RX from the head
*2) PIO/Modbus switching status is reflected on the status signal PMSS. And, this is not allowed to be

set for the position No. designated movement axis (Invalid request command error (0103H) occurs).

*3) When coil OFF (PIO command effective) is designated, it is also possible to change position data of

axis from the PLC by Modbus communication (The link should be held).

*4) When control right for the controller is on the PIO, do not issue movement command from the

Modbus.

73

(3) Error response

When command error occurs, the uppermost bit (b15) is turned ON. Further, the following error codes
are set to the response data 1.

Code Description
0101H Invalid axis No. *1
0102H Invalid position No. *1
0103H Invalid request command *1
0201H Communication fault
0202H Controller execution impossible

*1) If data from the PLC is checked and this is found, an error code is set to the response data without

transmitting to the controller.

*2) Nothing is displayed on the response command in a status that link is not completely formed.

74

75

7. Contents of communication signal

7.1 Outline of timing for communication signal

In order to operate robo-cylinder by the sequence program for the PLC, any of the control signals is turned ON,
and maximum response time until the response (status) returns to the PLC is expressed by the following
equation.

Maximum response time (msec) = Yt + Xt + 2 × Mt + Command processing time (such as operating time)

Mt = 10(msec) × (n + 1) : SIO link (Modbus) Cycle time
n : Number of controlled axes
Yt : Master station → Remote I/O station transmission delay time
Xt : Remote I/O station → Master station transmission delay time

For Master station → Remote I/O station transmission delay time (Yt), Remote I/O station → Master
station transmission delay time, refer to the Operation Manuals for the CC-Link master unit and PLC to be
mounted.

(Note) When communication error is caused due to a problem on the transmission path, communication

retry (retry times = 3) occurs and a longer SIO link cycle time (Mt) than normal may occur.

CC-Link transmission
delay time

PLC sequence program

Control signal

Status signal

Gateway

Control signal

Status signal

Controler

Control signal

Status signal

Master station → Remote I/O
station
Transmission delay time (Yt)

Remote I/O station→ Master
station
Transmission delay time (Xt)

SIO link cycle time

SIO link cycle time

Command
processing time

76

7.2 Communication signal and operation timing

(1) Controller preparation completion (PWR)

This is turned ON when the controller becomes controllable after power is turned on.

■ Function

This is turned ON when the controller has been normally initialized and becomes controllable after
power is turned on regardless of the status of the alarm and status of the servo.
This is ON if the controller is controllable even when it is in an alarm status.
This synchronizes with the LED (Green) of RDY on the front of the controller.

(2) Emergency stop (EMGS)

This is turned ON when the controller is in emergency stop status

.

■ Function

This is turned ON when any alarm for the controller occurs, or there occurs an emergency stop status
by emergency stop circuit (refer to 4.3.1), or motor drive power is in shut-off status. This is turned
OFF when the emergency stop status is released.

(3) Alarm (ALM)

This signal is turned ON when the protecting circuit (function) for the controller detects any abnormality

.

■ Function

This signal is turned ON when the protecting circuit (circuit) detects an abnormality and operates.
This can be turned OFF when the cause of the alarm is released and the reset (RES) signal is turned
ON. (Except for alarm on cold start level)
When any alarm is detected, the LED (Red) of ALM on the front of the controller is lit. When in normal
status, this is unlit.
In ERC2, the LED on the upper part of the motor unit is lit in red. It is lit in green with the servo on.

(4) Reset (RES)

This signal has two functions, one of which is alarm reset for the controller, and the other is to cancel
remaining movement amount during pause.

■ Function

[1] Alarm signal can be reset by turning ON this signal after eliminating cause of the alarm during

occurrence of alarm. (Except for alarm on cold start level)

[2] Remaining movement amount can be canceled by turning ON this signal during pause.

