IAI x-sel, rcs-c, asel, psel, tt Operation Manual

Operation Manual, Eighth Edition

Table of Contents

1

1. Overview

The open field network ProfiBus-DP is a multi-bit, multi-vendor network for communication of both control and
data signals of the machine/line control level.
A wire-saving system can be built by connecting IAI’s X-SEL, TT, RCS-C, E-Con, ACON, PCON, SCON, ASEL,
PSEL and SSEL controllers (hereinafter collectively and individually referred to as “Each Controller”) to a
ProfiBus-DP network.

Each controller is treated as a slave station in ProfiBus-DP and can be used to exchange I/O data.

* For details on ProfiBus-DP, refer to the operation manual for the programmable controller (hereinafter referred

to as “PLC”) in which the master unit is installed.
This operation manual should be used in conjunction with the operation manual for each controller.
You should also assume that any usage not specifically permitted in this operation manual is prohibited.

Master station

Master

unit

CPU

unit

(Node)

Slave

station

Slave

station

Slave

station

Slave

station

Slave

station

Slave

station

Slave

station

Slave station

Slave station

Remote I/O

terminal

Slave

station

Slave

station

2

2. Specifications

2.1 Interface Specifications

The table below lists the specifications of the ProfiBus-DP interface.

Item Specification Remarks

Communication profile

ProfiBus-DP
Communication method Hybrid method Master/slave method with token passing
Number of connectable

stations

32 stations per segment Up to 126 stations can be connected if a

repeater is used.

Communication data length Maximum 244 bytes per frame
Physical profile

RS485

* A general physical profile is RS485.
* Use of a 9-pin D-sub connector is

recommended for IP20 configurations.

Baud rate (kbps) 9.6/19.2/93.75/187.5/500

1500/3000/6000/12000

*1

Maximum distance over the

entire network

Baud rate Cable type

100 m 12,000/6,000/3,000 kbps

200 m 1,500 kbps

400 m 500 kbps

1000 m 187.5 kbps

Transmission distance

1200 m 9.6/19.2/93.75 kbps

Type A cable

Topology Bus/tree/star
Cable Single shielded twisted pair

cable

Type A cable

*1 The baud rate of a ProfiBus-DP network can be specified only when the ProfiBus-DP network is set up using

a configurator (*2).

The baud rate of all ProfiBus-DP slave modules is set with this configurator, and therefore a different baud rate
cannot be set for an individual slave station.

*2 For the ProfiBus-DP configurator, use the configurator recommended for the master unit.

3

3. X-SEL Controller

3.1 ProfiBus-DP Board Types and Installation Positions in the X-SEL

There are six types of X-SEL controllers that support ProfiBus-DP, as listed below. The installation position of the
ProfiBus-DP board is different depending on whether the X-SEL controller is of PR0 type or PR1 type.

* The PR1 board can be installed in any one of expansion I/O slots 1 to 3.
*2 The ProfiBus-DP board is installed in the same position as shown in Fig. 3.4. With a 5-axis or 6-axis

specification, the ProfiBus-DP board is installed in the same position as with a 4-axis specification.

Controller

type

J

K

K

P

Q

PX

QX

Network I/O

points

(maximum

inputs/outputs)

Board installation position

Standard

slot

(I/O1)

Expansion

slot 1

(I/O2)

Expansion

slot 2 or 3

(I/O3 or 4)

Not available

for 1-axis and

2-axis

specifications.

X-SEL model

I/O slot

arrangement

Fig. 3.1

Fig. 3.2

Fig. 3.3

Fig. 3.4

*2

*2

*2

*1

*1

Installation position of
field network board

Installation position of
field network board

4

(1) Compact type (J type)

1-axis specification

*1

2-axis specification*1 3/4-axis specification

*2, *3

Fig. 3.1

*1) An I/O board cannot be installed in 1-axis and 2-axis specifications, because the ProfiBus-DP board

occupies the only slot available.
*2) With 3-axis and 4-axis specifications, only the “PR0” ProfiBus-DP board can be installed in the standard slot.
*3) With 3-axis and 4-axis specifications, one expansion I/O board can be installed in the expansion slot.

Expansion I/O board

Model [1] IA-103-X-32 (32 input points, 16 output points)

[2] IA-103-X-16 (16 input points, 32 output points)

ProfiBus-DP board ProfiBus-DP board Expansion slot ProfiBus-DP board

(Installed in the standard slot.)

5

(2) General-purpose type (K type)

z Either a ProfiBus-DP board or standard I/O board must be always installed in the standard slot (I/O1 --- slot

at the far left).

z The “PR1” ProfiBus-DP board occupies two expansion slots. If this type of ProfiBus-DP board is selected,

only one expansion slot can be used.

z Either an expansion I/O board

*1

or SIO board*2 can be installed in an expansion slot.

Fig. 3.2

*1 Expansion I/O board
Mode [1] IA-103-X-32 (32 input points + 16 output points, NPN specification)
[2] IA-103-X-32-P (32 input points + 16 output points, PNP specification)
[3] IA-103-X-16 (16 input points + 32 output points, NPN specification)
[4] IA-103-X-16-P (16 input points + 32 output points, PNP specification)
[5] IA-IO-3204-NP (48 input points + 48 output points, NPN specification)
[6] IA-IO-3204-PN (48 input points + 48 output points, PNP specification)
[7] IA-IO-3205-NP (48 input points + 48 output points, NPN specification)
[8] IA-IO-3205-PN (48 input points + 48 output points, PNP specification)
(Note) [5] and [6] are used exclusively for the K, P and Q types, while [7] and [8] are used

exclusively for the J type.

For specification details, refer to “Operation Manual for X-SEL Controller.”

*2 SIO board
Mode [1] IA-105-X-MW-A (RS232C)
[2] IA-105-X-MW-B (RS422C)
[3] IA-105-X-MW-C (RS485C)

With all boards, one board can support two channels.

Expansion slots 1 to 3
ProfiBus-DP board

(Installed in the standard slot.)

6

Fig. 3.3

(3) P/Q types

z The ProfiBus-DP board is installed in the installation position of field network board.

Fig. 3.4

Expansion slots 2 and 3
ProfiBus-DP board

(Installed in expansion slot 1.)

Standard I/O board

Standard I/O

Standard I/O

ProfiBus-DP board

ProfiBus-DP board

Expansion I/O

7

3.2 Setting a ProfiBus-DP Board (Slave Station)

(1) Name of each part

J/K/JX/KX/ type P/Q/PX/QX type

ProfiBus-DP communication connector

Termination switch

Address setting dials

Monitor LEDs

ProfiBus-DP communication connector

Termination switch

Address setting dials

Monitor LEDs

8

(2) ProfiBus-DP communication connector interface specifications

This is a 9-pin, female D-sub connector recommended by the ProfiBus-DP standard EN 50170.

Connector

Pin No. Description Contents

3 B-Line RxD x TxD (Positive signal line)

5 GND Shield

8 A-Line /RxD x /TxD (Negative signal line)

Housing GND Shield

* Pins 1, 2, 4, 6, 7 and 9 are not used (they need not be wired).

(3) Bus termination settings <Set using the termination switch>

Among the units connected to a ProfiBus-DP network, the devices at both ends require termination to prevent
reflected waves from entering the bus line again.
This ProfiBus-DP module provides a termination switch that makes this termination easy.

The user need not install a separate terminal resistor. Never install an additional terminal resistor, as it may
have negative impact on bus communication or cause a communication error, etc.

<Bus termination settings>

.

Termination switch ON Termination enabled

(If this switch is turned ON mistakenly when the module is connected in a position
other than the end of the network, bus communication may be negatively impacted
or a communication error, etc., may result.)

Termination switch OFF Termination disabled

9

(4) Node address settings <Set by the address setting dials>

The address of each ProfiBus-DP slave station is set using the “x10” and “x1” rotary switches shown in the figure
under (1).
Set a desired address according to the following rule:
Node address number = (“Value set by x10” rotary switch x 10) + (“Value set by x1” rotary switch x1)

Example)

Example of rotary switch settings

Target station number

“X10” setting (x 10) “X1” setting (x 1)

9 0 9

12 1 2

Note 1) When setting ProfiBus-DP station numbers, remember that the ProfiBus-DP master station is always

assigned station number 0. Accordingly, numbers 1 to 99 are available for slave stations.

Note 2) The node address cannot be changed while the slave is communicating with the master.

(5) Monitor LED indications

LED Color Status Definition Description (cause)

L1 -

Not used Not defined

L2
Online

Green Steady light Communicating

normally

• The module is operating normally (The module
is connected to the fieldbus and is therefore in
“online” state.)

L3
Offline

Red Steady light Offline

• The module is not connected to the fieldbus and
is therefore in “offline” state.

Unlit No error

-

Blinking at 1 Hz I/O size error

• This LED blinks when the specified I/O size is
invalid.

Blinking at 2 Hz Connection not

yet established

• A system setting error (internal error)

L4
Error status

Red

Blinking at 4 Hz Communication

hardware error

• This LED blinks when a communication
hardware error has been detected during the
initialization of the system.

10

3.3 Setting X-SEL I/O Parameters (Assigning I/O Ports)

Set the X-SEL input/output ports to be used in ProfiBus-DP communication. The X-SEL supports many variations
of input/output port settings depending on how the applicable I/O parameters are set. (For details, refer to
“Operation Manual for X-SEL Controller.” All of the parameter numbers shown below indicate the I/O parameter
numbers of the X-SEL controller.)

3.3.1 Board Installation Positions (Slots) and I/O Parameters

I/O parameter Nos. 2 to 9

Enter the first I/O numbers among the I/Os assigned to the installed board.
Enter “-1” for port numbers not used.

Error monitor parameter Nos. 10 to 13

In normal conditions of use, set “1” for an expansion I/O board or SIO board.
For a ProfiBus-DP board, the setting is normally “2.”

Take note that the above setting can be changed in a range of “0” to “3” at the user’s responsibility.
If set to “0” --- The controller does not monitor any error occurring in the board installed in each slot.
If set to “1” --- The controller monitors all errors occurring in the board installed in each slot.
If set to “2” --- The controller monitors all errors occurring in the board installed in each slot, except for errors

relating to the 24-V board power supply.

If set to “3” --- The controller monitors only errors relating to the 24-V board power supply for the board installed

in each slot.

(1) J/JX type (compact type)

(Note) The J type has no expansion slots I/O2 and 3. With this type of controller, therefore, parameter Nos. 6 to

9 are all set to “-1,” while Nos. 12 and 13 are set to “0.”
If the controller is of 1-axis or 2-axis specification, Nos. 4 and 5 are also set to “-1,” while No. 11 is set to
“0.”

(3/4-axis specifications)

Parameter No. 4
No. 5
No. 11

Parameter No. 2
No. 3
No. 10

11

(2) K/KX type

Note) One ProfiBus-DP board occupies two slots. Accordingly, Nos. 4 and 5 are set to “-1,” and No. 11 to “0,”

when a ProfiBus-DP board is set in the slots denoted by A above. If a ProfiBus-DP board is set in the
slots denoted by B, Nos. 8 and 9 are set to “-1,” while No. 13 is set to “0.”

(3) P/PX/Q/QX type

Parameter No. 2
No. 3
No. 10

Parameter No. 4
No. 5
No. 11

Parameter No. 6
No. 7
No. 12

Parameter No. 8
No. 9
No. 13

ProfiBus-DP

ProfiBus-DP

Standard I/O

Standard I/O

Parameter No.16
No.17
No.18

Parameter No.2
No.3
No.10

Parameter No.16
No.17
No.18

Parameter No.2
No.3
No.10

Parameter No.4
No.5
No.11

Parameter No.8
No.9
No.13

Parameter No.6
No.7
No.11

12

3.3.2 Factory-set Parameters (Default Settings)
(1) Factory-set parameters for the J/K/JX/KX types

• I/O Parameter

Settings

No. Parameter name Input range

A B C

Remarks

1

Input/output port assignment type

0 ~ 20 0 0 0

0: Fixed assignment
1: Automatic assignment (Priority: Slot 1 ~)
* Ports are assigned automatically only

for the contiguous slots in use, starting
from slot 1 = For safety reasons.

2

Standard I/O fixed assignment:
Initial input port number (I/O1)

-1 ~ 599 000 000 -1

0 + (multiple of 8) (The parameter is invalid
if a negative value is set.)

3

Standard I/O fixed assignment:
Initial output port number (I/O1)

-1 ~ 599 300 300 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

4

Expansion I/O1 fixed assignment:
Initial input port number (I/O2) -1 ~ 599 -1 -1 -1

0 + (multiple of 8) (The parameter is invalid
if a negative value is set.)
(Slot next to standard I/O)

5

Expansion I/O1 fixed assignment:
Initial output port number (I/O2)

-1 ~ 599 -1 -1 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

6

Expansion I/O2 fixed assignment:
Initial input port number (I/O3)

-1 ~ 599 -1 -1 000

0 + (multiple of 8) (The parameter is invalid
if a negative value is set.)

7

Expansion I/O2 fixed assignment:
Initial output port number (I/O3)

-1 ~ 599 -1 -1 300

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

8

Expansion I/O3 fixed assignment:
Initial input port number (I/O4)

-1 ~ 599 -1 -1 -1

0 + (multiple of 8) (The parameter is invalid
if a negative value is set.)

9

Expansion I/O3 fixed assignment:
Initial output port number (I/O4)

-1 ~ 599 -1 -1 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

10 Standard I/O error monitor 0 ~ 5 2 2 2 0: Not monitored

11 Expansion I/O1 error monitor 0 ~ 5 0 0 0 1: Monitored

12

Expansion I/O2 error monitor

0 ~ 5 0 0 2

2: Monitored (24-V I/O power errors are

not monitored)

(Main application version 0.55 or later)

13

Expansion I/O3 error monitor

0 ~ 5 0 0 0

3: Monitored (only 24-V I/O power errors

are not monitored).

(Main application version 0.55 or later)

14

Network I/F card remote input
ports used

0 ~ 256 64 64 64

Multiple of 8

15

Network I/F card remote output
ports used

0 ~ 256 64 64 64

Multiple of 8

13

(2) Factory-set parameters for the P/PX/Q/QX types

No. Parameter name Input range Settings Remarks

1

Input/output port assignment type

0 ~ 20 0

0: Fixed assignment
1: Automatic assignment (Priorities:

Network I/F module → Slot 1 (standard
I/O) ~)

* Ports are assigned automatically only

for the contiguous slots in use, starting
from slot 1 = For safety reasons.

2

Standard I/O fixed assignment:
Initial input port number (I/O1)

-1 ~ 599 -1

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

3

Standard I/O fixed assignment:
Initial output port number (I/O1)

-1 ~ 599 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

4

Expansion I/O1 fixed assignment:
Initial input port number (I/O2) -1 ~ 599 -1

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)
(Slot next to standard I/O)

5

Expansion I/O1 fixed assignment:
Initial output port number (I/O2)

-1 ~ 599 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

6

Expansion I/O2 fixed assignment:
Initial input port number (I/O3)

-1 ~ 599 -1

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

7

Expansion I/O2 fixed assignment:
Initial output port number (I/O3)

-1 ~ 599 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

8

Expansion I/O3 fixed assignment:
Initial input port number (I/O4)

-1 ~ 599 -1

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

9

Expansion I/O3 fixed assignment:
Initial output port number (I/O4)

-1 ~ 599 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

10 Standard I/O error monitor 0 ~ 5 0 0: Not monitored

11 Expansion I/O1 error monitor 0 ~ 5 0 1: Monitored

12

Expansion I/O2 error monitor

0 ~ 5 0

2: Monitored (24-V I/O power errors are

not monitored)

13

Expansion I/O3 error monitor

0 ~ 5 0

3: Monitored (only 24-V I/O power errors

are not monitored).

14

Network I/F card remote input
ports used

0 ~ 256 64

Multiple of 8

15

Network I/F card remote output
ports used

0 ~ 256 64

Multiple of 8

16

Network I/F module fixed
assignment: Initial input port
number

-1 ~ 599 0

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

17

Network I/F module fixed
assignment: Initial input port
number

-1 ~ 599 300

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

18

Network I/F module: Error monitor

0 ~ 5 1

0: Not monitored
1: Monitored
* Some exceptions apply.

