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PROFIBUS Gateway
PROFIBUS
Gateway Unit
RCM-GW-PR
Operation Manual, First Edition
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PROFIBUS Gateway
Table of Contents
1. Overview....................................................................................................................1
1.1
Profibus Gateway Unit ................................................................................................................ 1
1.2 What Is Profibus?........................................................................................................................ 2
1.3 Application Example of Gateway Unit......................................................................................... 3
1.4 Features of Gateway Unit ........................................................................................................... 4
1.5 Description of Model Name......................................................................................................... 6
2. Specifications and Name of Each Part.......................................................................7
2.1
General Specifications................................................................................................................ 7
2.2 External Dimensions ................................................................................................................... 8
2.3 Name and Function of Each Part................................................................................................ 9
3. Installation and Noise Elimination Measures............................................................15
3.1
Installation Environment............................................................................................................ 15
3.2 Supply Voltage..........................................................................................................................15
3.3 Noise Elimination Measures and Grounding............................................................................. 15
3.4 Installation.................................................................................................................................17
4. Wiring.......................................................................................................................18
4.1
Overall Configuration ................................................................................................................ 18
4.2 I/O Signals of Gateway Unit...................................................................................................... 20
4.3 Design of SIO Communication Network (SIO Communication)................................................ 23
5. Slave Function .........................................................................................................32
5.1
Address Configuration in Each Operation Mode....................................................................... 33
5.1.1 Gateway Control Signals.............................................................................................. 33
5.1.2 Simple Direct/Position-number Specification Mode.....................................................36
5.1.3 Numerical Specification Mode...................................................................................... 53
5.1.4 Position-number Specification Mode............................................................................ 59
5.2
Communication Signal Details..................................................................................................63
5.2.1 Overview of Communication Signal Timings................................................................ 63
5.2.2 Communication Signals and Operation Timings.......................................................... 64
5.2.3 Command Transmission .............................................................................................. 76
5.3 System Design..........................................................................................................................77
5.3.1 Settings for Controller Communication......................................................................... 77
5.3.2 Settings for Profibus-DP Communication..................................................................... 78
5.3.3 Creation of Network Configuration...............................................................................81
5.3.4 Example of Actual Assignments................................................................................... 86
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PROFIBUS Gateway
5.4
Supported S7 Function Blocks/Functions.................................................................................87
5.4.1 GW_CTL_11................................................................................................................. 88
5.4.2 RC_NVC_11................................................................................................................. 89
5.4.3 RC_ESYNC_00............................................................................................................ 90
5.4.4 RC_BCMOVP_00......................................................................................................... 91
5.4.5 RC_READ_00 .............................................................................................................. 92
5.4.6 RC_WRITE_00............................................................................................................. 93
5.4.7 RC_PROM_00.............................................................................................................. 94
5.4.8 RC_PMSL_00............................................................................................................... 94
Appendix 1. Sample Programs for S7-300...................................................................95
Appendix 2. Supply Format and Use Procedure of FB/FCt .......................................... 98
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PROFIBUS Gateway
1. Overview
1.1 Profibus Gateway Unit
The Profibus Gateway Unit (hereinafter referred to as “Profibus Gateway” or “Gateway Unit”) is used to
connect a Profibus communication protocol network on which a host programmable controller (h ereinafter
“PLC”) operates, to a SIO communication sub-network (Modbus communication protocol) linking ROBO
Cylinder controllers.
The physical standard to which the SIO communication network conforms is RS-485, and the slave
addresses on this network are 1 through 16.
All data exchanged between the Profibus communication network and the Modbus SIO communication
network are tentatively saved in the internal memory of the Gateway Unit, and then transferred cyclically.
The PLC recognizes the Gateway Unit as a remote I/O device.
The Gateway Unit supports PCON-SE, ACON-SE, SCON and ERC2-SE controllers.
* “Gateway” is a term used in communication networks, referring to a device that converts data to/from
different media and protocols to enable communication between networks.
* Profibus protocols include Profibus-DP for factory automation (FA) and Profibus-PA for process
automation (PA). Of these two protocols, this manual covers Profibus-DP. Accordingly, “Profibus” refers
to Profibus-DP throughout this manual.
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PROFIBUS Gateway
1.2 What Is Profibus?
(1) FA communication system
In FA communication, each communication specification varies depending on the communicating
equipment, type of information, and purpose of communication, among others. In general, however,
the FA communication system is divided into the information level, controller level and field level, as
shown below.
level
Information
FA computer
Controller level Field level
Device level
Robot
Remote
I/O
Motor
driver
Installed
instrument
Solenoid
valve
Sensor level
Limit
switch
(2) Information level
Also called “PLC upper network”, the main purpose of this network level is to transmit production
information, etc., to information terminals. Ethernet is the most commonly used communication
method for the information level.
(3) Controller level
Also called “Inter-PLC network”, this network level often handles real-time information of production lines.
(4) Field level
Also called “PLC lower network”, this network level is mainly used to save wirings for systems
controlled by a single controller. In this sense, this network is regarded as a means for “wire-saving
communication.” The field level is largely divided into the device level and the sensor level.
Key open network
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PROFIBUS Gateway
(5) Profibus
Profibus is an open field network most commonly used in the world today. It was first established
under DIN 19245 (German standard) in Germany in 1989, and standardized under EN 50170
(European standard) in July 1996. In January 2000, Profibus beca me an international standard under
IEC 61158. There are two Profibus protocols designed for different purposes: Profibus-DP for factory
automation (FA), and Profibus-PA for process automation.