77

(5) Direct numeric value designated operation

(Position data, present position data, CSTR, PEND, MOVE, acceleration and
deceleration data, speed data)

This is a function to operate the robo-cylinder by directly writing position data, acceleration and
deceleration data, speed data onto the link register on the PLC without using the position table for the
controller.
Position data designated operation is an effective function when position data limit designated mode
(maximum number of controlled axes, 14 axes), or positioning data designated mode (maximum number
of controlled axes, 7 axes), simple direct value/position No. designated mode (maximum number of
controlled axes, 16 axes) is selected.
And, acceleration and deceleration data and speed data designation are effective functions only when
positioning data designated mode (maximum number of controlled axes, 7 axes) is selected.

■ Function
a. Position data designated operation

This is an effective function when the position data limit designated mode or positioning data
designated mode is selected.

[1] Set target position data onto position data designated register.
[2] Turn ON the CSTR (Start) at the same time as [1] or after that (≥0).

Normally, turn ON the CSTR in a state that the PEND (positioning completion) is ON, or the MOVE
(on-moving signal) is OFF.

The target position data is transmitted to the controller at ON edge of the CSTR (at signal startup).
[3] The PEND is turned OFF after the CSTR is ON, and after tdpf.
[4] Turn OFF the CSTR by turning OFF the PEND or turning ON the MOVE (on-moving).

Do not change the target position data until the CSTR is turned OFF.
[5] The MOVE is turned ON at the same time when the PEND is turned OFF or within 1Mt after that.
[6] The present position data is always updated. The PEND is turned OFF when the CSTR is OFF

and remaining movement amount is in a range of the parameter No.10 “Positioning width

(in-position) initial value” for the controller and at the same time when the present position is

updated or within 1Mt after that.

Therefore, check reading of stop position data after positioning is completed in some proper time

(remaining movement amount moving time) after the PEND is turned ON.

Further, the present position data slightly changes due to vibration, etc., even during stop, therefore,

take it into account when handling the position data.
[7] The MOVE is turned OFF at the same time when the PEND is turned ON or within 1Mt after that.
[8] It is possible to change the target position data during movement.

To change the target position during movement, turn ON the CSTR after changing the target

position data (>PLC scan time).

In this case, keep the CSTR ON for tdpf or longer. And take an interval time of 1Mt or longer until

turning ON the next CSTR after turning OFF the CSTR.

78

Position data

measurement

value

Present
position

[1]

[2]

[3]

[4]

[4]

[5]

[6]

[7]

79

b. Acceleration and deceleration, speed data designation

This is an effective function when the positioning data designated mode is selected.

[1] Set the acceleration and deceleration, and speed data designation to each designated register at the

same time when setting the target position data in a. or before setting it.
Note that setting of parameter No.9 “Acceleration and deceleration initial value” is not applied unless
the acceleration and deceleration is set. And, stop status is kept when speed is not set or is set to “0.”
Alarm does not occur.

[2] It is transmitted together with the target position data at ON edge of the CSTR (start) (at startup of

signal).

[3] It is possible to change the acceleration and deceleration and speed data during movement.

To change the acceleration and deceleration or speed during movement, turn ON the CSTR after
changing the acceleration and deceleration and speed data.
In this case, keep the CSTR ON for tdpf or longer. And take an interval time of 1Mt or longer until
turning ON the next CSTR after turning OFF the CSTR.
When changing the speed by changing the setting to “0” during movement, it decelerates and stops.
Alarm does not occur.

CAUTION

1. It is necessary to set the target position data even when changing only the acceleration and

deceleration/speed data during movement.

2. It is necessary to set the acceleration and deceleration/speed data even when changing only the target

position during movement.

80

Speed, acceleration

and deceleration set

value

Actuator

speed

Speed n2

Speed n3

[1]

[2]

[3]

81

(6) Positioning data designated mode push operation

(Position data, acceleration and deceleration data, speed data, current limit value,
positioning width, present position data, DIR, PUSH, CSTR, PEND, MOVE)

This is a function to operate to push the actuator by directly writing position data, acceleration and
deceleration data, speed data, current limit value and positioning width onto the link register on the PLC
without using the position table for the controller.
This is an effective function when push operation mode (maximum number of controlled axes, 3 axes) is
selected in positioning data designated mode.