(I/O1) to (I/O4) indicate slot numbers.

14

3.3.3 Automatically Assigning X-SEL I/Os

Set the X-SEL input/output ports to be used in ProfiBus-DP communication. The X-SEL supports many
variations of input/output port settings depending on how the applicable I/O parameters are set. (For details,
refer to “Operation Manual for X-SEL Controller.”)
This manual covers the representative setting method as explained below.
Basically, the input/output port assignment type is set to “automatic assignment” using I/O parameter No. 1, and
input/output port addresses are set using Nos. 2 and 3. If an expansion I/O board is used, install the expansion
I/O board in each slot number in the specified order, and I/O ports will be assigned automatically. There is no
need to set the parameters for initial input/output port numbers for the expansion I/O board.

I/O parameter number Value Description

1 1 I/O numbers are assigned automatically.

2 0 Standard DIs are assigned from input port 0.

3 300 Standard DOs are assigned from output port 300.

14 n

The number of ProfiBus-DP input points is specified as a multiple of 16.
(16 ≤ n ≤ 256)

15 m

The number of ProfiBus-DP output points is specified as a multiple of 16.
(16 ≤ m ≤ 256)

3.3.4 Setting Examples for J/JX/K/KX Type Controllers

(1) Setting example when only a ProfiBus-DP board is installed in the standard I/O slot (automatic assignment)

(A ProfiBus-DP board is installed in the standard I/O slot and all expansion I/O slots are empty)

Example: In the case of automatic assignment, the following settings apply if you want to use 128 input points

and 128 output points as I/O ports of the ProfiBus-DP slave station:

[1] Enter “1” in I/O parameter No. 1 to specify automatic assignment.
[2] Set I/O parameter No. 10, “Standard I/O error monitor” to “2.”
[3] Settings are complete by only specifying I/O parameter Nos. 14 and 15, “Input/output ports used.”

X-SEL (J type, 3/4-axis specification)

Not used

(Not available for 1/2-axis specifications.)

Input port Nos. 000 to 015
Output port Nos. 300 to 315

15

X-SEL (K type)

No. Parameter name Input range Settings Remarks

1

Input/output port assignment type

0 ~ 20 1

0: Fixed assignment
1: Automatic assignment (Priority: Slot 1 ~)
* Ports are assigned automatically only for the

contiguous slots in use, starting from slot 1 =
For safety reasons.

2

Standard I/O fixed assignment: Initial
input port number (I/O1)

-1 ~ 599 000

0 + (multiple of 8) (The parameter is invalid if a
negative value is set.)

3

Standard I/O fixed assignment: Initial
output port number (I/O1)

-1 ~ 599 300

300 + (multiple of 8) (The parameter is invalid if a
negative value is set.)

4

Expansion I/O1 fixed assignment:
Initial input port number (I/O2) -1 ~ 599 -1

0 + (multiple of 8) (The parameter is invalid if a
negative value is set.)
(Slot next to standard I/O)

5

Expansion I/O1 fixed assignment:
Initial output port number (I/O2)

-1 ~ 599 -1

300 + (multiple of 8) (The parameter is invalid if a
negative value is set.)

6

Expansion I/O2 fixed assignment:
Initial input port number (I/O3)

-1 ~ 599 -1

0 + (multiple of 8) (The parameter is invalid if a
negative value is set.)

7

Expansion I/O2 fixed assignment:
Initial output port number (I/O3)

-1 ~ 599 -1

300 + (multiple of 8) (The parameter is invalid if a
negative value is set.)

8

Expansion I/O3 fixed assignment:
Initial input port number (I/O4)

-1 ~ 599 -1

0 + (multiple of 8) (The parameter is invalid if a
negative value is set.)

9

Expansion I/O3 fixed assignment:
Initial output port number (I/O4)

-1 ~ 599 -1

300 + (multiple of 8) (The parameter is invalid if a

negative value is set.)
10 Standard I/O error monitor 0 ~ 5 2 0: Not monitored
11 Expansion I/O1 error monitor 0 ~ 5 0 1: Monitored

12

Expansion I/O2 error monitor

0 ~ 5 0

2: Monitored (only 24-V I/O power errors are

not monitored)

(Main application version 0.55 or later)

13

Expansion I/O3 error monitor

0 ~ 5 0

3: Monitored (only 24-V I/O power errors are

not monitored).

(Main application version 0.55 or later)

14

Network I/F card remote input ports
used

0 ~ 256 128

Multiple of 16

15

Network I/F card remote output ports
used

0 ~ 256 128

Multiple of 16

Not used

Input port Nos. 000 to 015
Output port Nos. 300 to 315

16

(2) Setting example when a ProfiBus-DP board is used with an expansion I/O board (automatic

assignment)

The port numbers of the expansion board are assigned automatically in accordance with the numbers of I/O ports
of the ProfiBus-DP slave station set by I/O parameter Nos. 14 and 15.

Example: If one expansion I/O board (IA-103-X-32: 32 input points, 16 output points) is installed in expansion

slot I/O1 when the maximum numbers of inputs and outputs of the ProfiBus-DP slave station are 256
and 256, respectively, entering “256” in I/O parameter Nos. 14 and 15 will automatically set I/O
parameter Nos. 2 and 3, as shown below.

A ProfiBus-DP board is installed in the standard I/O slot and an expansion I/O board is installed in expansion slot
I/O1.
[1] Enter “1” in I/O parameter No. 1 to specify automatic assignment. (Default setting)
[2] Set I/O parameter No. 10, “Standard I/O error monitor” to “2.” (Default setting)
[3] Set I/O parameter No. 11, “Standard I/O error monitor” to a value in a range of “1” to “3.”
[4] Set I/O parameter Nos. 14 and 15, “Input/output ports used.” <A desired value can be set in a range of 8 to

256 (but the value must be a multiple of 8)>.

As a standard, input port numbers are assigned sequentially from No. 0. Since the ProfiBus-DP slave station
already occupies 0 to 255 (total 256 points), “256” is automatically assigned as the initial input port number for
expansion slot I/O1 based on fixed assignment.
On the other hand, output port numbers are assigned sequentially from No. 300 as a standard. Since the
ProfiBus-DP slave station already occupies 300 to 555 (total 256 points), “556” is automatically assigned as the
initial output port number expansion slot I/O1 based on fixed assignment.

X-SEL (J type, 3/4-axis specification)

X-SEL (K type)

Input port Nos. 256 to 287
Output port Nos. 556 to 571

Input port Nos. 000 to 255
Output port Nos. 300 to 555

Input port Nos. 256 to 287
Output port Nos. 556 to 571

Input port Nos. 000 to 255
Output port Nos. 300 to 555

17

No. Parameter name Input range Settings Remarks

1

Input/output port assignment type

0 ~ 20 1

0: Fixed assignment

1: Automatic assignment (Priority: Slot 1 ~)

* Ports are assigned automatically only for the

contiguous slots in use, starting from slot 1 =
For safety reasons.

2

Standard I/O fixed assignment:
Initial input port number (I/O1)

-1 ~ 599 000

0 + (multiple of 8) (The parameter is invalid if a

negative value is set.)

3

Standard I/O fixed assignment:
Initial output port number (I/O1)

-1 ~ 599 300

300 + (multiple of 8) (The parameter is invalid if

a negative value is set.)

4

Expansion I/O1 fixed assignment:
Initial input port number (I/O2)

-1 ~ 599 256

0 + (multiple of 8) (The parameter is invalid if a

negative value is set.)

(Slot next to standard I/O)

5

Expansion I/O1 fixed assignment:
Initial output port number (I/O2)

-1 ~ 599 556

300 + (multiple of 8) (The parameter is invalid if

a negative value is set.)

6

Expansion I/O2 fixed assignment:
Initial input port number (I/O3)

-1 ~ 599 -1

0 + (multiple of 8) (The parameter is invalid if a

negative value is set.)

7

Expansion I/O2 fixed assignment:
Initial output port number (I/O3)

-1 ~ 599 -1

300 + (multiple of 8) (The parameter is invalid if

a negative value is set.)

8

Expansion I/O3 fixed assignment:
Initial input port number (I/O4)

-1 ~ 599 -1

0 + (multiple of 8) (The parameter is invalid if a

negative value is set.)

9

Expansion I/O3 fixed assignment:
Initial output port number (I/O4)

-1 ~ 599 -1

300 + (multiple of 8) (The parameter is invalid if

a negative value is set.)

10 Standard I/O error monitor 0 ~ 5 2 0: Not monitored

11 Expansion I/O1 error monitor 0 ~ 5 1 1: Monitored

12

Expansion I/O2 error monitor

0 ~ 5 0

2: Monitored (only 24-V I/O power errors are

not monitored)

13

Expansion I/O3 error monitor

0 ~ 5 0

3: Monitored (only 24-V I/O power errors are

not monitored).

(Main application version 0.55 or later)

14

Network I/F card remote input
ports used

0 ~ 256 256

Multiple of 16

15

Network I/F card remote output
ports used

0 ~ 256 256

Multiple of 16

18

(3) Setting example when a ProfiBus-DP board is used with an expansion I/O board (fixed

assignment)

Under fixed assignment (where I/O parameter No. 1 is set to “0”), you can set desired initial I/O port
numbers.
Under automatic assignment the initial I/O port numbers (input number 0 ~ / output number 300 ~) can only
be set after the standard I/Os have been assigned. Under fixed assignment, on the other hand, the initial I/O
port numbers (input number 0 ~ / output number 300 ~) can be set freely for other boards installed in
expansion slots I/O1 to 3.

Example: One expansion I/O board (IA-103-X-32: 32 input points, 16 output points) is installed in expansion slot

I/O1 when the numbers of inputs and outputs of the ProfiBus-DP slave station are 256 and 256,
respectively. If the assignments as shown below are performed, the expansion I/O board is assigned
for the initial I/O port numbers (input number 0 ~ / output number 300 ~), and the ProfiBus-DP slave
station installed in the standard I/O slot is assigned for the subsequent numbers.

[1] Enter “1” in I/O parameter No. 1 to specify fixed assignment.
[2] Set I/O parameter No. 4, “Expansion I/O 1 fixed assignment: Initial input port number” to “0.”
[3] Set I/O parameter No. 5, “Expansion I/O 1 fixed assignment: Initial output port number” to “300.”
[4] Since the expansion I/O board IA-103-X-32 has 32 input point sand 16 output points, the last expansion input

port number becomes 31, while the last expansion output port number becomes 15.
[5] Set I/O parameter No. 2, “Standard I/O 1 fixed assignment: Initial input port number” to “32.”
[6] Set I/O parameter No. 3, “Standard I/O 1 fixed assignment: Initial output port number” to “16.”
[7] Set I/O parameter No. 10, “Standard I/O error monitor” to “2.”
[8] Set I/O parameter No. 11, “Standard I/O error monitor” to a value in a range of “1” to “3.”
[9] Since the maximum numbers of input and output points of the ProfiBus-DP slave station are 256 and 256,

respectively, enter “256” in I/O parameter Nos. 14 and 15, “Input/output ports used.”

The settings are complete.

X-SEL (K type)

Input port Nos. 000 to 031
Output port Nos. 300 to 315

Input port Nos. 032 to 287
Output port Nos. 316 to 571

19

No. Parameter name Input range Settings Remarks

1

Input/output port assignment type

0 ~ 20 1

0: Fixed assignment
1: Automatic assignment (Priority: Slot 1 ~)
* Ports are assigned automatically only for the

contiguous slots in use, starting from slot 1 =
For safety reasons.

2

Standard I/O fixed assignment:
Initial input port number (I/O1)

-1 ~ 599 032

0 + (multiple of 8) (The parameter is invalid if a
negative value is set.)

3

Standard I/O fixed assignment:
Initial output port number (I/O1)

-1 ~ 599 316

300 + (multiple of 8) (The parameter is invalid if
a negative value is set.)

4

Expansion I/O1 fixed assignment:
Initial input port number (I/O2)

-1 ~ 599 000

0 + (multiple of 8) (The parameter is invalid if a
negative value is set.)

(Slot next to standard I/O)

5

Expansion I/O1 fixed assignment:
Initial output port number (I/O2)

-1 ~ 599 300

300 + (multiple of 8) (The parameter is invalid if
a negative value is set.)

6

Expansion I/O2 fixed assignment:
Initial input port number (I/O3)

-1 ~ 599 -1

0 + (multiple of 8) (The parameter is invalid if a
negative value is set.)

7

Expansion I/O2 fixed assignment:
Initial output port number (I/O3)

-1 ~ 599 -1

300 + (multiple of 8) (The parameter is invalid if
a negative value is set.)

8

Expansion I/O3 fixed assignment:
Initial input port number (I/O4)

-1 ~ 599 -1

0 + (multiple of 8) (The parameter is invalid if a
negative value is set.)

9

Expansion I/O3 fixed assignment:
Initial output port number (I/O4)

-1 ~ 599 -1

300 + (multiple of 8) (The parameter is invalid if
a negative value is set.)

10 Standard I/O error monitor 0 ~ 5 1 0: Not monitored

11 Expansion I/O1 error monitor 0 ~ 5 2 1: Monitored

12

Expansion I/O2 error monitor

0 ~ 5 0

2: Monitored (only 24-V I/O power errors are

not monitored)

13

Expansion I/O3 error monitor

0 ~ 5 0

3: Monitored (only 24-V I/O power errors are

not monitored).

(Main application version 0.55 or later)

14

Network I/F card remote input
ports used

0 ~ 256 256

Multiple of 16

15

Network I/F card remote output
ports used

0 ~ 256 256

Multiple of 16

20

3.3.5 Setting Examples for P/PX/Q/QX Type Controllers

(1) Setting example when only a ProfiBus-DP board is used (automatic assignment)

Example: The following settings apply when the I/O ports of the ProfiBus-DP board are used by 32 input points

and 16 output points, each from the beginning, by leaving other I/O ports unused, just like when a
standard X-SEL I/O board (50-pin connector) is used.

[1] Enter “1” in I/O parameter No. 1 to specify automatic assignment. (Default setting)
[2] Set I/O parameter No. 10, “Standard I/O error monitor” to “2.” (Default setting)
[3] Set I/O parameter Nos. 14 and 15, “Input/output ports used,” and the settings are complete. <A desired value

can be set in a range of 0 to 256 (but the value must be a multiple of 16)>.

Input port Nos. 000 to 015
Output port Nos. 300 to 315

Not used

21

I/O Parameters of X-SEL P/PX/Q/QX Type Controllers

No. Parameter name

Default

(reference)

Input

range

Setting

Remarks

1

Input/output port assignment type

0 0 ~ 20 1

0: Fixed assignment
1: Automatic assignment (Priorities:

Network I/F module → Slot 1
(standard I/O) ~)

* Ports are assigned automatically only

for the contiguous slots in use, starting
from slot 1 = For safety reasons.

2

Standard I/O fixed assignment:
Initial input port number (I/O1)

-1 -1 ~ 599 -1

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

3

Standard I/O fixed assignment:
Initial output port number (I/O1)

-1 -1 ~ 599 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

4

Expansion I/O1 fixed assignment:
Initial input port number (I/O2) -1 -1 ~ 599 -1

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)
(Slot next to standard I/O)

5

Expansion I/O1 fixed assignment:
Initial output port number (I/O2)

-1 -1 ~ 599 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

6

Expansion I/O2 fixed assignment:
Initial input port number (I/O3)

-1 -1 ~ 599 -1

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

7

Expansion I/O2 fixed assignment:
Initial output port number (I/O3)

-1 -1 ~ 599 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

8

Expansion I/O3 fixed assignment:
Initial input port number (I/O4)

-1 -1 ~ 599 -1

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

9

Expansion I/O3 fixed assignment:
Initial output port number (I/O4)

-1 -1 ~ 599 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

10 Standard I/O error monitor 0 0 ~ 5 0 0: Not monitored

11 Expansion I/O1 error monitor 0 0 ~ 5 0 1: Monitored

12

Expansion I/O2 error monitor

0 0 ~ 5 0

2: Monitored (24-V I/O power errors

are not monitored)

13

Expansion I/O3 error monitor

0 0 ~ 5 0

3: Monitored (only 24-V I/O power

errors are not monitored).