This manual covers Profibus-DP.
The key features of Profibus-DP are as follows:
[1] A field network realizing complete multi-vendor connectivity
[2] Able to send large amounts of data at high speed.
• Up to 244 bytes of data per device
• Maximum baud rate of 12 Mbps
[3] Up to 125 nodes can be connected.
* For details on Profibus, refer to the operation manuals for your master unit and PLC.
Along with this manual, also read the operation manual for each controller connected.
This Profibus Gateway cannot be used in any way not described as feasible in this manual.
To prevent malfunction, the customer is also advised not to use settings, wirings and other uses other
than those described as feasible in this manual.
1.3 Application Example of Gateway Unit
The network illustrated below gives an application example of the Gateway Unit.
Remote I/O
station
CPU
unit
Profibus Gateway
(Remote I/O station)
Profibus
unit
(master
station)
Remote I/O
station
SIO communication network (Modbus)
Remote I/O
station
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PROFIBUS Gateway
1.4 Features of Gateway Unit
With the Gateway Unit, a desired operation mode can be selected from five patterns of the numerical
specification mode, one pattern of the position-number specification mode, and three patterns of the
simple direct/position-number specification mode.
(1) Numerical specification mode
In positioning operation in the numerical specification mode, the actuator is operated by directly
specifying the position data, speed, acceleration/deceleration, and in-position band, in numerical
values.
In push-motion operation in the numerical specification mode, the actuator is operated by directly
specifying the position data, speed, acceleration/deceleration, push band, and current-limiting value
for setting push force, in numerical values.
Various status signals can be input/output and current position data can be read.
There are five patterns in the numerical specification mode, each accommodating a different number
of connected axes.
[1] Numerical specification mode, maximum 4 axes
[2] Numerical specification mode, maximum 6 axes
[3] Numerical specification mode, maximum 8 axes
[4] Numerical specification mode, maximum 10 axes
[5] Numerical specification mode, maximum 16 axes
(2) Position-number specification mode
The actuator is operated by specifying position numbers. The position data, speed,
acceleration/deceleration, etc., must be entered beforehand in the position data table for each axis.
Various statu s signals can be input/output and current position data can be read.
Up to 16 axes can be connected in the position-number specification mode
(3) Simple direct/position-number specification mode
In this mode, the actuator can be moved via combination of position number specification and direct
specification (position data is specified in numerical values, while other movement parameters are
specified by position numbers).
Axis number s must be assigned from position-number specification axes first, followed by simple
direct specification axes. Depending on the size of the assigned area, this mode is available in the
large pattern (160 bytes for input and output, respectively), middle pattern (128 bytes for input and
output, respectively), and small pattern (64 bytes for input and output, respectively). Up to 16 axes
can be connected as a total of both types of axes.
This manual only describes the controls feasible using the Gateway Unit. In the event of any conflict
between this manual and the operation manual for the controller, the content of this manual will prevail.
Refer to the operation manual for each controller for any function, parameter setting, alarm detail or any
other information not described in this manual.
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PROFIBUS Gateway
Operation Modes and Key Functions
Key function
Operation by position data
specification
Direct specification of speed
and acceleration/deceleration
Push-motion operation
Reading of current position
Operation by position number
specification
Reading of completed position
number
Number of connectable axes 16 16 16
Settable axis numbers (*1) 0 to 15 0 to 15 0 to 15
Maximum specifiable position
data
Numerical
specification mode
{
{
{ { {
{
X
X
9999.99 mm
Position-number
specification mode
X
X X
X
{ {
{ {
Set in the position
table.
Simple direct/
position-number
specification mode
{
{
Caution
*1 A range of effective axis numbers that can be set for axes connected for SIO communication. Axes
exceeding the maximum limit will be ignored. No alarm will generate.
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1.5 Description of Model Name
Base model Profibus specification
PROFIBUS Gateway
Gateway Unit
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PROFIBUS Gateway
2. Specifications and Name of Each Part
2.1 General Specifications
Item Specification
Power supply
Current consumption 300 mA max.
Communication standard
Communication specification Master-slave connection
Baud rate 500 k / 250 k / 125 kbps (Changed by DIP switches)
Communication cable length (*1)
Profibus specifications
Transmission path configuration IAI’s original multi-drop differential communication
Communication method Half-duplex
Synchronization method Asynchronous
Transmission path type EIA RS485, 2-wire type
Baud rate 230.4 kbps
Error control method No parity bit, CRC (*2)
Communication cable length Total cable length: 100 m max.
Connected units 16 axes max.
specifications
SIO communication
Communication cable
Ambient operating temperature
Ambient operating humidity 85% RH or below (non-condensing)
Operating ambience Free fr o m c or r o si v e o r flammable gases, oil mist or powder dust
Storage temperature
Storage humidity 90% RH or below (non-condensing)
Environment
Vibration durability 4.9 m/s2 (0.5 G)
Protection class IP20
Weight 480 g or below
*1 Refer to the operation manuals for your master unit and PLC in the case of T-branch communication.
*2 CRC: Cyclic Redundancy Check
A data error detection method commonly used in synchronous transmission.