■ Function

[1] Set push a start position data to the position data designated register.
[2] Set a speed up to the push start position to the speed designated register, and set the acceleration

and deceleration at the time to the acceleration and deceleration register. Note that setting of the

parameter No.9 “Acceleration and deceleration initial value” is not applied unless the acceleration

and deceleration is set.
[3] Set a push operation moving amount (maximum push amount) to the positioning width designated

register. (*)
[4] Set a current limit value for setting push force to the current limit value register.
[5] Turn ON the PUSH (push operation mode designation) signal.
[6] Select a push direction with the DIR (push direction designation) signal.

Push operation is performed in home return reverse direction with the DIR signal ON, and in home

return direction with the DIR signal OFF.
[7] Turn ON the CSTR(start) after that (≥0)

Turn ON the CSTR in a status that the PEND (Positioning completed) or the MOVE (on-moving)

signal is OFF.

Data set in [1] to [4] is transmitted to the controller at the ON edge (at startup of signal).
[8] The PEND is turned OFF after the CSTR is turned ON, and after tdpf.
[9] Turn OFF the CSTR by turning OFF the PEND or turning ON the MOVE signal.
[10] The MOVE is turned ON at the same time when the PEND is turned OFF or within 1Mt after that.
[11] The PEND is turned ON when the CSTR is OFF and current from the motor reaches the current

limit value set in [4]. (Push completed)
The PSFL (push outside) signal is turned ON

unless the current from the motor reaches the current
limit value set in [4] even if the positioning width set in [3] is reached.
In this case, the PEND is not turned ON. (Push outside)

[12] The present position data is always updated.
[13] Turn OFF the PUSH and DIR by turning ON the PEND or turning ON the PSFL.

◎ Normal positioning in push operation enable mode

Normal positioning in push operation enable mode is operated with the signal in [5] OFF. Setting in
[4] is also unnecessary. The PEND is turned ON when the CSTR is OFF and remaining movement
amount set in [3] enters a positioning width designated data range. The others are the same as
those in the “7.2(5) Direct numeric value designated operation.”

* Note that setting of the parameter No.10 “Positioning width initial value” unless the positioning width

designated data is set.

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Position data

set value

Speed, acceleration

and deceleration

set value

Positioning width

value set value

Current limit

value set value

Present position

[1]

[2]

[3]

[4]

[5]

[6]

[7]

[8]

[9]

[10]

[11]

[12]

[13]

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(7) Position No. designated operation

(Command position No., completion position No., CSTR, PEND, MOVE)

This is an effective function when the position No. designated operation mode is selected.

■ Function

Enter position data into the position table of the controller in advance, and designate a position No. with
the link register on the PLC to operate.
Push operation, speed change operation during movement and pitch feed by relative coordinate
designation are the same as those in the case to operate with the PIO (I/O cable), therefore, refer to the
Operation Manuals for PCON, ACON, SCON and ERC2.

[1] Set a position No. to the command position No. register.
[2] Turn ON the CSTR (start) after that (≥0).
[3] The PEND (positioning completed) is turned OFF after the CSTR is turned ON, and after tdpf.
[4] Turn OFF the CSTR by turning OFF the PEND or turning ON the MOVE (on-moving).
[5] The MOVE is turned ON at the same time when the PEND is turned OFF or within 1Mt after

that.

[6] The completion position No. and PEND are outputted when the CSTR is OFF and the

remaining movement amount is within a range of the parameter No.10 “Positioning width
(in-position) initial value” for the controller.
Therefore, check reading of completion position No. after positioning is completed in some
proper time (remaining movement) after the PEND is turned ON.

84

Command

position No.

Completion

position No.

[1]

[2]

[3]

[4]

[5]

[6]

85

(8) Pause (STP, MOVE)

This is a function to perform pause during movement of axis.