14

Network I/F card remote input
ports used

64 0 ~ 256 32

Multiple of 8

15

Network I/F card remote output
ports used

64 0 ~ 256 16

Multiple of 8

16

Network I/F module fixed
assignment: Initial input port
number

0 -1 ~ 599 0

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

17

Network I/F module fixed
assignment: Initial input port
number

300 -1 ~ 599 300

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

18

Network I/F module: Error monitor

1 0 ~ 5 1

0: Not monitored
1: Monitored
* Some exceptions apply.

(I/O1) to (I/O4) indicate slot numbers.

22

(2) Setting example when a ProfiBus-DP board is used with a standard I/O board (automatic

assignment)

Example: These settings are used when 256 input points and 256 output points are assigned, both from the

initial standard I/O ports, to the ProfiBus-DP board, and the remaining I/O port numbers are assigned
to the standard I/O board.

[1] Enter “1” in I/O parameter No. 1 to specify automatic assignment.
[2] Set I/O parameter No. 10, “Standard I/O error monitor” to “2.”
[3] Set I/O parameter No. 11, “Standard I/O error monitor” to “1,” “2” or “3.”
[4] Set I/O parameter Nos. 14 and 15, “Input/output ports used,” and the settings are complete. <A desired value

can be set in a range of 0 to 256 (but the value must be a multiple of 8)>.

Port numbers are automatically assigned to the expansion I/O board according to the numbers of I/O ports of

the ProfiBus-DP slave station that have been set by I/O parameter Nos. 14 and 15.

Input port Nos. 000 to 255
Output port Nos. 300 to 555

Input port Nos. 256 to 287
Output port Nos. 556 to 571

23

I/O Parameters of X-SEL P/PX/Q/QX Type Controllers

No. Parameter name

Default

(reference)

Input

range

Setting

Remarks

1

Input/output port assignment type

0 0 ~ 20 1

0: Fixed assignment
1: Automatic assignment (Priorities:

Network I/F module → Slot 1
(standard I/O) ~)

* Ports are assigned automatically only

for the contiguous slots in use, starting
from slot 1 = For safety reasons.

2

Standard I/O fixed assignment:
Initial input port number (I/O1)

-1 -1 ~ 599 256

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

3

Standard I/O fixed assignment:
Initial output port number (I/O1)

-1 -1 ~ 599 556

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

4

Expansion I/O1 fixed assignment:
Initial input port number (I/O2) -1 -1 ~ 599 -1

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)
(Slot next to standard I/O)

5

Expansion I/O1 fixed assignment:
Initial output port number (I/O2)

-1 -1 ~ 599 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

6

Expansion I/O2 fixed assignment:
Initial input port number (I/O3)

-1 -1 ~ 599 -1

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

7

Expansion I/O2 fixed assignment:
Initial output port number (I/O3)

-1 -1 ~ 599 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

8

Expansion I/O3 fixed assignment:
Initial input port number (I/O4)

-1 -1 ~ 599 -1

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

9

Expansion I/O3 fixed assignment:
Initial output port number (I/O4)

-1 -1 ~ 599 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

10 Standard I/O error monitor 0 0 ~ 5 1 0: Not monitored

11 Expansion I/O1 error monitor 0 0 ~ 5 0 1: Monitored

12

Expansion I/O2 error monitor

0 0 ~ 5 0

2: Monitored (24-V I/O power errors

are not monitored)

13

Expansion I/O3 error monitor

0 0 ~ 5 0

3: Monitored (only 24-V I/O power

errors are not monitored).

14

Network I/F card remote input
ports used

64 0 ~ 256 256

Multiple of 16

15

Network I/F card remote output
ports used

64 0 ~ 256 256

Multiple of 16

16

Network I/F module fixed
assignment: Initial input port
number

0 -1 ~ 599 0

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

17

Network I/F module fixed
assignment: Initial input port
number

300 -1 ~ 599 300

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

18

Network I/F module: Error monitor

1 0 ~ 5 1

0: Not monitored
1: Monitored
* Some exceptions apply.

(I/O1) to (I/O4) indicate slot numbers.

24

(3) Setting example when a ProfiBus-DP board is used with a standard I/O board (fixed assignment)

In automatic assignment, the initial I/O port numbers (No. 0 or greater for input / No. 300 or greater for

output) must be set on the standard I/O board. By using fixed assignment, however, you can set the initial I/O

port numbers on expansion I/O board 1 to 3 (No. 0 or greater for input / No. 300 or greater for output), other

than the standard I/O board.

Example: Assume the ProfiBus-DP slave station has 256 input points and 256 output points and an expansion

I/O board (IA-103-X-32: 32 input points, 16 output points) is installed in the expansion I/O1 slot. If you
want to assign the ports as follows, then assign the initial I/O port numbers (No. 0 or greater for input /
No. 300 or greater for output) to the expansion I/O board, and then assign the remaining port numbers
to the ProfiBus-DP slave station installed in the standard I/O slot.

[1] Enter “1” in I/O parameter No. 1 to specify fixed assignment.
[2] Set I/O parameter No. 4, “Expansion I/O1 fixed assignment: Initial input port number” to “0.”
[3] Set I/O parameter No. 5, “Expansion I/O1 fixed assignment: Initial output port number” to “300.”
[4] Since the expansion I/O board IA-103-X-32 has 32 input points and 16 output points, the last I/O port

numbers on the expansion I/O board are 31 for input and 15 for output.
[5] Set I/O parameter No. 2, “Standard I/O fixed assignment: Initial input port number” to “32.”
[6] Set I/O parameter No. 3, “Standard I/O fixed assignment: Initial output port number” to “16.”
[7] Set I/O parameter No. 10, “Standard I/O error monitor” to “2.”
[8] Set I/O parameter No. 11, “Standard I/O error monitor” to “1,” “2” or “3.”
[9] Since the maximum values of 256 and 256 are used for inputs and outputs of the ProfiBus-DP slave station,

enter “256” in both I/O parameter Nos. 14 and 15, “Input/output ports used.” The settings are complete.

Input port Nos. 032 to 287
Output port Nos. 316 to 571

Input port Nos. 000 to 031
Output port Nos. 300 to 315

25

I/O Parameters of X-SEL P/PX/Q/QX Type Controllers

No. Parameter name

Default

(reference)

Input

range

Setting

Remarks

1

Input/output port assignment type

0 0 ~ 20 1

0: Fixed assignment
1: Automatic assignment (Priorities:

Network I/F module → Slot 1
(standard I/O) ~)

* Ports are assigned automatically only

for the contiguous slots in use, starting
from slot 1 = For safety reasons.

2

Standard I/O fixed assignment:
Initial input port number (I/O1)

-1 -1 ~ 599 000

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

3

Standard I/O fixed assignment:
Initial output port number (I/O1)

-1 -1 ~ 599 300

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

4

Expansion I/O1 fixed assignment:
Initial input port number (I/O2) -1 -1 ~ 599 -1

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)
(Slot next to standard I/O)

5

Expansion I/O1 fixed assignment:
Initial output port number (I/O2)

-1 -1 ~ 599 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

6

Expansion I/O2 fixed assignment:
Initial input port number (I/O3)

-1 -1 ~ 599 -1

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

7

Expansion I/O2 fixed assignment:
Initial output port number (I/O3)

-1 -1 ~ 599 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

8

Expansion I/O3 fixed assignment:
Initial input port number (I/O4)

-1 -1 ~ 599 -1

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

9

Expansion I/O3 fixed assignment:
Initial output port number (I/O4)

-1 -1 ~ 599 -1

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

10 Standard I/O error monitor 0 0 ~ 5 1 0: Not monitored

11 Expansion I/O1 error monitor 0 0 ~ 5 0 1: Monitored

12

Expansion I/O2 error monitor

0 0 ~ 5 0

2: Monitored (24-V I/O power errors

are not monitored)

13

Expansion I/O3 error monitor

0 0 ~ 5 0

3: Monitored (only 24-V I/O power

errors are not monitored).

14

Network I/F card remote input
ports used

64 0 ~ 256 256

Multiple of 8

15

Network I/F card remote output
ports used

64 0 ~ 256 256

Multiple of 8

16

Network I/F module fixed
assignment: Initial input port
number

0 -1 ~ 599 032

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

17

Network I/F module fixed
assignment: Initial input port
number

300 -1 ~ 599 316

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

18

Network I/F module: Error monitor

1 0 ~ 5 1

0: Not monitored
1: Monitored
* Some exceptions apply.

(I/O1) to (I/O4) indicate slot numbers.

26

3.3.6 X-SEL I/O Port Numbers

The standard I/O port numbers of the X-SEL are listed below.
The port numbers and function assignments of the X-SEL can be changed using I/O parameters.
(For details, refer to “Operation Manual for X-SEL Controller.”)

Port No. Function Port No. Function

000 Program start 300 Alarm output

001 General-purpose input 301 Ready output

002 General-purpose input 302 Emergency stop output

003 General-purpose input 303 General-purpose output

004 General-purpose input 304 General-purpose output

005 General-purpose input 305 General-purpose output

006 General-purpose input 306 General-purpose output

007 Program specification (PRG No. 1) 307 General-purpose output

008 Program specification (PRG No. 2) 308 General-purpose output

009 Program specification (PRG No. 4) 309 General-purpose output

010 Program specification (PRG No. 8) 310 General-purpose output

011 Program specification (PRG No. 10) 311 General-purpose output

012 Program specification (PRG No. 20) 312 General-purpose output

013 Program specification (PRG No. 40) 313 General-purpose output

014 General-purpose input 314 General-purpose output

015 General-purpose input 315 General-purpose output

Input

Output

Note) The above functions are based on the factory-set default parameter settings.

27

3.3.7 Correspondence of X-SEL I/O Port Numbers and PLC Addresses

When the X-SEL’s ProfiBus-DP board I/Os are assigned in the input/output (memory) areas of the PLC, the areas
that occupy the PLC memory will change depending on the numbers of I/O points set on the X-SEL side.

ProfiBus-DP board I/Os are assigned in units of 16 bits (16 I/O points); i.e., they are assigned in units of words.

The below illustrates the relationship of X-SEL I/O port numbers and PLC I/O addresses according to the X-SEL’s
I/O parameter settings.

1) Example of system configuration

An example of system configuration is shown below.

CPU

Bus station

number

Station 1 Station 2

Power supply

ProfiBus-DP

master station

Slave station 1 (16 input points)

X-SEL (slave station 2)

Slave station 3 (32 input points/32
output points)

28

2) Address assignment in the master station

When setting the configuration in 1) using a configurator, the numbers of inputs and outputs of the X-SEL set

for slave station 2 must be determined. (Here, it is assumed that the number of occupiable slave stations is

set to 16 words in the master station.)

3) When the X-SEL conforming to the configuration example shown in 1) has total eight words of input and

output points (128 points), respectively.

The X-SEL’s I/O parameters are set as follows.

No. Parameter name Input range Settings Remarks

1

Input/output port assignment
type

0 ~ 20 1

0: Fixed assignment
1: Automatic assignment (Priority: Slot 1 ~)
* Ports are assigned automatically only for the

contiguous slots in use, starting from slot 1 =
For safety reasons.

2

Standard I/O fixed assignment:
Initial input port number (I/O1)

-1 ~ 599 000

0 + (multiple of 8) (The parameter is invalid if a
negative value is set.)

3

Standard I/O fixed assignment:
Initial output port number (I/O1)

-1 ~ 599 300

300 + (multiple of 8) (The parameter is invalid if
a negative value is set.)

4

Expansion I/O1 fixed
assignment: Initial input port
number (I/O2)

-1 ~ 599 -1

0 + (multiple of 8) (The parameter is invalid if a
negative value is set.)
(Slot next to standard I/O)

5

Expansion I/O1 fixed
assignment: Initial output port
number (I/O2)

-1 ~ 599 -1

300 + (multiple of 8) (The parameter is invalid if
a negative value is set.)

6

Expansion I/O2 fixed
assignment: Initial input port
number (I/O3)

-1 ~ 599 -1

0 + (multiple of 8) (The parameter is invalid if a
negative value is set.)

7

Expansion I/O2 fixed
assignment: Initial output port
number (I/O3)

-1 ~ 599 -1

300 + (multiple of 8) (The parameter is invalid if
a negative value is set.)

8

Expansion I/O3 fixed
assignment: Initial input port
number (I/O4)

-1 ~ 599 -1

0 + (multiple of 8) (The parameter is invalid if a
negative value is set.)

9

Expansion I/O3 fixed
assignment: Initial output port
number (I/O4)

-1 ~ 599 -1

300 + (multiple of 8) (The parameter is invalid if
a negative value is set.)

10 Standard I/O error monitor 0 ~ 5 2 0: Not monitored
11 Expansion I/O1 error monitor 0 ~ 5 0 1: Monitored

12

Expansion I/O2 error monitor

0 ~ 5 0

2: Monitored (only 24-V I/O power errors are

not monitored)

(Main application version 0.55 or later)

13

Expansion I/O3 error monitor

0 ~ 5 0

3: Monitored (only 24-V I/O power errors are

not monitored).

(Main application version 0.55 or later)

14

Network I/F card remote input
ports used

0 ~ 256 64

Multiple of 16

15

Network I/F card remote output
ports used

0 ~ 256 64

Multiple of 16

29

4) I/O port numbers are assigned in units of 16 points starting from the channel address in the PLC buffer

memory corresponding to the specified node address. Here, the PLC buffer memory bits are sequentially

assigned to the I/O port numbers, starting from the smallest port number and lowest memory bits.

Accordingly, the PLC addresses are assigned as follows.

(Note) NN and MM are PLC channel addresses corresponding to node address nn.

Since node addresses (nn, nn+1, nn+2, and so on) are occupied according to the numbers of I/O points
used, pay attention to duplicate node address settings.

Input port number

(bit address)

PLC output buffer memory

bit position

Channel
address

PLC input buffer memory

bit position

Output port number

(bit address)

32 output points

32 input points

16 input points

30

5) Description example of bit addresses --- Fuji Electric

The inputs and outputs of the X-SEL are respectively assigned I/O addresses (word addresses) as viewed

from the PLC. The bit address description rules are specified below.

Prefix

Bus station number

This number indicates which of the units installed in the PLC is the ProfiBus-DP master unit. (Refer to the

figure in 1).)

Word number

A sequential number specifying a word when the I/Os assigned to the master station are arranged in words.

Bit address

A sequential number specifying a bit when the I/Os assigned within each word above are arranged in bits.

Prefix Word number Bit address

Bus station

number

Input bit address (address per bit)

Input word address (address per word)

Output bit address (address per bit)

Output word address (address per word)

31

Reference

When bit addresses are set in the PLC, port numbers are assigned in units of 16 points,
starting from the channels corresponding to the node address set by the DIP switches.
(This does not apply when a configurator is used.)

(Input) (Output)

(Input) (Output)

Port number Port number

Node address

nn

Node address

nn + 1

The numbers under (NN)/(MM) CH are PLC channel addresses corresponding to node address nn.
Since node addresses (nn, nn+1, nn+2, and so on) are occupied in accordance with the numbers of
input/output points used, pay attention to prevent duplicate node addresses.

32

4. Tabletop Robot TT

4.1 Model

Models: TT--I--PR
Maximum numbers of network I/O points: 240/240

A ProfiBus board is installed in the installation position for field network board.

ProfiBus Board

Standard I/O board

33

4.2 ProfiBus Board

4.2.1 Name of Each Part

Monitor LEDs

Address setting dials

Termination switch

ProfiBus-DP communication connector

34

4.2.2 ProfiBus-DP Communication Connector

The board-end connector is a D-sub 9-pin (female) connector recommended under the ProfiBus-DP standard
EN50170.
The network connector on the other end is not supplied.

Pin No. Signal name Explanation

1 NC Not connected
2 NC Not connected
3 B-Line Communication line B (positive side)
4 NC Not connected
5 GND Signal ground
6 +5V +5-V output
7 NC Not connected
8 A-Line Communication line A (negative side)
9 NC Not connected

Housing Shield Cable shield

* 1, 2, 4, 6, 7 and 9 are not used. (These signals need not be wired.)

4.2.3 Termination switch (Bus termination settings)

Among the units connected to a ProfiBus-DP network, the devices at both ends require termination to prevent
reflected waves from entering the bus line again.
This ProfiBus-DP module provides a termination switch that makes this termination easy.