24 VDC ± 10%
Group 2 only server
Insulated node of network powered operation type
Bit strobe
Polling
Cyclic
Baud rate
500 kbps 100 m 39 m
250 kbps 250 m 78 m
125 kbps 500 m
Note) When a large cable is used.
Double shielded twisted-pair cable
(Recommended cable:
HK-SB/20276 X L, 2P X AWG22 by Taiyo Electric Wire & Cable)
0 to 40° C
-10 to 65° C
Maximum
network length
Maximum
branch length
6 m
Total branch
length
156 m
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2.2 External Dimensions
(Installed dimension)
PROFIBUS Gateway
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2.3 Name and Function of Each Part
[1] Gateway Status LEDs
RUN: Normal
G.ER: Error
C.ER: Profibus controller error
T.ER: Modbus error
[2] Controller communication
Status LEDs
TxD: Sending data
RxD: Receiving data
[3] Mode setting switch
[4] Port switching input
PORT IN: Port switching input
PORT N: N
[5] Controller communication lines
SDA: Communication line
SDB: Communication line
GND: Ground
FG: Frame ground
[10] Port switch
ON: Port ON
OFF: Port OFF
PROFIBUS Gateway
[6] Profibus communication connector
[7] Termination switch
[8] Address setting switches
X10 and X1 (decimal, 2 digits)
[9] Profibus communication Status LEDs
ON: Online
OFF: Offline
ERR: Error
[11] Teaching equipment connector
[12] Power-supply input
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PROFIBUS Gateway
[1] Gateway status LEDs
Indicated status Description
Steady green The Gateway CPU is operating. RUN
Unlit CPU operation is stopped. If this LED does not come on after turning on the
power, the Gateway is experiencing a CPU error.
Steady red The Gateway is experiencing a CPU error or major shutdown failure. G.ER
Unlit Normal state.
C.ER
Steady red The Profibus module is experiencing an error or the Gateway CPU cannot
recognize the Profibus connection. (Check the Profibus communication
status in [9].)
Even if this LED is lit, the teaching pendant or PC software can still be
connected as long as the RUN LED is lit.
Blinking red While the port is ON, this LED blinks at 1-second intervals.
Unlit Normal state.
T.ER
Steady red A communication error occurred between the Profibus Gateway and the
controller.
(No response, overrun, framing error or CRC(
*
) error)
Unlit Normal state.
* CRC: Cyclic Redundancy Check
A data error detection method commonly used in synchronous transmission.
[2] SIO communication status LEDs
These LEDs are used to check the communication status between the Profibus Gateway and the
controller.
Each LED blinks when the host PLC and controller are not communicating via the Profibus Gateway,
or when the controller is communicating with the teaching pendant or PC software connected via the
Profibus Gateway.
Indicated status Description
TxD
RxD
Blinking green
Unlit
Blinking green
Unlit
Sending data (Profibus Gateway → Controller)
Not sending data (Profibus Gateway → Controller)
Receiving data (Controller → Profibus Gateway)
Not receiving data (Controller → Profibus Gateway)
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PROFIBUS Gateway
[3] Mode setting switch
This switch is used to set the operation mode of the Profibus Gateway.
Operate the switch after turning off the Profibus Gateway power.
{: ON X: OFF
No.
4 3 2 1 Description Output Input
SW1 I/O bytes
1 X X X X Numerical specification mode, maximum 4 axes 52 28
2 X
{
3
{ {
4
{ {
5
6 X X
{
X X Numerical specification mode, maximum 6 axes 76 40
X X X Numerical specification mode, maximum 8 axes 100 52
{
X
Numerical specification mode, maximum 10 axes 124 64
X X Numerical specification mode, maximum 16 axes 196 100
{
X Position-number specification mode,
48 48
maximum 16 axes
7 X X X
{
Simple direct/position-number specification mode,
160 160
Large
8 X
{
X
{
Simple direct/position-number specification mode,
128 128
Middle
9
{
X X
{
Simple direct/position-number specification mode,
64 64
Small
[4] External port switching input
The ON/OFF status of the teaching pendant/PC connector port can be switched using external signals
(no-voltage contact type).
The connector port is enabled when the port switch [10] on the Profibus Gateway is OFF. When the
input signal is ON, the port is also ON.
PORT IN: Port control input
PORT N: Port control input, N side
Use an input current of 7 mA and external signals of no-voltage contact type
[5] Controller communication lines
This terminal is used to connect the communication lines to the SIO communication connect or.
Refer to 4.2, “I/O Signals of Gateway Unit” for details.
[6] Profibus communication connector
This connector is used to connect the Profibus communication lines.
Connector assignments (D-sub, 9-pin)
Pin Signal
Housing Shield
1 NC
2 NC
3 B-Line
4 RTS*
5 GND BUS**
6 +5V BUS**
7 NC
8 A-Line
9 NC
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PROFIBUS Gateway
[7] Termination switch
A terminal resistor must be provided at the end of the Profibus trunk line to prevent bus reflection.
Set the termination switch to the ON position when the Profibus Gateway is the terminal module.
However, the switch should be set to the OFF position if an external termination connector is used.
Set the switch to the OFF position if the Gateway is not the terminal module.
[8] Address setting switches
The two rotary switches are used to set a decimal node address in a range of 1 to 99.
X10: Set the 10’s digit of the two-digit decimal address.
X1: Set the 1’s digit of the two-digit decimal address.