■ Function

Axis movement can be stopped and restarted by the STP (pause) signal. Axis movement stops while
the STP signal is ON.
A relationship between the STP signal and MOVE (on-moving) signal is as follows.

(9) Servo on (SON, SV)

This is a signal to put the motor into an operable status.
When the servo is turned on, the LED (green) for SV on the front of the controller is lit. In ERC2, the LED
on the upper part of the motor unit is lit in green.
The SV (operation preparation completion) signal synchronizes with this LED indication.

■ Function

Servo ON/OFF for the controller is enabled by the SON (servo on) signal.
While the SON signal is ON, the controller is in the servo on status and can be operated.
A relationship between the SON signal and SV signal is as follows.

Depends on acceleration and deceleration.

86

(10) Home return (HOME, HEND)

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

CAUTION

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

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

when power is turned on.

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

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

(11) Zone (ZONE1, ZONE2)

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

CAUTION

1. This signal supports the position No. designated mode only.

2. Use this signal in a status that home return is completed (HEND signal is ON).

If the HEND (home return completed) signal is ON, this signal is also effective even in the servo off

status or emergency stop status.

87

88

7.3 Command transmission and reception

The diagram below shows a timing chart for command transmission and reception.
The gateway analyzes the request command and responds at every time when control and status data
exchange for all axes which are always performed are ended.
The PLC and gateway unit execute the following.
[1] The PLC application confirms zero of the response command, then sets the necessary request command

and data.

[2] The gateway detects that the request command became other than zero, then transmits the request data

to the applicable axis.
[3] The gateway receives a response from the applicable axis, then outputs the response result.
[4] The PLC application confirms the response result, then clears the request command.
[5] The gateway confirms that the request command is cleared, then clears the response command and waits

for the next command.

When using continuously, repeat [1] to [5].

PLC request output

Gateway response

Request

command data

Transmission and

reception for controller are

executed by gateway.

Request = 0000

H

Response command

response data

Response=0000

H

[1]

[2]

[3]

[4]

[5]

89

90

8. System build-up

It is necessary to set as follows in order to make the controller communicate with the CC-Link Master (PLC)
and controller through the gateway unit.
[1] Controller setting for SIO communication (Modbus communication) between the gateway unit and

controller
[2] Setting of PLC side and gateway unit for CC-Link communication between the PLC and gateway unit

8.1. Communication setting for controller

It is necessary to set as follows in order to make the controller communicate with the gateway unit.

(1) Set so as not to duplicate axis No.

Note that a range of settable axis No. depends on the operation mode of the gateway unit.

(2) Parameter setting

[1] Set the parameter No. 16 “SIO communication speed” to “230400” (230.4 kbps).

SIO communication cannot be performed in a setting other than 230.4 kbps.

[2] Set the parameter No. 17 “Slave station transmitter activation minimum delay time” to “5” or less.

When attempting to execute the communication cycle at the fastest speed, set it to “0.”

91

8.2. CC-Link communication setting

It is necessary to set as follows in order to make the gateway communicate with master station.
As for this setting, a gateway unit must accord with the master station.

○: ON ×: OFF

Item Setting of gateway unit Setting of PLC master

Communication

speed

Baud rate setting switch

Number of exclusive

stations

Station No. Station No. setting switch Expanded cyclic setting

Station type Remote device station only Remote device station

Mode setting SW1

4 3 2 1

Number of

exclusive

stations

Expanded

cyclic setting

× × × × 4 1 time

Position data limit designated
mode (14 axes)

× × ○ × 4 1 time

Position No. designated mode
(14 axes)

× ○ × × 4 1 time

Normal positioning mode (7
axes)

× ○ ○ × 4 1 time

Push operating mode (3 axes)

○ × × ○ 3

2 times

(example)

Simple direct value/Position
No. designated mode Small

× ○ × ○ 3

4 times

(example)

Simple direct value/Position
No. designated mode Middle

Number of

exclusive

stations/Mode

× × × ○ 2

8 times

(example)

Simple direct value/Position
No. designated mode Large

The master station should set the following in addition to the above.