The user need not install a separate terminal resistor. Never install an additional terminal resistor, as it may
have negative impact on bus communication or cause a communication error, etc.

<Bus termination settings>

.

Termination switch ON Termination enabled

(If this switch is turned ON mistakenly when the module is connected in a position
other than the end of the network, bus communication may be negatively impacted
or a communication error, etc., may result.)

Termination switch OFF Termination disabled

35

4.2.4 Address Setting Dials (Node Address Settings)

The address of each ProfiBus-DP slave station is set using the left (x1) and right (x10) address setting dials.
These rotary switches set the node address of the applicable controller.
Each of these two switches can be set to a desired value in a range of 0 to 9.
Set a desired address according to the following rule:
Node address number = (Address setting dial x10) + (Address setting dial x1)

Example)

Example of rotary switch settings

Target station number

x 10 setting x 1 setting

9 0 9

12 1 2

Note 1) When setting ProfiBus-DP station numbers, remember that the ProfiBus-DP master station is always

assigned station number 0. Accordingly, numbers 1 to 99 are available for slave stations.

Note 2) The node address of each slave station set above cannot be changed while the slave is

communicating with the master.

4.2.5 Monitor LED indications

LED Color Status Definition Description (cause)

- Not used Not defined
S1
Offline

Red Steady light Offline

• The module is not connected to the fieldbus and
is therefore in “offline” state.

S2
Online

Green Steady light Communicating

normally

• The module is operating normally (The module is
connected to the fieldbus and is therefore in
“online” state.)

Unlit No error
Blinking at 1 Hz I/O size error

• This LED blinks when the specified I/O size is
invalid.

Blinking at 2 Hz Connection not

yet established

• A system setting error (internal error)

DG
(Error status)

Red

Blinking at 4 Hz Communication

hardware error

• This LED blinks when a communication
hardware error has been detected during the
initialization of the system.

36

4.3 I/O Parameter Settings (I/O Port Assignments)

The TT I/O ports used by ProfiBus are set.

(1) Board installation position (slot) and parameter numbers

64 input ports and 64 output ports are set at the factory for use with ProfiBus.

ProfiBus Board
Parameter No. 14

No. 15

Standard I/O board

37

(2) Factory-set parameters for the TT type

No. Parameter name

Factory-set

value

Input range Remarks

1 Input/output port assignment type 0 Read only 0: Fixed assignment

2

Standard I/O1 fixed assignment:
Initial input port number

000 -1 ~ 599

0 + (multiple of 8) (The parameter is invalid if
a negative value is set.)

3

Standard I/O1 fixed assignment:
Initial output port number

300 -1 ~ 599

300 + (multiple of 8) (The parameter is invalid
if a negative value is set.)

4

Standard I/O2 fixed assignment:
Initial input port number

32 -1 ~ 599

0 + (multiple of 8) (The parameter is invalid if
a negative value is set.)

5

Standard I/O2 fixed assignment:
Initial output port number

316 -1 ~ 599

300 + (multiple of 8) (The parameter is invalid
if a negative value is set.)

6

Expansion I/O1 fixed assignment:
Initial input port number
(Network I/F module)

48 -1 ~ 599

0 + (multiple of 8) (The parameter is invalid if
a negative value is set.)

7

Expansion I/O1 fixed assignment:
Initial output port number
(Network I/F module)

348 -1 ~ 599

300 + (multiple of 8) (The parameter is invalid
if a negative value is set.)

8 Reserved by system -1 -1 ~ 599
9 Reserved by system -1 -1 ~ 599

10

Standard I/O1 error monitor

0 0 ~ 5

0: Not monitored
1: Monitored
2: Monitored (24-V I/O power errors are not

monitored)

3: Monitored. (Only 24-V I/O power errors

are monitored.)

* Some exceptions apply.

11

Standard I/O2 error monitor

0 0 ~ 5

0: Not monitored
1: Monitored
2: Monitored (24-V I/O power errors are not

monitored)

3: Monitored. (Only 24-V I/O power errors

are monitored.)

* Some exceptions apply.

12

Expansion I/O1 error monitor
(Network I/F module)

1 0 ~ 5

0: Not monitored
1: Monitored
* Some exceptions apply.

13 Reserved by system 1 0 ~ 5

14

Network I/F card remote input
ports used

64 0 ~ 240

Multiple of 16

15

Network I/F card remote output
ports used

64 0 ~ 240

Multiple of 16

With the TT, the numbers of ProfiBus ports to be used can be changed using the applicable parameters.
The initial ProfiBus I/O port numbers are fixed.
Initial ProfiBus input port number: 48
Initial ProfiBus output port number: 348

The standard I/O (rear panel I/O connector) port numbers are fixed.
Standard input ports: Nos. 16 to 31
Standard output ports: Nos. 316 to 331

38

(3) Example of parameter settings for the tabletop robot TT

The settings below assume that 240 input points and 240 output points are assigned on the ProfiBus board as
general-purpose I/O ports.
With the TT, the initial I/O port numbers are fixed.
Initial input port number: 48
Initial output port number: 348
Ports to be used are assigned in units of 16 points. Since the initial port numbers are already determined, the
maximum number of ports is 240 for both input ports and output ports.
Set “240” in I/O parameter Nos. 14 and 15.

ProfiBus Board
Parameter No. 14

No. 15

Standard I/O board

39

I/O Parameters for TT Type

No. Parameter name

Factory-set

value

Input range Set value Remarks

1

Input/output port assignment
type

0 Read only 0

0: Fixed assignment

2

Standard I/O1 fixed
assignment: Initial input port
number

000 Read only 000

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

3

Standard I/O1 fixed
assignment: Initial output
port number

300 Read only 300

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

4

Standard I/O2 fixed
assignment: Initial input port
number

32 Read only 32

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

5

Standard I/O2 fixed
assignment: Initial output
port number

316 Read only 316

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

6

Expansion I/O1 fixed
assignment: Initial input port
number
(Network I/F module)

48 -1 ~ 599 48

0 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

7

Expansion I/O1 fixed
assignment: Initial output
port number
(Network I/F module)

348 -1 ~ 599 348

300 + (multiple of 8) (The parameter is
invalid if a negative value is set.)

8 Reserved by system -1 -1 ~ 599 -1
9 Reserved by system -1 -1 ~ 599 -1

10

Standard I/O1 error monitor

0 0 ~ 5 0

0: Not monitored
1: Monitored
2: Monitored (24-V I/O power errors

are not monitored)

3: Monitored. (Only 24-V I/O power

errors are monitored.)

* Some exceptions apply.

11

Standard I/O2 error monitor

0 0 ~ 5 0

0: Not monitored
1: Monitored
2: Monitored (24-V I/O power errors

are not monitored)

3: Monitored. (Only 24-V I/O power

errors are monitored.)

* Some exceptions apply.

12

Expansion I/O1 error
monitor
(Network I/F module)

1 0 ~ 5 1

0: Not monitored
1: Monitored
* Some exceptions apply.

13 Reserved by system 1 0 ~ 5 1

14

Network I/F card remote
input ports used

64 0 ~ 240 240

Multiple of 16

15

Network I/F card remote
output ports used

64 0 ~ 240 240

Multiple of 16

40

4.4 I/O Port Numbers for TT

The I/O port numbers applicable to the TT are shown below.
(For details, refer to the “Operation Manual for Tabletop Robot TT.”)

Port No. Function Port No. Function

000 Start 300 ALM (front panel LED)
001 (Software reset) 301 RDY (front panel LED)
002 (Servo ON) 302 EMG (front panel LED)
003 (Auto start) 303 Auto operation mode
004 (Software interlock) 304 HPS (front panel LED)
005 (Pause reset) 305 Reserved by system
006 (Pause) 306 Reserved by system
007 307 Reserved by system
008 308 For ON/OFF of internal DI-No. 001
009 309 For ON/OFF of internal DI-No. 002
010

Program number specification
Digital switch for 1’s digit

310 For ON/OFF of internal DI-No. 003
011 311 For ON/OFF of internal DI-No. 004
012 312 For ON/OFF of internal DI-No. 005
013

Program number specification
Digital switch for 10’s digit

313 For ON/OFF of internal DI-No. 006
014 (Drive-source reset input) 314 For ON/OFF of internal DI-No. 014

Internal

DI

015 (Home return, etc.)

Internal

DO

315 For ON/OFF of internal DI-No. 015

External

DI

016

~

031

General-purpose input

(rear panel I/O connector)

External

DO

316

~

331

General-purpose output

(rear panel I/O connector)

032 332

7-segment user display digits
specification

033 333

7-segment user display digits

specification
034 334 Reserved by system
035 335 Reserved by system
036 336 Reserved by system
037 337 7-segment refresh

038 338

7-segment user/system alternate

display

039 339

7-segment user display

specification
040 340 DT0 (7-segment user display bit)
041 341 DT1 (7-segment user display bit)
042 342 DT2 (7-segment user display bit)
043 343 DT3 (7-segment user display bit)
044 344 DT4 (7-segment user display bit)
045 345 DT5 (7-segment user display bit)
046 346 DT6 (7-segment user display bit)

Internal

DI

047

Reserved by system

Internal

DO

347 Reserved by system

External

DI

048

~

287

For ProfiBus

External

DO

348

~

587

For ProfiBus

41

Reference

When bit addresses are set in the PLC, port numbers are assigned in units of 16 points,
starting from the channels corresponding to the node address set by the DIP switches.
(This does not apply when a configurator is used.)

(Input) (Output)

(Input)

Port number

Node address

nn

Node address

nn + 1

The numbers under (NN)/(MM) CH are PLC channel addresses corresponding to node address nn.
Since node addresses (nn, nn+1, nn+2, and so on) are occupied in accordance with the numbers of
input/output points used, pay attention to prevent duplicate node addresses.

(Output)

Port number

42

5. RCS-C, E-Con and SCON

5.1 Models

External views (front views) of the RCS, E-Con and SCON controllers that support ProfiBus-DP are shown
below.

(1) RCS-C

Models: RCS-C---PR-
I/O points: Eight dedicated input points, 10 dedicated output points

RCS-C 24-V type

RCS-C 100/200-V type

43

(2) E-Con

Models: ECON---PR-
I/O points: 10 dedicated input points, 12 dedicated output points

(3) SCON

Models: SCON-C--PR--
I/O points: 16 dedicated input points, 16 dedicated output points

44

5.2 Setting a ProfiBus-DP Board (Slave Station)

(1) Name of each part

(2) ProfiBus-DP communication connector interface specifications

<Specifications of the ProfiBus-DP communication connector (1) A)>

This is a 9-pin, female D-sub connector recommended by the ProfiBus-DP standard EN 50170.

Connector

Pin No. Description Contents

3 B-Line RxD/TxD (Positive signal line)

5 GND Shield

8 A-Line /RxD x /TxD (Negative signal line)

Housing GND Shield

* Pins 1, 2, 4, 6, 7 and 9 are not used (they need not be wired).

D) Address setting dials

C) Monitor LEDs

B) Termination switch

A) ProfiBus-DP communication connector

45

(3) Bus termination settings <Set using the termination switch (1) B)>

Among the units connected to a ProfiBus-DP network, the devices at both ends require termination to prevent
reflected waves from entering the bus line again.
This ProfiBus-DP module provides a termination switch that makes this termination easy.

The user need not install a separate terminal resistor. Never install an additional terminal resistor, as it may
have negative impact on bus communication or cause a communication error, etc.

<Bus termination settings>
Termination switch ON Termination enabled

(If this switch is turned ON mistakenly when the module is connected in a position
other than the end of the network, bus communication may be negatively impacted
or a communication error, etc., may result.)

Termination switch OFF Termination disabled

(4) Node address settings <(Set by the address setting dials (1) D)>

The address of a slave station is set using the upper rotary switch “ADRS.H” and lower rotary switch “ADRS.L”
of the station module.
These rotary switches set the node address of the applicable controller.
Each of these two switches can be set to a desired value in a range of 0 to 9.
Set the switches by following the address assignment rule below:
Node address number = (Rotary switch “ADRS.H” x 10) + (Rotary switch “ADRS.L” x 1).

Example)

Example of rotary switch settings

Target station number

ADRS.H setting ADRS.L setting

9 0 9

12 1 2

Note 1) When setting ProfiBus-DP station numbers, remember that the ProfiBus-DP master station is always

assigned station number 0. Accordingly, numbers 1 to 99 are available for slave stations.

Note 2) The node address of each slave station set above cannot be changed while the slave is

communicating with the master.

46

(5) Monitor LED indications <Set by the monitor LEDs (1) C)>

Of the LEDs provided on the front face of the board, the two LEDs, ERR and POWER, can be used to check

the operating condition of the communication module.

The board has three LEDs, whose conditions and their meanings are explained below.

LED Color Status Definition Description (cause)

Off Communicating

normally

• The module is operating normally (The module is
connected to the fieldbus and is therefore in
“online” state.)

ERR Red

On Offline or

communication
error

• The module is not connected to the fieldbus and
is therefore in “offline” state, or a communication
error has occurred.

DIA Green - No function

Off

Power Off

• The ProfiBus-DP slave station is not receiving
power.

On

Power ON

• The ProfiBus-DP slave station is receiving
power.

POWER Green

Blinking at 4 Hz Communication

hardware error

• This LED blinks when a communication
hardware error has been detected during the
initialization of the system.

47

(6) Input/output (I/O) signal assignments

The RCS-C, E-Con and SCON have the following numbers of inputs and outputs, respectively:
[1] RCS-C 8 dedicated input points, 11 dedicated output points (100/200-V specification) or 10 dedicated

output points (24-V specification)
[2] E-Con 10 dedicated input points, 13 dedicated output
[3] SCON 16 dedicated input points, 16 dedicated output
These inputs and outputs are assigned as shown below.
* For details on each signal, refer to “Operation Manual for RCS Series ROBO Cylinder Controller RCS-C Type,”

“Operation Manual for E-Con Controller” and “Operation Manual for SCON Controller.”

[1] RCS-C signal assignments

Input number Signal name Output number Signal name

0 Command position 1 0 Completed position 1
1 Command position 2 1 Completed position 2
2 Command position 4 2 Completed position 4
3 Command position 8 3 Completed position 8
4 Start 4 Positioning complete
5 Reset 5 Home return complete
6 Servo on 6 Zone
7 *Pause 7 *Alarm
8 Not used 8 *Emergency stop

9 Not used 9 Moving
10 Not used 10 *Battery alarm Note)
11 Not used 11 *Not used
12 Not used 12 *Not used
13 Not used 13 *Not used
14 Not used 14 *Not used
15 Not used 15 *Not used

Note) This signal is available only when the controller’s main power supply specification is 100/200 V.

48

[2] E-Con signal assignments

Input number Signal name Output number Signal name

0 Command position 1 0 Completed position 1

1 Command position 2 1 Completed position 2

2 Command position 4 2 Completed position 4

3 Command position 8 3 Completed position 8

4 Command position 16 4 Completed position 16

5 Command position 32 5 Completed position 32

6 Not used 6 *Not used

7 Not used 7 *Not used

8 Start 8 Positioning complete

9 Reset 9 Home return complete
10 Servo on 10 Zone
11 *Pause 11 *Alarm
12 Not used 12 *Emergency stop
13 Not used 13 Moving
14 Not used 14 *Battery alarm
15 Not used 15 *Not used

Note) The signals denoted by * are contact-b signals (always ON).

49

[3] SCON signal assignments

The SCON has 16 dedicated input points and 16 dedicated output points. The details of inputs and outputs
are shown below. Signals are assigned in one of six patterns in accordance with the setting of SCON
parameter No. 25 (PIO pattern selection).

Setting of parameter No. 25

Positioning mode (standard) Teaching mode (teaching type) 256-point mode (256-point type)

0 1 2

Category Port No.

Signal name Symbol Signal name Symbol Signal name Symbol

0 PC1 PC1 PC1

1 PC2 PC2 PC2

2 PC4 PC4 PC4

3 PC8 PC8 PC8

4 PC16 PC16 PC16

5

Command position

number

PC32

Command position

number

PC32 PC32

6 -

Teaching mode

command (operation

mode)

MODE PC64

7 - Jog/inching switching JISL

Command position

number

PC128

8

Cannot be used.