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PROFIBUS Gateway
[9] Profibus status LEDs
The three LEDs of (LINE-) ON, LINE-OFF and ERR on the front face of the board indicate the node
status and network status. (The remaining LED is not used.)
These LEDs illuminate in one of two colors (red or green), and each LED indicat es a different
monitored status, as shown in the table below.
LED name Color Indicated status Description (meaning of indication)
Lit Online (LINE-) ON Green
Unlit Not online
Lit Offline LINE-OFF Red
Unlit Not offline
ERR Red
Blinking at 1-Hz
frequency
Configuration error
Example: The I/O length determined by the mode
setting switch [3] is different from the I/O
length set by the configuration tool.
Blinking at 4-Hz
frequency
Communication ASIC initialization error
Unlit No error
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PROFIBUS Gateway
[10] Port switch
This switch is used to enable the teaching pendant/PC connector (TP) (PORT ON = Start
communication).
Set this switch to the OFF position when connecting/removing the communication cable
connector for teaching pendant or PC software. To use the teaching pendant or PC software,
plug in the connector first, and then set the switch to the ON position.
(Also check the signal status of the port switching input [4].)
Port switch ON: Power (24 VDC) is supplied to the teaching pendant. The emergency stop circuit of
the teaching pendant is enabled.
Port switch OFF: Power (24 VDC) to the teaching pendant is cut off. The emergency stop circuit of
the teaching pendant is disabled.
[11] Teaching pendant/PC connector
This connector is used to connect the communication cable connector for teaching pendant or PC
software.
[12] Power-supply input
This connector is used to connect the Profibus Gateway power (24 VDC). Refer to “I/O Signals of
Gateway Unit” in Chapter 4.
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3. Installation and Noise Elimination Measures
Exercise due caution regarding the installation environment.
3.1 Installation Environment.
a. The Gateway Unit is not dustproof or waterproof (oilproof). Accordingly, avoid using the
Gateway Unit in a dusty place or place where the unit may come in contact with oil mist or
splashed cutting fluid.
b. Prevent the Gateway Unit from receiving direct sunlight or irradiated heat from large heat
sources such as heat treatment ovens.
c. Use the Gateway Unit in an environment of 0 to 40° C in ambient temperature and 85% or
below in humidity (non-condensing) and free from corrosive or flammable gases.
d. Use the Gateway Unit in an environment where the unit will not receive external vibration or
shock.
e. Prevent electrical noise from entering the Gateway Unit or its cables.
3.2 Supply Voltage
24 VDC ± 10% / Current consumption: 300 mA max.
3.3 Noise Elimination Measures and Grounding
a. Installing the Gateway Unit
Connect the Gateway Unit by directly securing it onto a metal enclosure using screws.
* Provide class D (3) grounding for the enclosure.
Use as thick a cable as
possible and connect it
over the shortest
possible distance.
Metal
enclosure
PROFIBUS Gateway
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←
PROFIBUS Gateway
b. Notes on wiring method
Separate the communication lines of the Gateway Unit and Profibus module from lines carrying
large current such as power circuits. (Do not bundle them together or place them in the same
cable duct.)
c. Noise sources and elimination of noise
There are many noise sources, but the ones you should pay most attention to when building
your system are solenoid valves, magnet switches and relays. Noise from these sources can
be eliminated using the following measures.
[1] AC solenoid valves, magnet switches, relays
Measure --- Install a surge killer in parallel with the coil.
Point
Install the surge killer in a location as close as
possible to each coil.
If the surge killer is installed on a terminal block
or away from the coil, its noise elimination
effect will decrease.
[2] DC solenoid valves, magnet switches, relays
Measure --- Install a diode in parallel with the coil. Determine an appropriate diode capacity
in accordance with the load capacity.
In a DC system, connecting the diode in reverse polarities may
damage the diode, internal controller parts, and DC power supply.
Exercise due caution.
Anode Cathode
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PROFIBUS Gateway
3.4 Installation
Examine appropriate settings for the control box size, installation position of the Gateway Unit and cooling
method of the control box, so that the temperature around the Gateway Unit will remain at or below 40° C.
Install the Gateway Unit vertically on a wall, as shown below, and provide a minimum clearance of 50 mm
above and below the unit, with a minimum clearance of 100 mm provided on all sides for wiring access.
If multiple Gateway Units are installed side by side, provide a sufficient space between the adjacent units
so that any unit can be installed and removed easily.
If heat or noise is of concern, also provide appropriate measures.
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4. Wiring
4.1 Overall Configuration
The following is an example of Profibus system configuration using the Gateway Unit.
Host system (PLC master)
Gateway
Unit
SIO communication network
Terminal resistor
4-way junction
24-V
Teaching pendant
PROFIBUS Gateway
power
supply
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PROFIBUS Gateway
The SIO link may be implemented as a multi-drop link using terminal blocks, as shown below.
Gateway Unit
Terminal block
Terminal resistor
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4.2 I/O Signals of Gateway Unit
(1) Connection diagram
Controller’s EMG or emergency stop relay
External emergency stop
Profibus
communication cable
Teaching pendant
Emergency stop
Gateway power supply
24 VDC ±10%,
300 mA max.
External port switching input
(provided by the customer)
(Load: 24 VDC, 7 mA)
SIO communication
cable
PROFIBUS Gateway
Gateway Unit
Teaching pendant/
PC connector
Port switch
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PROFIBUS Gateway
(2) Port control and emergency stop signal output
The teaching pendant/PC connector port can be operated by external signals, other than by ON/OFF
switching of the port switch on the Gateway Unit.