[1] Head address of remote input (RX)
[2] Head address of remote output (RY)
[3] Head address of remote input register (RWr)
[4] Head address of remote output (RWw)

* For setting of the master station, refer to the Operation Manuals for the master station and the PLC to be

mounted.

92

For an example of the CC-Link setting in GX Developer V8, refer to the 9.5.2 (2).

Number of exclusive stations, expanded cyclic setting and size of data area are as shown in the table below.

CC-Link version Ver. 1 Ver. 2

Direct value designation

○ × × ×

POS designation

○ × × ×

Direct value/speed/acceleration and deceleration designation

○ × × ×

Direct value/speed/acceleration and deceleration/positioning
width/push %

○ × × ×

Simple direct value/Position No. designation Small

× ○ × ×

Simple direct value/Position No. designation Middle

× × ○ ×

Simple direct value/Position No. designation Large

× × × ○

Number of exclusive stations 4 3 3 2
Expanded cyclic setting - 2 4 8

Bit data (byte) 16 20 40 48 Size
Word data (byte) 32 48 96 128

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8.3. Master PLC address assignment

The basic concept of address assignment (memory map) for the CC-Link master PLC has been explained in

5.2. This section explains a case when the gateway unit is a remote station. If the gateway unit is a remote
device station (remote station which handles bit information and word information), the number of exclusive
stations depends on the operation mode.

Input and output region

Operation mode

Remote I/O

Remote

register

Number of exclusive

stations

Number of

controlled axes

Position data limit designation 8 word 16 word 4 14
Position No. designation 8 word 16 word 4 14
Normal position data designation 8 word 16 word 4 7
Push operation data designation 8 word 16 word 4 3

Small 10 word 24 word * Depends on setting 16 max.

Middle 20 word 48 word * Depends on setting

16 max.

Simple direct
value/Position No.
designation

Large 24 word 64 word * Depends on setting

16 max.

* Number of links per one CC-Link remote station is 32 points (two words) for remote input and output, and

four points (four words) respectively for remote register, then a maximum 64 stations per one system can be
linked.
Number of links per one station can be expanded by the expanded cyclic setting.

94

The following shows an example that a remote I/O exclusive one station is set to the station No.1 and gateway
unit is set to the station No.2.

(1) Remote I/O

[1] Master station ← Gateway unit

Master station

Remote I/O station

(Station No. 1: Exclusive

one station)

Gateway unit

RCM-GW-CC

(Station No. 2: Exclusive

four stations)

Buffer address Remote input (RX)

For station No. 1

For station No. 2

For station No. 3

For station No. 4

For station No. 5

For station No. 6

For station No. 7

For station No. 8

For station No. 9

Output

[2] Master station → Gateway unit

Master station

Remote I/O station

(Station No. 1: Exclusive

one station)

Gateway unit

RCM-GW-CC

(Station No. 2: Exclusive

four stations)

Buffer address Remote output (RY)

For station No. 1

For station No. 2

For station No. 3

For station No. 4

For station No. 5

For station No. 6

For station No. 7

For station No. 8

For station No. 9

Input

* Not used for the system area.

95

(2) Remote register

[1] Master station ← Gateway unit

Master station

Remote I/O station

(Station No. 1: Exclusive

one station)

Gateway unit

RCM-GW-CC

(Station No. 2: Exclusive

four stations)

Buffer address

Remote register

(RWr)

For station No. 1

For station No. 2

For station No. 3

For station No. 4

For station No. 5

For station No. 6

For station No. 7

For station No. 8

Output

96

[2] Master station ← Gateway unit

Master station

Remote I/O station

(Station No. 1: Exclusive

one station)

Gateway unit

RCM-GW-CC

(Station No. 2: Exclusive

four stations)

Buffer address

Remote register

(RWw)

For station No. 1

For station No. 2

For station No. 3

For station No. 4

For station No. 5

For station No. 6

For station No. 7

For station No. 8

Input