- +Jog JOG+ Cannot be used. -

9 Forced brake release BKRL -Jog JOG- Forced brake release BKRL

10 Operation mode RMOD Operation mode RMOD Operation mode RMOD

11 Home return HOME Home return HOME Home return HOME

12 Pause *STP Pause *STP Pause *STP

13 Positioning start CSTR

Positioning

start/position data

read command

CSTR/

PWRT

Positioning start CSTR

14 Reset RES Reset RES Reset RES

Input

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

0 PM1 PM1 PM1

1 PM2 PM2 PM2

2 PM4 PM4 PM4

3 PM8 PM8 PM8

4 PM16 PM16 PM16

5

Completed position

number

PM32

Completed position

number

PM32 PM32

6 Moving signal MOVE Moving signal MOVE PM64

7 Zone 1 ZONE1 Teaching mode signal MODES

Completed position

number

PM128

8 Position zone PZONE Position zone PZONE Position zone PZONE

9 Operation mode RMDS Operation mode RMDS Operation mode RMDS

10 Home return complete HEND Home return complete HEND Home return complete HEND

11

Positioning complete

signal

PEND

Positioning complete

signal/position data

read complete

PEND/
WEND

Positioning complete

signal

PEND

12 Operation ready SV Operation ready SV Operation ready SV

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

14 Alarm *ALM Alarm *ALM Alarm *ALM

Output

15 Battery alarm *BALM Battery alarm *BALM Battery alarm *BALM

* indicates a signal that is normally ON.
The signals denoted by “Cannot be used” are not controlled. (ON/OFF statuses of these signals are
indeterminable.)
The battery alarm signal is always ON (fixed) when an incremental encoder is used.

50

Setting of parameter No. 25

512-point mode Solenoid valve mode 1 Solenoid valve mode 2

3 4 5

Category Port No.

Signal name Symbol Signal name Symbol Signal name Symbol

0 PC1 Start position 0 ST0 Start position 0 ST0
1 PC2 Start position 1 ST1 Start position 1 ST1
2 PC4 Start position 2 ST2 Start position 2 ST2
3 PC8 Start position 3 ST3 ­4 PC16 Start position 4 ST4 ­5 PC32 Start position 5 ST5 ­6 PC64 Start position 6 ST6 ­7 PC128 - ­8

Command position

number

PC256

Cannot be used.

-

Cannot be used.

-

9 Forced brake release BKRL Forced brake release BKRL Forced brake release BKRL
10 Operation mode RMOD Operation mode RMOD Operation mode RMOD
11 Home return HOME Home return HOME ­12 Pause *STP Pause *STP ­13 Positioning start CSTR Cannot be used. -

Cannot be used.

-

14 Reset RES Reset RES Reset RES

Input

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

0 PM1 Completed position 0 PE0

Rear end move

command 0

LS0

1 PM2 Completed position 1 PE1

Rear end move

command 1

LS1

2 PM4 Completed position 2 PE2

Rear end move

command 2

LS2

3 PM8 Completed position 3 PE3 -

4 PM16 Completed position 4 PE4 -

5 PM32 Completed position 5 PE5 -

6 PM64 Completed position 6 PE6

Cannot be used.

­7 PM128 Zone 1 ZONE1 Zone 1 ZONE1
8

Completed position

number

PM256 Position zone PZONE Position zone PZONE

9

Operation mode

output

RMDS

Operation mode

output

RMDS Cannot be used. RMDS

10 Home return complete HEND Home return complete HEND Home return complete HEND

11

Positioning complete

signal

PEND

Positioning complete

signal

PEND

Positioning complete

signal

-

12 Operation ready SV Operation ready SV Operation ready SV
13 Emergency stop *EMGS Emergency stop *EMGS Emergency stop *EMGS
14 Alarm *ALM Alarm *ALM Alarm *ALM

Output

15 Battery alarm *BALM Battery alarm *BALM Battery alarm *BALM

* indicates a signal that is normally ON.
The signals denoted by “Cannot be used” are not controlled. (ON/OFF statuses of these signals are
indeterminable.)
The battery alarm signal is always ON (fixed) when an incremental encoder is used.

51

(7) Correspondence of RCS-C, E-Con and SCON I/O port numbers and PLC addresses

In the assignment of the RCS-C, E-Con or SCON’s ProfiBus-DP board I/Os in the input/output (memory) areas of
the PLC, one word of input/output area is occupied by 16 I/O points (dedicated inputs/outputs) of the slave
station.
The table below is an example of how I/O addresses are set when a RCS-C controller (eight dedicated input
points, 10 dedicated output points), E-Con controller (10 dedicated input points, 12 dedicated output points) and
SCON controller (16 dedicated input points, 16 dedicated output points) are connected as slave stations to the
master station.

[1] Example of system configuration

An example of system configuration is shown below.

[2] Address assignment in the master station

When setting the configuration in [1] using a configurator, the numbers of inputs and outputs set for slave
station 2 must be set.
(Here, it is assumed that the number of occupiable slave stations is set to eight words in the PLC master
station.)
The respective I/Os are assigned addresses (bit addresses) as viewed from the PLC.

CPU

Bus station

number

Station 1 Station 2

Power supply

ProfiBus-DP

master station

Slave station 1
(RCS-C: Eight input points, 10 output points)

Slave station 2
(E-con: 10 input points, 13 output points)

Slave station 3
(SCON: 16 input points, 16 output points)

Slave station 4 (16 input points)

52

I/O port numbers are assigned in units of 16 points starting from the channel address in the PLC buffer

memory corresponding to the specified node address. Here, the PLC buffer memory bits are sequentially
assigned to the I/O port numbers, starting from the smallest port number and lowest memory bits.
Accordingly, the PLC addresses are assigned as follows.

(Note) NN and MM are PLC channel addresses corresponding to node address nn.

Since node addresses (nn, nn+1, nn+2, and so on) are occupied according to the numbers of I/O points
used, pay attention to duplicate node address settings.

Input port number

(bit address)

PLC output buffer memory

bit position

Channel
address

PLC input buffer memory

bit position

Output port number

(bit address)

8input points

10 input points

16 input points

16 input points

10 output points

12 output points

16 output points

53

Reference 1

When bit addresses are set in the PLC, inputs and outputs are sequentially assigned to
the channels corresponding to the node address set by the DIP switches.

(Input) (Output)

Node address

nn

The numbers under (NN)/(MM) CH are PLC channel addresses corresponding to node
address nn.

Input number Output number

* The settings in ( ) apply to the E-Con.

54

Example of address assignment rules --- Fuji Electric

Prefix

Bus station number

This number indicates the installation position of the ProfiBus-DP board in the PLC.

Word number

A sequential number specifying a word when the I/Os assigned to the master station are arranged in words.

Bit address

A sequential number specifying a bit when the I/Os assigned within each word above are arranged in bits.

Prefix Word number Bit address

Bus station

number

Input bit address (address per bit)

Input word address (address per word)

Output bit address (address per bit)

Output word address (address per word)

CPU

Station 1 Station 2

Power supply

ProfiBus-DP

master station

Reference 2

55

6. ASEL, PSEL, SSEL

ASEL, PSEL and SSEL controllers of ProfiBus type can support up to 256 input points and 256 output points.

6.1 Models

6.1.1 ASEL, PSEL

ASEL and PSEL controllers of ProfiBus type are indicated by the following model numbers:

1-axis type
ASEL-C-1--PR-
PSEL-C-1--PR-

2-axis type
ASEL-C-2--PR-
PSEL-C-2--PR-

External view

Status LEDs

ProfiBus communication

connector

Printed series name

• ASEL

• PSEL

Front panel color

• ASEL: Dark blue

• PSEL: Dark green

56

6.1.2 SSEL

SSEL controllers of ProfiBus type are indicated by the following model numbers:

1-axis type
SSEL-C-1--PR-

2-axis type
SSEL-C-1--PR-

External view

Status LEDs

ProfiBus communication

connector

Front panel color
Dark gray

Printed series name

57

6.2 ProfiBus Interface

(1) Name of each part

• ASEL, PSEL • SSEL

(2) Status LED indications

The operating condition of the ProfiBus board, as well as the network condition, can be checked using the two
LEDs (STATUS0 and STATUS1) provided on the front side of the board.

LED Color

Indicator

condition

Description of indication

Lit The board is online and communicating properly.

Green

Blinking

The board is online and the settings have been cleared by the
master following an error.

Blinking at 1 Hz A network I/O parameter error is present.

Orange

Blinking at 2 Hz A configuration error is present.

STATUS1

- Unlit The controller power is not supplied.

Lit Initialization has completed and the board is operating properly.

Green

Blinking

After the completion of initialization, a network diagnostic
message was received from a configurator, etc., and a response
has been returned.

Orange Lit Exceptional error (controller failure, etc.)

STATUS2

- Unlit

• Initialization not yet completed

• The controller power is not supplied.

Status LEDs

ProfiBus communication

connector

58

59

(3) ProfiBus-DP communication connector

The board-end connector is a D-sub 9-pin (female) connector recommended under the ProfiBus-DP standard
EN50170.
The network connector on the other end is not supplied.

Pin No. Signal name Explanation

1 NC Not connected
2 NC Not connected
3 B-Line Communication line B (positive side)
4 NC Not connected
5 GND Signal ground
6 +5V +5-V output
7 NC Not connected
8 A-Line Communication line A (negative side)
9 NC Not connected

Housing Shield Cable shield

Caution
(1) The baud rate is automatically set according to the corresponding setting on the master side and thus

need not be set.
(2) Set the node address using I/O parameter No. 226.
(3) No terminal resistor setting switch is provided. If the connector is to be connected to the network

terminal node, connect the terminal resistor to the network connector as shown below or use a

connector with terminal resistor.

z Connecting the terminal resistor

z ProfiBus connector (with terminal resistor)

(Example) SUBCON-PLUS-PROFIB/AX/SC (Phoenix Contact)

Board-end female

connector

Network-end male connector
(from counter-insertion side)

Network
wiring

60

6.3 I/O Parameter Settings

Set the node address, I/O ports and other parameters of the ASEL, PSEL and SSEL used with ProfiBus.

(1) Network type setting

I/O parameter No. 225, “Network I/F module: Control” has been set to 3H (ProfiBus) at the factory. (No additional
setting is required.)

(2) Node address

Set the node address using I/O parameter No. 226, “Network I/F module: Communication attribute 1.” The setting
range is 0 to 125. This parameter has been set to 1H at the factory.

(Note) If the specified address is outside the setting range, a “D75: Fieldbus parameter error” will occur.

(3) I/O part assignments

In the following I/O parameters, assign the numbers of physical I/O ports and ports for the ASEL, PSEL or SSEL
controller you want to use in your ProfiBus system:

No. 1 “I/O port assignment type”
No. 14 “Network I/F module: Remote input ports used”
No. 15 “Network I/F module: Remote output ports used”
No. 16 “Network I/F module fixed assignment: Initial input port number”
No. 17 “Network I/F module fixed assignment: Initial output port number”

For details, refer to the ASEL, PSEL, SSEL Network I/O Parameter Table on the following page.

(Note) With ASEL, PSEL and SSEL controllers, the following I/O parameters are invalid when a ProfiBus module

is used. Even if these parameters are set, they will not affect the numbers of ProfiBus ports used,
assigned port numbers, etc.:
No. 2 “

Standard I/O fixed assignment: Initial input port number (I/O1)”

No. 3

“Standard I/O fixed assignment: Initial output port number (I/O1)”

No. 10 “Standard I/O error monitor”

(4) Network error monitor

Set whether or not to monitor errors using I/O parameter No. 18, “Network I/F module: Error monitor.” Set the error
check time using bits 4 to 11 of I/O parameter No. 120, “Network attribute 1.”
If a network link error continues for the time specified in parameter No. 120 or longer, a system error will occur.

For details, refer to the ASEL, PSEL, SSEL Network I/O Parameter Table on the following page.

See 6.4.

61

ASEL, PSEL and SSEL Network I/O Parameter List

No. Parameter name

Factory-set

value

Input range Remarks

1

Input/output port assignment
type

0 0 ~ 20

0: Fixed assignment

1: Automatic assignment

14

Network I/F module: Remote
input ports used

64 0 ~ 256 Multiple of 8

15

Network I/F module: Remote
output ports used

64 0 ~ 256 Multiple of 8

16

Network I/F module fixed
assignment: Initial input port
number

0 -1 ~ 599

0 + (multiple of 8) (The parameter is invalid if a
negative value is set.)

17

Network I/F module fixed
assignment: Initial output port
number

300 -1 ~ 599

300 + (multiple of 8) (The parameter is invalid if a
negative value is set.)

18

Network I/F module: Error
monitor

1 0 ~ 5

0: Not monitored 1: Monitored
* If a network link error continues for the

network link error check timer period or
longer,

a system error will occur. (Refer to I/O

parameter No. 120.)

* Some exceptions apply.

120

Network attribute 1

1

H

0

H

~

FFFFFFFF

H

Bits 0 to 3: Reserved by system
Bits 4 to 11: Network link error check timer
period (set in units of 10 msec)
Valid only when I/O parameter No. 18 = 1.
(Example) If the set value is 05H (bits 4 to 11),

the timer period becomes 50 ms
(10 ms x 5). If the set value is 0H, a
system error occurs immediately
due to a network link error.

225

Network I/F module: Control

3

H

For
reference
only

Bits 0 to 3: Network I/F module type
(0: Not installed, 1: CC-Link module,
2: DeviceNet module, 3: ProfiBus module)

226

Network I/F module:
Communication attribute 1

1 0 ~ 999

Node address of network I/F module
* If a ProfiBus module is used: 0 to 125

227

Network I/F module:
Communication attribute 2

0

H

0

H

~

FFFFFFFF

H

Bits 0 to 3: Baud rate type of network I/F
module
* If a ProfiBus module is used, the baud rate is

automatically set according to the
corresponding setting on the master side and
thus need not be set.

62

6.4 I/O Port Numbers and ProfiBus-DP Address Assignments

ASEL, PSEL and SSEL controllers operate in the program mode and positioner mode, but the principles of
assignment are the same with both modes. To be specific, I/O port numbers are assigned in units of 16 points
starting from the channel address in the PLC buffer memory corresponding to the specified node address. Here,
the PLC buffer memory bits are sequentially assigned to the I/O port numbers, starting from the smallest port
number and lowest memory bits.

(1) Basic example

The correlation diagram shown below assumes the following settings of I/O parameters:

No. 16 = 0 (Initial input port number)
No. 17 = 300 (Initial output port number)
No. 14 = No.15 = 16 (Numbers of input and output ports)
No. 226 = nn (Node address)

(Note) NN and MM are PLC channel addresses corresponding to node address nn.

Since node addresses (nn, nn+1, nn+2, and so on) are occupied according to the numbers of I/O points
used, pay attention to duplicate node address settings.

Input port number

(bit address)

PLC output buffer memory

bit position

Channel
address

PLC input buffer memory

bit position

Output port number

(bit address)

63

(2) Positioner mode

Regardless of the settings of I/O parameter Nos. 1, 16 and 17, physical ports are assigned from No. 0 for input
ports and from No. 300 for output ports.

As shown in the I/O port table on the next pageand subsequent pages, input ports of Nos. 0 to 23 and output

ports of Nos. 300 to 307 are used.
In this case, both I/O parameter Nos. 14 and 15 are set to 24.

(Note) Set the same number of points for I/O parameter Nos. 14 and 15 according to the number of input or

output ports, whichever is greater.

64

ASEL Positioner Mode I/O Port Table

Positioner mode

Category

Port

No.