While the port is ON, the Gateway Unit outputs contact signals of the emergency stop pushbutton
switch on the teaching pendant. Therefore, you can design an emergency stop circuit or other
protective circuit for the entire system by incorporating these signals.
External port
switching input
OFF OFF Disabled (S1 and S2 shorted) Disabled
ON OFF
OFF ON
ON ON
Port switch Teaching-pendant emergency
stop signal output
S1, S2 =
Enabled
Teaching-pendant
emergency stop contacts
Teaching pendant/PC
connector port
Enabled
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PROFIBUS Gateway
22
Symbol Description Specification Connector and applicable wire
24 V
Positive side of the 24-VDC
Gateway power supply
24 VDC ±10%
0.8 to 1.3 mm2
N
Negative side of the 24-VDC
Gateway power supply
Power consumption: 300 mA max. AWG 18 to 16
S1 Allowable load voltage: 30 VDC 0.08 to 1.5 mm2
Power-
supply input
connector
S2
Teaching-pendant
emergency stop signal output
Allowable load current: 1 A AWG 28 to 16
The connection plug is a
standard accessory.
MC1.5/4-ST-3 y 81
(Phoenix Contact)
PORT IN
PORT N
External port switching input
No-voltage (dry) contact input
Load: 24 VDC, 7 mA
0.08 to 1.5 mm
2
AWG 28 to 16
SDA SIO communication line A
SDB SIO communication line B
GND Ground
Align the potential level of the
connected controller or ERC
actuator with the potential level of
the GND (ground).
SIO communication
connector
FG Frame ground Internally connected to the frame.
Double shielded
twisted-pair cable
(AWG22)
Recommended cable:
HK-SB/20276 X L
2P X AWG22 by Taiyo
Electric Wire & Cable
The connection plug is a
standard accessory.
MC1.5/6-ST-3 y 5
(Phoenix Contact)
The Gateway Unit has a
built-in terminal resistor, so
connect the terminal
resistor at the end of the
SIO communication line.
Profibus
communication
connector
The connection plug is a
standard accessory.
A terminal resistor must be
connected at each end of
the Profibus trunk. Check
the operation manual for
the master (PLC).
(3) I/O signal specifications and wires
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4.3 Design of SIO Communication Network (SIO Communication)
4.3.1 Wiring
PROFIBUS Gateway
(1) Basics
Item Description
Number of connected units
16 axes max. (The specific number varies depending on the operation
mode. Refer to 1.4, “Features of Gateway Unit.”)
Communication cable length Total cable length: 100 m max.
Double shielded twisted-pair cable (AWG22)
Communication cable
Recommended cable: HK-SB/20276 X L 2P X AWG22
by Taiyo Electric Wire & Cable
Terminal resistor
220 Ω 1/4 W
Caution
1. Connect the communication path to a bus and always connect a terminal resistor at the end. A
terminal resistor is not needed on the Gateway Unit end, as the unit has a built-in terminal resistor.
2. The customer must provide the communication cable. If the recommended cable is not used, make
sure the size of the cable to be used is AWG22.
(2) Linking PCON-SE/ACON-SE controllers
Gateway Unit
(Built-in terminal resistor)
SIO communication trunk
Axis 1 Axis 2 Axis n
e-CON connector (4-1473562-4 by AMP, green)
e-CON connector (3-1473562-4 by AMP, orange)
Junction (5-1473574-4 by AMP)
Recommended cable: SB/20276 X L 2P X AWG22
Terminal resistor
Controller link cable
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PROFIBUS Gateway
a. Detail connection diagram
Details of SIO link connection are illustrated below. Controller link cables are available as options, but
the customer must provide the communication trunk.
Gateway Unit
Double shielded
twisted-pair cable
Recommended cable:
HK-SB/20276 X L
2P X AWG22 by Taiyo
Electric Wire & Cable
SIO communication trunk
4-way junction (5-1473574-4 by AMP)
e-CON connector (4-1473562-4 by AMP)
Housing color: Green
Controller link cable
Yellow
Orange
Blue
Yellow
Orange
Blue
Unit 1 Unit 2
e-CON connector (3-1473562-4 by AMP)
Housing color: Orange
b. Producing a communication trunk
Apply pressure.
e-CON connector
[1] Strip the sheath of a double shielded twisted-pair cable by
approx. 15 to 20 mm.
[2] Place a cable protection tube over the cable.
[3] Insert three un-stripped core wires into the cable insertion
holes in the connector.
[4] With the cable inserted in the press-fit cable housing,
apply pressure from above to pressure-weld the core
Cable tube
Locking tab
wires.
[5] Heat-treat the cable protection tube.
Double shielded twisted-pair shielded
e-CON connector pin numbers
Locking tab
Always insert a terminal resistor (220 Ω, 1/4 W) at the end of the communication trunk
(between pins 1 and 2 of the e-CON connector).
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PROFIBUS Gateway
c. Controller link cable (CB-RCB-CTL002)
* Available as an option for each controller.
Controller end
Mini DIN connector
Signal
Yellow
Orange
e-CON connector
3-1473562-4
(Housing color: Orange)
Signal
Blue
The following parts are supplied with the controller link cable.