Standard mode

Product-type

switching mode

2-axis independent

mode

Teaching mode

DC-S-C1

compatible mode

16 Position input 10 Input 10 Position input 7 Axis 1 jog-

Position No. 1000

input
17 Position input 11 Input 11 Position input 8 Axis 2 jog+ ­18 Position input 12 Input 12 Position input 9 Axis 2 jog- ­19 Position input 13 Input 13 Position input 10 Inching (0.01 mm) ­20 Position input 14 Input 14 Position input 11 Inching (0.1 mm) ­21 - Input 15 Position input 12 Inching (0.5 mm) ­22 - Input 16 Position input 13 Inching (1 mm) (Fixed to OFF)
23 - Error reset Error reset Error reset CPU reset

0 Start Start Axis 1 start Start Start
1 Home return Home return Home return Servo on Pause
2 Servo on Servo on Axis 1 servo ON *Pause Cancellation

3 Push Push *Axis 1 pause Position input 1

Interpolation

setting

4 *Pause *Pause

*Axis 1
cancellation

Position input 2 Position input 1

5 *Cancellation *Cancellation Axis 2 start Position input 3 Position input 2
6 Interpolation Interpolation Axis 2 home return Position input 4 Position input 4
7 Position input 1 Input 1 Axis 2 servo ON Position input 5 Position input 8
8 Position input 2 Input 2 *Axis 2 pause Position input 6 Position input 10

9 Position input 3 Input 3

*Axis 2
cancellation

Position input 7 Position input 20

10 Position input 4 Input 4 Position input 1 Position input 8 Position input 40
11 Position input 5 Input 5 Position input 2 Position input 9 Position input 80
12 Position input 6 Input 6 Position input 3 Position input 10 Position input 100
13 Position input 7 Input 7 Position input 4 Position input 11 Position input 200

14 Position input 8 Input 8 Position input 5

Specifying
teaching mode

Position input 400

Input

15 Position input 9 Input 9 Position input 6 Axis 1 jog+ Position input 800

300 *Alarm *Alarm *Alarm *Alarm Alarm
301 Ready Ready Ready Ready Ready

302

Positioning
compete

Positioning
compete

Axis 1 positioning
complete

Positioning
compete

Positioning

compete

303

Home return
complete

Home return
complete

Axis 1 home return
complete

Home return
complete

-

304 Servo ON output Servo ON output Axis 1 servo ON Servo ON output -

305 Push complete Push complete

Axis 2 positioning
complete

-

306

System battery
error

System battery
error

Axis 2 home return
complete

System battery
error

System battery

error

Output

307

Absolute battery
error

Absolute battery
error

Axis 2 servo ON

Absolute battery
error

Absolute battery

error

*: Contact B (negative logic)

65

PSEL Positioner Mode I/O Port Table

Positioner mode

Category

Port

No.

Standard mode

Product-type

switching mode

2-axis independent

mode

Teaching mode

DC-S-C1

compatible mode

16 Position input 10 Input 10 Position input 7 Axis 1 jog-

Position No. 1000

input
17 Position input 11 Input 11 Position input 8 Axis 2 jog+ ­18 Position input 12 Input 12 Position input 9 Axis 2 jog- ­19 Position input 13 Input 13 Position input 10 Inching (0.01 mm) ­20 - Input 14 Position input 11 Inching (0.1 mm) ­21 - Input 15 Position input 12 Inching (0.5 mm) ­22 - Input 16 Position input 13 Inching (1 mm) (Fixed to OFF)
23 Error reset Error reset Error reset Error reset CPU reset

0 Start Start Axis 1 start Start Start
1 Home return Home return Home return Servo on Pause
2 Servo on Servo on Axis 1 servo ON *Pause Cancellation

3 Push Push *Axis 1 pause Position input 1

Interpolation

setting

4 *Pause *Pause

*Axis 1
cancellation

Position input 2 Position input 1

5 *Cancellation *Cancellation Axis 2 start Position input 3 Position input 2
6 Interpolation Interpolation Axis 2 home return Position input 4 Position input 4
7 Position input 1 Input 1 Axis 2 servo ON Position input 5 Position input 8
8 Position input 2 Input 2 *Axis 2 pause Position input 6 Position input 10

9 Position input 3 Input 3

*Axis 2
cancellation

Position input 7 Position input 20

10 Position input 4 Input 4 Position input 1 Position input 8 Position input 40
11 Position input 5 Input 5 Position input 2 Position input 9 Position input 80
12 Position input 6 Input 6 Position input 3 Position input 10 Position input 100
13 Position input 7 Input 7 Position input 4 Position input 11 Position input 200

14 Position input 8 Input 8 Position input 5

Specifying
teaching mode

Position input 400

Input

15 Position input 9 Input 9 Position input 6 Axis 1 jog+ Position input 800

300 *Alarm *Alarm *Alarm *Alarm Alarm
301 Ready Ready Ready Ready Ready

302

Positioning
compete

Positioning
compete

Axis 1 positioning
complete

Positioning
compete

Positioning

compete

303

Home return
complete

Home return
complete

Axis 1 home return
complete

Home return
complete

-

304 Servo ON output Servo ON output Axis 1 servo ON Servo ON output -

305 Push complete Push complete

Axis 2 positioning
complete

-

306

System battery
error

System battery
error

Axis 2 home return
complete

System battery
error

System battery

error

Output

307 - - Axis 2 servo ON - -

*: Contact B (negative logic)

66

SSEL Positioner Mode I/O Port Table

Positioner mode

Category

Port

No.

Standard mode

Product-type

switching mode

2-axis independent

mode

Teaching mode

DC-S-C1

compatible mode

16 Position input 10 Input 10 Position input 7 Axis 1 jog-

Position No. 1000

input

17 Position input 11 Input 11 Position input 8 Axis 2 jog+

Position No. 2000

input

18 Position input 12 Input 12 Position input 9 Axis 2 jog-

Position No. 4000

input

19 Position input 13 Input 13 Position input 10 Inching (0.01 mm)

Position No. 8000

input

20 Position input 14 Input 14 Position input 11 Inching (0.1 mm)

Position No. 10000

input

21 Position input 15 Input 15 Position input 12 Inching (0.5 mm)

Position No. 20000

input
22 Position input 16 Input 16 Position input 13 Inching (1 mm) (Fixed to OFF)
23 Error reset Error reset Error reset Error reset CPU reset

0 Start Start Axis 1 start Start Start
1 Home return Home return Home return Servo on Pause
2 Servo on Servo on Axis 1 servo ON *Pause Cancellation

3 Push Push *Axis 1 pause Position input 1

Interpolation

setting

4 *Pause *Pause

*Axis 1
cancellation

Position input 2 Position input 1

5 *Cancellation *Cancellation Axis 2 start Position input 3 Position input 2
6 Interpolation Interpolation Axis 2 home return Position input 4 Position input 4
7 Position input 1 Input 1 Axis 2 servo ON Position input 5 Position input 8
8 Position input 2 Input 2 *Axis 2 pause Position input 6 Position input 10

9 Position input 3 Input 3

*Axis 2
cancellation

Position input 7 Position input 20

10 Position input 4 Input 4 Position input 1 Position input 8 Position input 40
11 Position input 5 Input 5 Position input 2 Position input 9 Position input 80
12 Position input 6 Input 6 Position input 3 Position input 10 Position input 100
13 Position input 7 Input 7 Position input 4 Position input 11 Position input 200

14 Position input 8 Input 8 Position input 5

Specifying
teaching mode

Position input 400

Input

15 Position input 9 Input 9 Position input 6 Axis 1 jog+ Position input 800

300 *Alarm *Alarm *Alarm *Alarm Alarm
301 Ready Ready Ready Ready Ready

302

Positioning
compete

Positioning
compete

Axis 1 positioning
complete

Positioning
compete

Positioning

compete

303

Home return
complete

Home return
complete

Axis 1 home return
complete

Home return
complete

-

304 Servo ON output Servo ON output Axis 1 servo ON Servo ON output -

305 Push complete Push complete

Axis 2 positioning
complete

-

306

System battery
error

System battery
error

Axis 2 home return
complete

System battery
error

System battery

error

Output

307

Absolute battery
error

Absolute battery
error

Axis 2 servo ON

Absolute battery
error

Absolute battery

error

*: Contact B (negative logic)

67

7. ACON, PCON

7.1 Operation Modes and Functions

ACON and PCON controllers supporting ProfiBus-DP can be operated in a desired operation mode selected from
the following five modes.

Operation Modes and Key Functions

Key function

Remote I/O

mode

Position/simple

direct mode

Half direct mode Full direct mode

Remote I/O

mode 2

Number of occupied

bytes

2 8 16 32 12

Operation by position
data specification

x { (*1)

{ {

x

Direct
speed/acceleration
specification

x x

{ {

x

Push-motion
operation

{ { { { {

Current position read x

{ { { {

Current speed read x x

{ { {

Operation by position
number specification

{ {

x x

{

Completed position
number read

{ {

x x

{

Maximum position
table size

512 768 Not used Not used 512

(*1) The actuator is operated by specifying all position data, other than positions, using position numbers.

[1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24-V I/Os) via ProfiBus-DP communication.

Number of occupied bytes: 2 bytes (1 word)

PLC

PLC

Flat cable

Communication
cable

A

CON/PCON not

supporting ProfiBus-DP

PIO connection

A

CON/PCON supporting

ProfiBus-DP

ProfiBus-DP connection

68

[2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers.

You can select whether to specify the target position directly as a value, or use
a value registered in the position data table, by switching a control signal.
For the speed, acceleration/deceleration, positioning band, etc., values
preregistered in the position data table are used. Up to 768 position data points
can be set.
Number of occupied bytes: 8 bytes (4 words)

[3] Half direct mode: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration

and push current, in addition to the target position, directly as values.
Number of occupied bytes: 16 bytes (8 words)

PLC



Target position: 100.00 mm

+

Position No. 0

A

CON/PCON supporting

ProfiBus-DP

A

ctuator

Speed

A

cceleration

Deceleration

Push

PLC



Target position: 100.00 mm
Positioning band: 0.10 mm
Speed specification: 100.0
mm/sec

A

cceleration/deceleration:

0.30 G
Push current: 50%

A

CON/PCON supporting

ProfiBus-DP

A

ctuator

Zone +

Zone -

Threshold

69

[4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control

(target position, speed, acceleration/deceleration, etc.) directly as values.
Number of occupied bytes: 32 bytes (16 words)

[5] Remote I/O mode 2: In this mode, the actuator is operated by PIOs (24-V I/Os) via ProfiBus-DP

communication.
The current-position and command-current read functions are available in addition to
the functions provided in mode [1].
Number of occupied bytes: 12 bytes (6 words)

PLC

Target position: 100.00 mm
Positioning band: 0.10 mm
Speed specification: 100.0
mm/sec

A

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

A

CON/PCON supporting

ProfiBus-DP

A

ctuator

PLC

PLC

Flat cable

Communication
cable

A

CON/PCON not

supporting ProfiBus-DP

A

CON/PCON supporting

ProfiBus-DP

ProfiBus-DP connection

PIO connection

70

7.2 Models

The models of ACON and PCON controller supporting ProfiBus-DP are indicated as follows, respectively:

z ACON-C/CG--PR-
z PCON-C/CG--PR-

Printed series name

z ACON
z PCON

Front panel color

z ACON: Dark blue
z PCON: Dark green

71

7.3 ProfiBus-DP (Slave Station) Settings

(1) Name of each part

The name of each part relating to ProfiBus-DP is shown.

(2) ProfiBus-DP communication connector interface specifications

This is a 9-pin, female D-sub connector recommended by the ProfiBus-DP standard EN 50170.
Connector

Pin No. Description Contents

3 B-Line RxD, TxD (Positive signal line)
4 RTS Request to send
5 GND Signal ground (insulation)
6 +5V +5-V output (insulation)
8 A-Line /RxD, /TxD (Negative signal line)

Housing Shield Cable shield (enclosure and connection)

(Note 1) Pins 1, 2, 7 and 9 are not used (they need not be wired).
(Note 2) The cable-end connector is not supplied.

1

STATUS

0

SV

A

LM

Status indicator LEDs

Status LEDs

ProfiBus-DP communication connector

72

(3) Bus terminal processing

If the connector is to be connected to the network terminal node, connect the terminal resistor to the ProfiBus-DP
communication connector as shown below or use a connector with terminal resistor.

z Example of connector with terminal resistor: SUBCON-PLUS-PROFIB/AX/SC (Phoenix Contact)
z Connecting the terminal resistor

(4) Operation mode selection (setting)

Set a desired operation mode using a parameter.
Set the mode selector switch on the front side of the controller to the MANU position, and then set parameter No.
84, “FMOD: Fieldbus operation mode” using the RC PC software (V6.00.05.00 or later). (Refer to 7.7,
“Parameters.”)

Set value Operation mode

Number of

occupied bytes

0 (factory setting) Remote I/O mode 2

1 Position/simple direct mode 8
2 Half direct mode 16
3 Full direct mode 32
4 Remote I/O mode 2 12

* If a greater value is entered, an excessive input error will occur.

(5) Node address setting

Set the node address using a parameter.
Set parameter No. 85, “NADR: Fieldbus node address” using the RC PC software. (Refer to 7.7, “Parameters.”)

Settable range: 0 to 125 (The parameter has been set to 1 at the factory.)

(Note 1) Pay attention to duplicate node address settings.
(Note 2) ProfiBus-DP node addresses are set with the master station always having address 0. Accordingly,

addresses of slave stations can be set between 1 and 125.

Board-end female

connector

Network-end male connector
(from counter-insertion side)

Network
wiring

73

(6) Status LED indications

The board operating condition and network condition can be checked using the two LEDs provided on the front
side of the controller.

LED Color

Indicator

condition

Description of indication (Meaning of indication)

Lit

The board is online with the fieldbus network and communicating
normally.

Green

Blinking The board is offline from the fieldbus network.

STATUS1

Orange Blinking A communication error is present.

Lit The board is operating properly.

Green

Blinking The board is not yet ready.

STATUS0

Orange Lit

A communication hardware error was detected when the board
was not yet ready.

(Note 1) After the necessary parameters have been set, reconnect the controller power and return the mode

selector switch on the front side of the controller to the AUTO position. If the switch remains in the
MANU position, PLC operation cannot be performed.

(Note 2) The baud rate is automatically set according to the corresponding setting on the master side and

thus need not be set.

74

7.4 Communication with the Master Station

7.4.1 Operation Modes and Handling of PLC Addresses

The address assignments under each operation mode are shown below.

• PLC output → ACON/PCON input (* n indicates the initial output address for each axis.)

ACON/PCON DI and input data resister

Remote I/O

mode

Position/simple

direct mode

Half direct mode Full direct mode

Remote I/O

mode 2

PLC output

address (word

address)

Number of

occupied bytes: 2

Number of

occupied bytes: 8

Number of

occupied bytes: 16

Number of

occupied bytes: 32

Number of

occupied bytes: 12

n

Port number 0 to

15

Port number 0 to

15

n+1

Target position Target position Target position

n+2

Specified position

number

n+3

Control signal

Positioning band Positioning band

n+4

Speed

n+5

Acceleration/

deceleration

Speed

specification

Occupied area

n+6

Push-current
limiting value

n+7

Control signal

Zone boundary+

n+8
n+9

Zone boundary-

n+10

Acceleration

n+11

Deceleration

n+12

Push-current

limiting value

ACON

Occupied

area

n+13

PCON

Load

current

threshold

n+14

Control signal 1

n+15

Control signal 2

(Note) The “occupied area” is occupied according to the operation mode setting.

This area cannot be used for any other purpose. Also pay attention to use of duplicate addresses.

75

• ACON/PCON output → PLC input (* n indicates the initial input address for each axis.)

ACON/PCON DO and output data resister

Remote I/O

mode

Position/simple

direct mode

Half direct mode Full direct mode

Remote I/O

mode 2

PLC input

address (word

address)

Number of

occupied bytes: 2

Number of

occupied bytes: 8

Number of

occupied bytes: 16

Number of

occupied bytes: 32

Number of

occupied bytes: 12

n

Port number 0 to

15

Port number 0 to

15

n+1

Current position Current position Current position

Occupied area

n+2

Completed position

number (simple

alarm ID)

n+3

Status signal

Command current Command current Current position

n+4
n+5

Current speed Current speed Command current

n+6

Alarm code Alarm code

n+7

Status signal

n+8

n+9
n+10
n+11
n+12
n+13
n+14

Occupied area

n+15

Status signal

(Note) The “occupied area” is occupied according to the operation mode setting.

This area cannot be used for any other purpose. Also pay attention to use of duplicate addresses.

76

z Reference: Example of PLC address assignment rules --- Fuji Electric

The PLC address assignment rules are shown below.

Prefix

Bus station number

This number indicates the installation position of the ProfiBus-DP master unit within the PLC units is indicated.

Word address

Word addresses refer to addresses of DI/DOs and I/O data registers of an ACON or PCON assigned to the
master station, being arranged sequentially in units of words.

Bit address

Bit addresses refer to addresses of DI/DOs and I/O data registers of an ACON or PCON assigned to a word
address, being arranged sequentially in units of bits.

Prefix Word number Bit address

Bus station

number

Input bit address (address per bit)

Input word address (address per word)

Output bit address (address per bit)

Output word address (address per word)

CPU

Station 1 Station 2

Power supply

ProfiBus-DP

master station

77

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

In this mode, the actuator is operated by specifying position numbers just like when PIOs (24-V I/Os) are used.
Set desired position data using the RC PC software or teaching pendant.
The number of positions to which the actuator can be operated varies according to the setting of parameter No.
25, “PIO pattern.”
The I/O specification of each PIO pattern is shown below. (For details, refer to the operation manual for the
controller.)

Setting of parameter No. 25

Operation mode I/O specification

0 Positioning mode 64 positioning points, 2 zone outputs

1 Teaching mode

64 positioning points, 1 zone output
Positioning and jog operations are supported.
The current position can be written under a specified position

number.
2 256-point mode 256 positioning points, 1 zone output
3 512-point mode 512 positioning points, no zone output

4

Solenoid valve

mode 1

7 positioning points, 2 zone outputs

An operation command can be specified directly for each

position number.

A positioning complete signal is output for each position

number.

5

Solenoid valve

mode 2

3 positioning points, 2 zone outputs

Operation using forward, reverse and interim position

commands.

A positioning complete signal is output individually for forward,

reverse and interim positions.

The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.

PIO pattern

ROBO Cylinder

function

0:
Positioning
mode

1:
Teaching
mode

2:
256-point
mode

3:
512-point
mode

4:
Solenoid
valve mode 1

5:
Solenoid
valve mode 2

Home return operation

{ { { { {

x

Positioning operation

{ { { { { {
Speed &
acceleration/decelerati
on setting

{ { { { { {

Pitch feed (inching)

{ { { { { {
Push-motion operation

{ { { { {

X
Speed change during
movement

{ { { { { {

Operation at different
acceleration and
deceleration

{ { { { { {

Pause

{ { { { {

{ (*1)

Zone signal output

{ { {

x

{ {
PIO pattern selection
(set by parameter)

{ { { { { {

{: Supported, x: Not supported

(*1) This operation is supported when parameter No. 27, “Move command type” is set to “0.”

The actuator can be paused by turning the move command OFF.

78

(1) PLC address configuration (* n indicates the initial input/output address for each axis.)

Parameter

No. 84

ACON/PCON DI

(port number)

PLC output address

ACON/PCON DO

(port number)

PLC input address

0 0 to 15 n 0 to 15 n

Pay attention to use of duplicate addresses.

(2) I/O signal assignments for each axis

An I/O signal of each axis consists of 1 word (2 bytes) of I/O addresses.
z I/O addresses are controlled by bit ON/OFF signals from the PLC.

PLC output
address

PLC input
address

(* n indicates the initial output address for each axis.)

1 word = 2 bytes = 16 bits

1 word = 2 bytes = 16 bits

(* n indicates the initial input address for each axis.)

Controller
input port
number

Controller
output port
number

79

(3) I/O signal assignments

Which signals are assigned to controller I/O ports vary according to the setting of parameter No. 25.
(For details, refer to the operation manual for the controller.)

ACON

Setting of parameter No. 25

Positioning mode Teaching mode 256-point mode

0 1 2

Category Port No.

Signal name Symbol Signal name Symbol Signal name Symbol
0 PC1 PC1 PC1
1 PC2 PC2 PC2
2 PC4 PC4 PC4
3 PC8 PC8 PC8
4 PC16 PC16 PC16
5

Command position

number

PC32

Command position

number

PC32 PC32

6 -

Teaching mode

command

MODE PC64

7 - Jog/inching switching JISL

Command position

number

PC128

8

Cannot be used.

- +Jog JOG+ Cannot be used. -

9 Forced brake release BKRL -Jog JOG- Forced brake release BKRL

10 Operation mode RMOD Operation mode RMOD Operation mode RMOD
11 Home return HOME Home return HOME Home return HOME
12 Pause *STP Pause *STP Pause *STP

13 Positioning start CSTR

Positioning start /

Positioning data read

command

CSTR/

PWRT

Positioning start CSTR

14 Reset RES Reset RES Reset RES

PLC

output →

ACON

input

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

0 PM1 PM1 PM1
1 PM2 PM2 PM2
2 PM4 PM4 PM4
3 PM8 PM8 PM8
4 PM16 PM16 PM16
5

Completed position

number

PM32

Completed position

number

PM32 PM32
6 Moving signal MOVE Moving signal MOVE PM64
7 Zone 1 ZONE1 Teaching mode signal MODES

Completed position

number

PM128
8 Position zone PZONE Position zone PZONE Position zone PZONE
9 Operation mode RMDS Operation mode RMDS Operation mode RMDS

10

Home return

complete

HEND Home return complete HEND Home return complete HEND

11

Positioning complete

signal

PEND

Positioning complete

signal/position data

read complete

PEND/
WEND

Positioning complete

signal

PEND

12 Operation ready SV Operation ready SV Operation ready SV
13 Emergency stop *EMGS Emergency stop *EMGS Emergency stop *EMGS
14 Alarm *ALM Alarm *ALM Alarm *ALM

ACON

output →

PLC
input

15 Cannot be used. - Cannot be used. - Cannot be used. -

* indicates a signal that is normally ON.
The signals denoted by “Cannot be used” are not controlled. (ON/OFF statuses of these signals are
indeterminable.)

80

ACON

Setting of parameter No. 25

512-point mode Solenoid valve mode 1 Solenoid valve mode 2

3 4 5

Category Port No.

Signal name Symbol Signal name Symbol Signal name Symbol

0 PC1 Start position 0 ST0 Start position 0 ST0
1 PC2 Start position 1 ST1 Start position 1 ST1
2 PC4 Start position 2 ST2 Start position 2 ST2
3 PC8 Start position 3 ST3 ­4 PC16 Start position 4 ST4 ­5 PC32 Start position 5 ST5 ­6 PC64 Start position 6 ST6 ­7 PC128 - ­8

Command position

number

PC256

Cannot be used.

-

Cannot be used.

-

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

10 Operation mode RMOD Operation mode RMOD Operation mode RMOD
11 Home return HOME Home return HOME ­12 Pause *STP Pause *STP ­13 Positioning start CSTR Cannot be used. -

Cannot be used.

-

14 Reset RES Reset RES Reset RES

PLC

output →

ACON

input

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

0 PM1 Completed position 0 PE0

Rear end move

command 0

LS0

1 PM2 Completed position 1 PE1

Rear end move

command 1

LS1

2 PM4 Completed position 2 PE2

Rear end move

command 2

LS2

3 PM8 Completed position 3 PE3 ­4 PM16 Completed position 4 PE4 ­5 PM32 Completed position 5 PE5 ­6 PM64 Completed position 6 PE6

Cannot be used.

­7 PM128 Zone 1 ZONE1 Zone 1 ZONE1
8

Completed position

number

PM256 Position zone PZONE Position zone PZONE

9 Operation mode RMDS Operation mode RMDS Operation mode RMDS

10

Home return

complete

HEND Home return complete HEND Home return complete HEND

11

Positioning complete

signal

PEND

Positioning complete

signal

PEND Cannot be used. -

12 Operation ready SV Operation ready SV Operation ready SV
13 Emergency stop *EMGS Emergency stop *EMGS Emergency stop *EMGS
14 Alarm *ALM Alarm *ALM Alarm *ALM

ACON

output →

PLC
input

15 Cannot be used. - Cannot be used. - Cannot be used. -

* indicates a signal that is normally ON.
The signals denoted by “Cannot be used” are not controlled. (ON/OFF statuses of these signals are
indeterminable.)

81

PCON

Setting of parameter No. 25

Positioning mode Teaching mode 256-point mode

0 1 2

Category Port No.

Signal name Symbol Signal name Symbol Signal name Symbol
0 PC1 PC1 PC1
1 PC2 PC2 PC2
2 PC4 PC4 PC4
3 PC8 PC8 PC8
4 PC16 PC16 PC16
5

Command position

number

PC32

Command position

number

PC32 PC32

6 -

Teaching mode

command

MODE PC64

7 - Jog/inching switching JISL

Command position

number

PC128

8

Cannot be used.

- +Jog JOG+ Cannot be used. -

9 Forced brake release BKRL -Jog JOG- Forced brake release BKRL

10 Operation mode RMOD Operation mode RMOD Operation mode RMOD
11 Home return HOME Home return HOME Home return HOME
12 Pause *STP Pause *STP Pause *STP

13 Positioning start CSTR

Positioning start /

Positioning data read

command

CSTR/

PWRT

Positioning start CSTR

14 Reset RES Reset RES Reset RES

PLC

output →

PCON

input

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

0 PM1 PM1 PM1
1 PM2 PM2 PM2
2 PM4 PM4 PM4
3 PM8 PM8 PM8
4 PM16 PM16 PM16
5

Completed position

number

PM32

Completed position

number

PM32 PM32
6 Moving signal MOVE Moving signal MOVE PM64
7 Zone 1 ZONE1 Teaching mode signal MODES

Completed position

number

PM128
8 Position zone PZONE Position zone PZONE Position zone PZONE
9 Operation mode RMDS Operation mode RMDS Operation mode RMDS

10

Home return

complete

HEND Home return complete HEND Home return complete HEND

11

Positioning complete

signal

PEND

Positioning complete

signal/position data

read complete

PEND/
WEND

Positioning complete

signal

PEND

12 Operation ready SV Operation ready SV Operation ready SV
13 Emergency stop *EMGS Emergency stop *EMGS Emergency stop *EMGS
14 Alarm *ALM Alarm *ALM Alarm *ALM

PCON

output →

PLC
input

15

Load output

judgment/torque level

LOAD/

TRQS

Cannot be used. -

Load output

judgment/torque level

LOAD/

TRQS

* indicates a signal that is normally ON.
The signals denoted by “Cannot be used” are not controlled. (ON/OFF statuses of these signals are
indeterminable.)

82

PCON

Setting of parameter No. 25

512-point mode Solenoid valve mode 1 Solenoid valve mode 2

3 4 5

Category Port No.

Signal name Symbol Signal name Symbol Signal name Symbol

0 PC1 Start position 0 ST0 Start position 0 ST0
1 PC2 Start position 1 ST1 Start position 1 ST1
2 PC4 Start position 2 ST2 Start position 2 ST2
3 PC8 Start position 3 ST3 ­4 PC16 Start position 4 ST4 ­5 PC32 Start position 5 ST5 ­6 PC64 Start position 6 ST6 ­7 PC128 - ­8

Command position

number

PC256

Cannot be used.

-

Cannot be used.

-

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

10 Operation mode RMOD Operation mode RMOD Operation mode RMOD
11 Home return HOME Home return HOME ­12 Pause *STP Pause *STP ­13 Positioning start CSTR Cannot be used. -

Cannot be used.

-

14 Reset RES Reset RES Reset RES

PLC

output →

PCON

input

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

0 PM1 Completed position 0 PE0

Rear end move

command 0

LS0

1 PM2 Completed position 1 PE1

Rear end move

command 1

LS1

2 PM4 Completed position 2 PE2

Rear end move

command 2

LS2

3 PM8 Completed position 3 PE3 ­4 PM16 Completed position 4 PE4 ­5 PM32 Completed position 5 PE5 ­6 PM64 Completed position 6 PE6

Cannot be used.

­7 PM128 Zone 1 ZONE1 Zone 1 ZONE1
8

Completed position

number

PM256 Position zone PZONE Position zone PZONE

9 Operation mode RMDS Operation mode RMDS Operation mode RMDS

10

Home return

complete

HEND Home return complete HEND Home return complete HEND

11 Positioning complete PEND Positioning complete PEND Cannot be used. ­12 Operation ready SV Operation ready SV Operation ready SV
13 Emergency stop *EMGS Emergency stop *EMGS Emergency stop *EMGS
14 Alarm *ALM Alarm *ALM Alarm *ALM

PCON

output →

PLC
input

15

Load output

judgment/torque level

LOAD/

TRQS

Load output

judgment/torque level

LOAD/

TRQS

Cannot be used. -

* indicates a signal that is normally ON.
The signals denoted by “Cannot be used” are not controlled. (ON/OFF statuses of these signals are
indeterminable.)

83

7.4.3 Position/Simple Direct Mode (Number of Occupied Bytes: 8)

In this mode, the actuator is operated by specifying position numbers. You can select whether to set the target
position directly as a value or use a value registered in the position data table, by switching a control signal
(PMOD signal).
For all data other than the target position, such as speed, acceleration/deceleration and positioning band, values
in the controller’s position table are used. Set desired position data by referring to the operation manual for the
controller.
Up to 768 position data points can be set.
The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.

ROBO Cylinder function

{: Direct control

∆: Indirect control

x: Invalid

Remarks

Home return operation

{

Positioning operation

{

Speed & acceleration/deceleration setting

∆

Pitch feed (inching)

∆

Push-motion operation

∆

Speed change during movement

∆

Operation at different acceleration and deceleration

∆

Position data must

be set

Pause

{

Zone signal output

∆

Zones are set using

parameters.

PIO pattern selection

x

(1) PLC address configuration (* n indicates the initial input/output address for each axis.)

Parameter

No. 84

ACON/PCON input

register

PLC output address

ACON/PCON output

register

PLC input address

n+0 n+0

Target position

n+1

Current position

n+1

Specified position

number

n+2

Completed position

number

(simple alarm code)

n+2

1

Control signal n+3 Status signal n+3

(Note) Pay attention to use of duplicate addresses.

84

(2) I/O signal assignments for each axis

An I/O signal of each axis consists of 4 words (8 bytes) of I/O addresses.

z Control signals and status signals are bit ON/OFF signals.
z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999

to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0
up to the effective stroke length) of the applicable actuator.

z The specified position number and completed position number are both a 1-word (16-bit) binary data.

Although values from 0 to 767 can be handled by the PLC, use the PC software or teaching pendant to specify
a position number for which operation conditions are already set

.

PLC output
address

(* n indicates the initial output address for each axis.)

1 word = 2 bytes = 16 bits

Target
position
(upper word)

Target
position
(lower word)

Specified
position
number

Control signal

If the target position is a negative value, it is expressed by a 2’s complement.

85

PLC input
address

(* n indicates the initial input address for each axis.)

1 word = 2 bytes = 16 bits

Current
position
(upper word)

Current
position
(lower word)

Complete
position
number

Status signal

If the current position is a negative value, it is expressed by a 2’s complement.

86

(3) I/O signal assignments

(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)

Signal type Bit Symbol Description Details

Target position 32-bit data -

32-bit signed integer.
Specify the target position on the absolute coordinates.
The unit is 0.01 mm, while the specifiable range is -999999 to

999999.
(Example) To set +25.40 mm, specify “2540.”
If the entered value exceeds the range of soft limit parameters
(within 0.2 mm inside of the parameter values), the movement
will be limited to within the range of soft limits (within 0.2 mm
inside of the parameter values).
* If this data is entered using a hexadecimal, enter a negative

value as a 2’s complement.

7.6 (1)

Specified position

number

16-bit data

PC1 ~

PC512

16-bit integer.
To operate the actuator, position data is needed for which
operation conditions have already been entered using the PC
software or teaching pendant.
Use this register to specify the position number for which data
has been entered.
The specifiable range is 0 to 767.
If an out-of-range value is specified or the specified position
number is not yet set, an alarm will occur when the start signal
is turned ON.

7.6 (1)

b15 BKRL

Forced brake release: The brake is released when the signal
turns ON.

7.4.7 (18)

b14 RMOD

Operation mode: AUTO mode when the signal is OFF, or
MANU mode when the signal is ON.

7.4.7 (19)

b13
b12

- Cannot be used. -

b11 PMOD

Position/simple direct switching: Position mode when the
signal is OFF, or simple direct mode when the signal is ON.

7.4.7 (20)

b10 MODE

Teaching mode command: Normal mode when the signal is
OFF, or teaching mode when the signal is ON.