[1] 4-way junction Model: 5-1473574-4 by AMP x 1 unit
[2] e-CON connector 4-1473562-4 by AMP x 1 unit
Outer diameter of applicable wire 1.35 to 1.6 mm
[3] Terminal resistor
220 Ω 1/4 W With e-CON connector x 1 unit
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(3) Linking ERC2-SE controllers
Gateway Unit
(Built-in terminal resistor)
Terminal resistor (*)
* The customer must provide the terminal resistor and relay terminal blocks.
Relay terminal block (*)
Recommended cable:
HK-SB/20276 X L 2P X AWG22
by Taiyo Electric Wire & Cable
PROFIBUS Gateway
Axis 1
Axis 2
Axis n
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PROFIBUS Gateway
Detail connection diagram
Gateway Unit
Double shielded
twisted-pair cable
Recommended cable:
HK-SB/20276 X L
2P X AWG22 by Taiyo
Electric Wire & Cable
SGA (red)
SGB (black)
GND pink
(black 1)
Connect to the negative side
of the 24-V power supply for
ERC2-SE.
SGA (red)
SGB (black)
GND pink
(black 1)
Connect to the negative side
of the 24-V power supply for
ERC2-SE.
To axis 3
(4) Mixing PCON-SE/ACON-SEC/ERC2-SE connectors
Follow the basic configurations in (2) and (3) above. Wire the controllers in ac cordance with the
method explained in 4.1, “Overall Configuration.”
Axis 1
Orange
(red 1)
Orange
(black 1)
Axis 2
Orange
(red 1)
Orange
(black 1)
27
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PROFIBUS Gateway
(5) Wiring the emergency stop (EMG) circuit
When designing an emergency stop circuit that incorporates the emergency stop switch on the teaching
pendant connected to the Gateway Unit, emergency stop signals output from the “S1” and “S 2” terminals
of the Gateway Unit can be used.
This way, all connected ROBO Cylinder controllers can be stopped instantly in case of emergency by
operating the emergency stop switch on the teaching pendant connected to the Gateway Unit.
Caution
1. For details on the emergency stop processing of ROBO Cylinders, refer to the operation manual for
your PCON-SE, ACON-SE, SCON or ERC-2 SE controller.
28
Page 33
r
[1] Example of cutting off drive signals
EMG
reset
switch
Teaching
pendant
EMG
pushbutton
EMG
pushbutton
Gateway
power supply
Gateway Unit
TP connector
Port
switch
24-VDC input
power supply
(2 A max. per unit)
SIO connector
SIO
communication
Power-supply
terminal block
PROFIBUS Gateway
PCON-SE controller
Connection
detection
signal (H)
EMG signal
detection (H)
Motor drive
power
Control
power
Power-supply terminal block (unit 2)
-supply terminal block (unit 3)
Powe
Time
cons-
tant
Drive stop
signal (L)
SIO
connector
connection
detection
circuit
Motor
circuit
drive
Caution: The input current specification for the PCON-SE’s EMG terminal is 5 mA. When
connecting the EMG relay R contacts to the EMG terminals of multiple controllers, check
the current capacity of the relay contacts.
29
Page 34
r
[2] Example of cutting off motor drive power
EMG
reset
switch
Teaching
pendant
EMG
pushbutton
EMG
pushbutton
Gateway
power supply
Gateway Unit
TP connector
Port
switch
24-VDC input
power supply
(2 A max. per unit)
SIO connector
SIO
communication
Power-supply
terminal block
PROFIBUS Gateway
PCON-SE controller
Connection
detection
signal (H)
EMG signal
detection (H)
Motor drive
power
Control
power
Power-supply terminal block (unit 2)
-supply terminal block (unit 3)
Powe
Time
cons-
tant
Drive stop
signal (L)
SIO
connector
connection
detection
circuit
Motor
circuit
drive
30
Page 35
PROFIBUS Gateway
4.3.2 Axis Number Setting
The following explanation applies to PCON-SE, ACON-SE and ERC2-SE controllers.
Set an axis number as a SIO-linked slave station number.
The axis number of axis 1 is “0,” while that of axis 16 is “F.” Set an appropriate axis number using a
hexadecimal value between 0 and F.
Axis numbers can be set on the teaching pendant or in the PC software.
~ Operation in the PC software
[1] Open the main window → [2] Click Settings (S) → [3] Bring the cursor to Controller
Settings (C) → [4] Click Assign Axis Number (N) → [5] Enter a number in the axis number
table.
~ Operation on the teaching pendant RCM-T
[1] Open the User Adjustment window → [2] Bring the cursor to Assigned No. using the T key
→ [3] Enter an axis number, and press Enter → [4] Enter “2” under Adjustment No., and press
Enter.
~ Operation on the simple teaching pendant RCM-E
[1] Open the User Adjustment window Æ [2] Press Enter to open the Assigned No. window → [3]
Enter an axis number, and press Enter → [4] Enter “2” under Adjustment No., and press Enter.
For details on each setting method, refer to the operation manual for your teaching pendant or PC
software.
Caution
1. Each axis number must be unique.
2. Before setting an axis number for a given axis, disconnect the link cable of the applicable axis.
3. Connect a terminal resistor between SGA and SGB on the terminal module.
31
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PROFIBUS Gateway
5. Slave Function
All data exchanged between the master station and the controller are tentatively stored in the internal
memory of the Gateway Unit, and then transmitted cyclically. Accordingly, the PLC program recognizes
these data as remote Profibus I/Os.