7.4.7 (16)

b9 PWRT

Position data read command: Position data is read when the
signal is ON.

7.4.7 (17)

b8 JOG+

+Jog: The actuator moves in the direction opposite home when
the signal is ON.

7.4.7 (13)

b7 JOG-

-Jog: The actuator moves in the direction of home when the
signal is ON.

7.4.7 (13)

b6 JVEL

Jog speed/inching distance switching: Parameter No. 26, “Jog
speed” and parameter No. 48, “Inching distance” are used
when the signal is OFF, or parameter No. 47, “Jog speed 2”
and parameter No. 49, “Inching distance 2” are used when the
signal is ON.

7.4.7 (14)

b5 JISL

Jog/inching switching: Jog operation when the signal is OFF,
or inching operation when the signal is ON.

7.4.7 (15)

b4 SON Servo ON command: The servo is ON when the signal is ON. 7.4.7 (5)
b3 RES Reset: A reset is performed when the signal turns ON. 7.4.7 (4)
b2 STP Pause: A pause command is issued when the signal turns ON. 7.4.7 (11)

b1 HOME

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

7.4.7 (6)

PLC output

Control signal

b0 CSTR

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

7.4.7 (7)

87

(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)

Signal type Bit Symbol Description Details

Current position 32 bit -

32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm
* If this data is read as a hexadecimal, a negative value is

indicated by a 2’s complement.

7.6 (1)

Completed

position number

(simple alarm

code)

16 bit

PM1 ~

PM512

16-bit integer.
After the actuator has moved to the target position and entered
the positioning band, the position number corresponding to the
completed positioning is output.
“0” is output when no position movement has been performed
yet or while the actuator is moving.
If an alarm occurs (= the ALM status signal turns ON), a
corresponding simple alarm code (refer to the operation
manual for the controller) will be output.

7.6 (1)

b15 EMGS

Emergency stop: An emergency stop is being executed when
the signal is ON.

7.4.7 (2)

b14 PWR

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

7.4.7 (1)

b13 ZONE2

Zone 2: The signal is ON when the current position is inside
the specified zone.

7.4.7 (12)

b12 ZONE1

Zone 1: The signal is ON when the current position is inside
the specified zone.

7.4.7 (12)

b11 PZONE

Position zone: The signal is ON when the current position is
inside the specified position zone.

7.4.7 (12)

b10 MODES

Teaching mode signal: The signal is ON when the teaching
mode is selected.

7.4.7 (16)

b9 WEND

Position data read complete: The signal turns ON when the
position data read is complete.

7.4.7 (17)

b8 RMDS

Operation mode: The signal is OFF when the current mode
AUTO, or ON when the current mode is MANU.

7.4.7 (19)

b7
b6

- Cannot be used. -

b5 PSFL

Missed load during push-motion operation: The signal turns
ON when the actuator missed the load during push-motion
operation.

7.4.7 (23)

b4 SV Ready: The signal is ON when the servo is ON. 7.4.7 (5)
b3 ALM Alarm: The signal turns ON when an alarm occurs. 7.4.7 (3)
b2 MOVE Moving signal: The signal is ON while the actuator is moving. 7.4.7 (9)

b1 HEND

Home return complete: The signal turns ON when the home
return is completed.

7.4.7 (6)

PLC input

Status signal

b0 PEND

Positioning complete signal: The signal turns ON when the
positioning is completed.

7.4.7 (10)

88

7.4.4 Half Direct Mode (Number of Occupied Bytes: 16)

In this mode, the actuator is operated by specifying the target position, positioning band, speed,
acceleration/deceleration and push current directly as values from the PLC.
Set each value in an applicable I/O address. If the zone function is used, set parameter Nos. 1, 2, 23 and/or 24.
The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.

ROBO Cylinder function

{: Direct control

∆: Indirect control

x: Invalid

Remarks

Home return operation

{

Positioning operation

{

Speed & acceleration/deceleration setting

{

Pitch feed (inching)

{

Push-motion operation

{

Speed change during movement

{

Operation at different acceleration and deceleration

x

Pause

{

Zone signal output

∆

Parameters must be

set.

PIO pattern selection

x

(1) PLC address configuration (* n indicates the initial input/output address for each axis.)

Parameter

No. 84

ACON/PCON input

register

PLC output address

ACON/PCON output

register

PLC input address

n+0 n+0

Target position

n+1

Current position

n+1

n+2 n+2

Positioning band

n+3

Command current

n+3

Speed n+4 n+4

Acceleration/

deceleration

n+5

Current speed

n+5

Push-current limiting

value

n+6 Alarm code n+6

2

Control signal n+7 Status signal n+7

(Note) Pay attention to use of duplicate addresses.

89

(2) I/O signal assignments for each axis

An I/O signal of each axis consists of 8 words (16 bytes) of I/O addresses.

z Control signals and status signals are bit ON/OFF signals.
z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999

to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0
up to the effective stroke length) of the applicable actuator.

z Set a desired positioning band. The positioning band is a 2-word (32-bit) binary data and values from 1 to

+999999 (unit: 0.01 mm) can be handled by the PLC.

z The specified speed is a 1-word (16-bit) binary data. Although values from 0 to +65535 (unit: 1.0 mm/sec) can

be handled by the PLC, set a value not exceeding the maximum speed

of the applicable actuator.

z The acceleration/deceleration is a 1-word (16-bit) binary data. Although values from 1 to 300 (unit: 0.01 G) can

be handled by the PLC, set a value not exceeding the maximum acceleration and maximum deceleration

of

the applicable actuator.

z The push-current limiting value is a 1-word (16-bit) binary data. Although values from 0 (0%) to 255 (100%)

can be handled by the PLC, set a value within the specifiable range of push-current limiting values

of the

applicable actuator (refer to the catalog or operation manual for the actuator).

z The command current is a 2-word (32-bit) binary data (unit: 1 mA).
z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).

Positive value: The actuator is moving in the direction opposite home. / Negative value: The actuator is moving
in the direction of home.

z The alarm code is a 1-word (16-bit) binary data.

Set value

Push-current
limiting value

90

PLC output
address

(* n indicates the initial output address for each axis.)

1 word = 2 bytes = 16 bits

Target

position

(upper word)

Target

position

(lower word)

Control signal

If the target position is a negative value, it is expressed by a 2’s complement.

Positioning

band (upper

word)

Positioning

band (lower

word)

Speed

A

cceleration/

deceleration

Push-current

limiting value

91

PLC input
address

(* n indicates the initial input address for each axis.)

1 word = 2 bytes = 16 bits

Current
position

(upper word)

Current
position

(lower word)

If the current position is a negative value, it is expressed by a 2’s complement.

Command

current (upper

word)

Command

current (lower

word)

Current speed

(upper word)

Current speed

(lower word)

Alarm code

Status signal

If the current speed is a negative value, it is expressed by a 2’s complement.

92

(3) I/O signal assignments

(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)

Signal type Bit Symbol Description Details

Target position 32-bit data -

32-bit signed integer.
Specify the target position on the absolute coordinates.
The unit is 0.01 mm, while the specifiable range is -999999 to

999999.
(Example) To set +25.41 mm, specify “2541.”
If the entered value exceeds the range of soft limit parameters
(within 0.2 mm inside of the parameter values), the movement
will be limited to within the range of soft limits (within 0.2 mm
inside of the parameter values).
* If this data is entered using a hexadecimal, enter a negative

value as a 2’s complement.

7.6 (2)

Positioning band 32-bit data -

32-bit integer.
The unit is 0.01 mm, while the specifiable range is 1 to 999999.
(Example) To set 25.40 mm, specify “2540.”
This register has one of two meanings depending on the
operation type:
[1] In the case of positioning operation, this register indicates

the allowable range from the target position within which
the positioning is deemed completed.

[2] In the case of push-motion operation, this register

indicates the push band. Use the control signal PUSH to
set whether to perform normal operation or push-motion
operation.

7.6 (2)

Speed 16-bit data -

16-bit integer.
Specify the speed at which to move the actuator.
The unit is 1.0 mm/sec, while the specifiable range is 0 to

65535.
(Example) To set 254.0 mm/sec, specify “254.”
If a move command is issued by specifying a value exceeding
the maximum speed, an alarm will occur.

7.6 (2)

PLC output

Acceleration/

deceleration

16-bit data -

16-bit integer.
Specify the acceleration/deceleration at which to move the
actuator. (The acceleration and deceleration become the same
value.)
The unit is 0.01 G, while the specifiable range is 1 to 300.
(Example) To set 0.30 G, specify “30.”
If a move command is issued by specifying “0” or a value
exceeding the maximum acceleration or maximum
deceleration, an alarm will occur.

7.6 (2)

93

(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)

Signal type Bit Symbol Description Details

Push-current

limiting value

16-bit data -

16-bit integer.
Specify the current-limiting value during push-motion
operation.
The specified range is 0 (0%) to 255 (100%).
The actual specifiable range varies with each actuator. (Refer
to the catalog or operation manual for each actuator.)
If a move command is issued by specifying a value exceeding
the maximum push current value, an alarm will occur.

7.6 (2)

b15 BKRL

Forced brake release: The brake is released when the signal
turns ON.

7.4.7 (18)

b14 RMOD

Operation mode: AUTO mode when the signal is OFF, or
MANU mode when the signal is ON.

7.4.7 (19)

b13 DIR

Push direction specification:
When the signal is OFF, the direction of the position obtained
by subtracting the positioning band from the target position is
used.
When the signal is ON, the direction of the position obtained by
adding the positioning band to the target position is used.

7.4.7 (22)

b12 PUSH

Push specification: Positioning operation when the signal is
OFF, or push-motion operation when the signal is ON.

7.4.7 (21)

b11
b10

b9

- Cannot be used. -

b8 JOG+

+Jog: The actuator moves in the direction opposite home when
the signal is ON.

7.4.7 (13)

b7 JOG-

-Jog: The actuator moves in the direction of home when the
signal is ON.

7.4.7 (13)

b6 JVEL

Jog speed/inching distance switching: Parameter No. 26, “Jog
speed” and parameter No. 48, “Inching distance” are used
when the signal is OFF, or parameter No. 47, “Jog speed 2”
and parameter No. 49, “Inching distance 2” are used when the
signal is ON.

7.4.7 (14)

b5 JISL

Jog/inching switching: Jog operation when the signal is OFF,
or inching operation when the signal is ON.

7.4.7 (15)

b4 SON Servo ON command: The servo is ON when the signal is ON. 7.4.7 (5)
b3 RES Reset: A reset is performed when the signal turns ON. 7.4.7 (4)
b2 STP Pause: A pause command is issued when the signal turns ON. 7.4.7 (11)

b1 HOME

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

7.4.7 (6)

PLC output

Control signal

b0 DSTR

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

7.4.7 (8)

94

(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”)

Signal type Bit Symbol Description Details

Current position 32-bit data -

32-bit signed integer indicating the current position.
The unit is 0.01 mm.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm
* If this data is read as a hexadecimal, a negative value is

indicated by a 2’s complement.

7.6 (2)

Command current 32-bit data -

32-bit integer.
The value of electrical current specified by the present
command is indicated.
The unit is mA.
(Example) Reading: 000003FFH = 1023 (decimal) = 1023 mA

7.6 (2)

Current speed 32-bit data -

32-bit signed integer.
The current speed is indicated.
Positive value: The actuator is moving in the direction opposite
home.
Negative value: The actuator is moving in the direction of
home.
The unit is 0.01 mm/sec.
(Example) Reading: 000003FFH = 1023 (decimal) = 10.23
mm/sec
* If this data is read as a hexadecimal value, a negative value

is indicated by a 2’s complement.

7.6 (2)

Alarm code 16-bit data -

16-bit integer.
If an alarm occurs, an alarm code will be output.
0H is output when no alarm is present.
For details on alarms, refer to the operation manual for the
controller.

7.6 (2)

b15 EMGS

Emergency stop: An emergency stop is being executed when
the signal is ON.

7.4.7 (2)

b14 PWR

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

7.4.7 (1)

b13 ZONE2

Zone 2: The signal is ON when the current position is inside
the specified zone.

7.4.7 (12)

b12 ZONE1

Zone 1: The signal is ON when the current position is inside
the specified zone.

7.4.7 (12)

b11
b10

b9

- Cannot be used. -

b8 RMDS

Operation mode: The signal is OFF when the current mode
AUTO, or ON when the current mode is MANU.

7.4.7 (19)

b7
b6

- Cannot be used. -

b5 PSFL

Missed load during push-motion operation: The signal turns
ON when the actuator missed the load during push-motion
operation.

7.4.7 (23)

b4 SV Ready: The signal is ON when the servo is ON. 7.4.7 (5)
b3 ALM Alarm: The signal turns ON when an alarm occurs. 7.4.7 (3)
b2 MOVE Moving signal: The signal is ON while the actuator is moving. 7.4.7 (9)

b1 HEND

Home return complete: The signal turns ON when the home
return is completed.

7.4.7 (6)

PLC input

Status signal

b0 PEND

Positioning complete signal: The signal turns ON when the
positioning is completed.

7.4.7 (10)

95

7.4.5 Full Direct Mode (Number of Occupied Bytes: 32)

In this mode, the actuator is operated by specifying all values relating to position control (target position, speed,
etc.) directly as values from the PLC.
Set each value in an I/O address.
The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.

ROBO Cylinder function

{: Direct control

x: Invalid

Home return operation

{

Positioning operation

{

Speed & acceleration/deceleration setting

{

Pitch feed (inching)

{

Push-motion operation

{

Speed change during movement

{

Operation at different acceleration and deceleration

{

Pause

{

Zone signal output

{

PIO pattern selection

x

(1) PLC address configuration (* n indicates the initial input/output address for each axis.)

Parameter

No. 84

ACON/PCON input

register

PLC output address

ACON/PCON output

register

PLC input address

n+0 n+0

Target position

n+1

Current position

n+1

n+2 n+2

Positioning band

n+3

Command current

n+3

n+4 n+4

Speed

n+5

Current speed

n+5

n+6 Alarm code n+6

Zone boundary+

n+7

n+7

n+8 n+8

Zone boundary-

n+9

n+9

Acceleration n+10 n+10

Deceleration n+11 n+11

Push-current limiting

value

n+12

n+12

ACON

Occupied area

PCON

Load current

threshold

n+13 n+13

Control signal 1 n+14

Occupied area

n+14

3

Control signal 2 n+15 Status signal n+15

(Note) The [occupied area] cannot be used for any other purpose.

Also pay attention to use of duplicate addresses.

96

(2) I/O signal assignments for each axis

An I/O signal of each axis consists of 16 words (32 bytes) of I/O addresses.

z Control signals 1 and 2 and status signals are bit ON/OFF signals.
z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999

to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0
up to the effective stroke length) of the applicable actuator.

z Set a desired positioning band. The positioning band is a 2-word (32-bit) binary data and values from 1 to

+999999 (unit: 0.01 mm) can be handled by the PLC.

z The speed is a 2-word (32-bit) binary data. Although values from 0 to 999999 (unit: 0.01 mm/sec) can be

handled by the PLC, set a value not exceeding the maximum speed

of the applicable actuator.

z The acceleration/deceleration is a 1-word (16-bit) binary data. Although values from 1 to 300 (unit: 0.01 G) can

be handled by the PLC, set a value not exceeding the maximum acceleration and maximum deceleration

of

the applicable actuator.

z The push-current limiting value is a 1-word (16-bit) binary data. Although values from 0 (0%) to 255 (100%)

can be handled by the PLC, set a value within the specifiable range of push-current limiting values

of the

applicable actuator (refer to the catalog or operation manual for the actuator).

z Set a desired load current threshold. The load current threshold is a 1-word (16-bit) binary data. Values from 0

(0%) to 255 (100%) can be handled by the PLC. (Refer to the graph of push-current limiting value (upper
graph).)

z The zone boundary+ and zone boundary- are both a 2-word (32-bit) binary data. Although values from

-999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set values so that the zone boundary­becomes smaller than the zone boundary+.

z The command current is a 2-word (32-bit) binary data (unit: 1 mA).
z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm/sec).

Positive value: The actuator is moving in the direction opposite home. / Negative value: The actuator is moving
in the direction of home.

z The alarm code is a 1-word (16-bit) binary data.

Set value

Push-current
limiting value