Up to 16 ROBO Cylinder controllers can be connected to the Gateway Unit, with the connected controllers
assigned an axis number of 0 to 15, respectively. The Gateway Unit simultaneously sends and receives
data to/from the master station for all ROBO Cylinder controllers connected via SIO link.
32
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PROFIBUS Gateway
5.1 Address Configuration in Each Operation Mode
As explained in 1.4, “Features of Gateway Unit,” the connected controller(s) can be operated in three main
modes.
The slave address configuration is different in each of these modes.
5.1.1 Gateway Control Signals
As for the address configuration in each mode, the initial fixed area provides signals used to control the
Gateway Unit. Both input and output signals consist of four bytes each.
Gateway control signals are used to control the ON/OFF status of SIO link communication and monitor the
SIO link communication status and Gateway Unit status.
PLC output
Gateway
control signal 0
Gateway
control signal 1
PLC input
* Byte addresses are relative address recognized with respect to the head byte address of the Gateway.
Gateway
status signal 0
Gateway
status signal 1
Byte address
33
Page 38
I/O Signal List
Signal type Byte Bit
+0
Control
signal 0
1
PLC output
2
Control
signal 1
(Connected
axis number
specification)
3
Signal
name
SIO link communication will start when this signal is turned ON,
and stop when it is turned OFF.
Do not turn the MON signal ON when CFG15 to 0 (linked axis
connection) are all OFF.
7 MON
Also, do not turn all of CFG15 to 0 OFF when the MON signal
is ON.
If CFG15 to 0 are all turned OFF and the MON signal turned
ON, the Gateway Unit will generate a SIO link error and the
LED (T.ER) on the front face of the unit will illuminate.
6-0 ---
7 NPS4
6 NPS3
These bits cannot be used.
Always set them to OFF (0).
These bits are used in the simple direct/position-number
specification mode.
In any other mode, always set them to OFF (0).
Set the number of axes (0 to 16) used in the position-number
5 NPS2
specification mode using a five-bit binary value.
4 NPS1
3 NPS0
2 PPS2
1 PPS1
These bits are used in the simple direct/position-number
specification mode.
In any other mode, always set them to OFF (0).
Set the I/O pattern (pattern 0 to 5) for axes specified in the
0 PPS0
position-number specification mode, using a three-bit binary value.
7 CFG15 Link ON Axis No. 15
6 CFG14 14
5 CFG13 13
4 CFG12 12
3 CFG11 11
2 CFG10 10
1 CFG9 9
0 CFG8 8
7 CFG7 7
6 CFG6 6
5 CFG5 5
4 CFG4 4
3 CFG3 3
2 CFG2 2
1 CFG1 1
0 CFG0 0
PROFIBUS Gateway
Description
Specify the axis number corresponding
to each axis to be linked.
The axis will be connected when the
signal is turned ON (1), and
disconnected when it is turned OFF (0).
ON/OFF switching is permitted even
when the MON signal is ON.
(Notes)
z Do not turn ON the axis number
signal corresponding to any axis not
physically connected.
z Do not turn ON any axis number
signal other than the specifiable
number selected by the mode
setting switch.
If either of the above conditions is
breached, a SIO link error will occur.
34
Page 39
Signal type Byte Bit
+0
Control
signal 0
PLC input
1
2
Status
signal 1
3
Signal
name
Gateway Unit
normal output
7 RUN
Gateway Unit
error detection output
6 G.ER
SIO-link
communication error
5 T.ER
detection output
Port switch ON output
4 TPC
3 MOD4
2 MOD3
1 MOD2
0 MOD1
7 Major V.4
6 Major V.2
5 Major V.1
4 Minor V.16
3 Minor V.8
2 Minor V.4
Mode setting switch 4
ON output
Mode setting switch 3
ON output
Mode setting switch 2
ON output
Mode setting switch 1
ON output
The major version
number is output as a
three-bit binary value.
The major version
number is output as a
five-bit binary value.
1 Minor V.2
0 Minor V.1
7 LNK15 Linked Axis No. 15
6 LNK14 14
5 LNK13 13
4 LNK12 12
3 LNK11 11
2 LNK10 10
1 LNK9 9
0 LNK8 8
7 LNK7 7
6 LNK6 6
5 LNK5 5
4 LNK4 4
3 LNK3 3
2 LNK2 2
1 LNK1 1
0 LNK0 0
PROFIBUS Gateway
Description
This signal remains ON while the Gateway
Unit is operating normally.
The signal is synchronized with the
illumination of the LED (RUN) on the front
face of the unit.
This signal turns ON when a major
shutdown failure has been detected.
The signal is synchronized with the
illumination of the LED (G.ER) on the front
face of the unit.
This signal turns ON when a SIO link
communication error has been detected.
The signal is synchronized with the
illumination of the LED (T.ER) on the front
face of the unit.
The status of the port switch on the front
face of the unit is output.
This signal is ON while the port switch is ON.
The setting status of each pin of the mode
setting switch is output.
The Gateway version information is output.
You may need to check this information in
certain situations, such as when the
Gateway encountered a problem. Provide
the necessary wiring so that these signals
can be read by the PLC.
Example) If the version is 1.03, the major
version number is “1” (data:
001), while the minor version
number is “3” (data: 00011).
Link connection of an axis selected for link
connection by any one of CFG15 to 0 will
become enabled when the MON signal is
turned ON. The signal corresponding to
each axis whose link connection is
enabled turns ON.
35
Page 40
PROFIBUS Gateway
5.1.2 Simple Direct/Position-number Specification Mode
This operation mode combines the mode in which the actuator is operated by specifying position numbers,
and the simple direct specification mode in which the target position data is specified numeri cally while
other movement data is specified by position numbers.
The key functions that can be controlled in this mode are summarized in the table below.
Key function
Home return operation
Positioning operation
Speed and
Position-number
specification axis
{ {
∆
∆ ∆
Simple direct
specification axis
{
acceleration/deceleration setting
Pitch (incremental) feed
Push-motion operation
Speed change during movement
Operation with acceleration and
∆
∆ ∆
∆ ∆
∆ ∆
X Position table
deceleration set differently
Pause
Zone signal output
{ {
{
X Each zone is set by
PIO pattern selection X X
Position table
/direct position command
Position table
Position table
Position table
parameters.
Remarks
36
Page 41
PROFIBUS Gateway
1. Overall Address Configuration
Input/output Gateway control signals consist of four bytes each. Only in this mode, PPS0 to PPS2
and NPS0 to NPS4 of control signal 0 are used to set the pattern and number of position-number
specification axes. The subsequent 14 bytes constitute the command input/output area, and a total of
18 bytes each for input and output, including the Gateway control signals and command area,
constitute the fixed area.
The control area is assigned after the fixed area for each axis. Address assignment is performed from
position-number specification axes first, followed by simple direct mode axes. Addresses cannot be
assigned alternately for axes of different types.
The total I/O area size of the Gateway varies in accordance with the setting of the mode setting
switch SW1, as shown in the table below.
Mode
No.
4 3 2 1
7 X X X { Lar
8 X { X
{
{
9
X X { Sm
Up to 16 axes can be assigned, as a total of position-number specification axes and simple direct
mode axes, within the limits specified in the table above.
Each control signal consists of two bytes for both input and output in the case of a position-number
specification axis. With a simple direct mode axis, each PLC input signals consist of six bytes, while
each PLC output signal consists of eight bytes.
ge
mo
de
Mid
dle
mo
de
all
mo
de
SW1
160
byt
es
eac
h
128
byt
es
eac
h
64
byt
es
eac
h
18
142
byt
byt
es
eac
eac
h
110
byt
eac
46
byt
eac
--- Total I/O area Fixed area
es
h
es
h
es
h
Axis control
area
37
Page 42
PROFIBUS Gateway
2 bytes
Output from PLC ⇒ Gateway Unit
⇒ Input to each axis
Byte
address
Upper byte Lower byte
Gateway control signal 0
Gateway control signal 1
Request command
Data 0
Data 1
Data 2
Data 3
Data 4
Data 5
(Addresses assigned to
each axis follow.)
Position-number specification axis control signal
Output from each axis ⇒ Gateway Unit
⇒ Input to PLC
Upper byte Lower byte
Gateway status signal 0
Gateway status signal 1
Response command
Data 0
Data 1
Data 2
Data 3
Data 4
Data 5
(Addresses assigned to
each axis follow.)
Position-number specification axis status signal
8 bytes
Simple direct specification axis control signal
Simple direct specification axis status signal
* Byte addresses are relative addresses recognized with respect to the Gateway head address.
Fixed
area
18 bytes
2 bytes
6 bytes
Small mode
(64 bytes)
Middle mode
(128 bytes)
Large mode
(160 bytes)
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PROFIBUS Gateway
Shown below is an example where four position-number specification axes and four simple direct
specification axes are used in the small mode.
Output from PLC ⇒ Gateway Unit
⇒ Input to each axis
Byte
address
Upper byte Lower byte Upper byte Lower byte
Output from each axis ⇒ Gateway Unit
⇒ Input to PLC
Gateway control signal 0
Gateway control signal 1
Request command
Data 0
Data 1
Data 2
Data 3
Data 4
Data 5
Axis (0) control signal
Axis (1) control signal
Axis (2) control signal
Axis (3) control signal
Gateway status signal 0
Gateway status signal 1
Response command
Data 0
Data 1
Data 2
Data 3
Data 4
Data 5
Axis (0) status signal
Axis (1) status signal
Axis (2) status signal
Axis (3) status signal
Axis (4) control signal
Axis (4) status signal
Axis (5) control signal
Axis (5) status signal
Axis (6) status signal
Axis (6) control signal
Axis (7) status signal
Axis (7) control signal
Cannot be used.
Cannot be used.
* Byte addresses are relative addresses
recognized with respect to the Gateway
head address.
Position-number specification axis
Simple direct specification axis
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PROFIBUS Gateway
2. Assignment for Each Axis
The size and content of the I/O signal area assigned for each axis vary between the position-number
specification mode and the simple direct specification mode. Also in the position-number speci f ication
mode, the meaning of each bit is different depending on the pattern set by the Gateway control signal
PPS.
(1) Control and status signals for position-number specification axes
Pattern 0
(Standard)
Pattern 1
(Teaching)
Pattern 2
(256 positioning
points)
PLC output PLC input
Pattern 3
(512 positioning
points)
Pattern 4
(Air cylinder)
Pattern 0
Pattern 1
Pattern 2
Pattern 3
Pattern 4
* Byte address A = Gateway head address + 18 + 2n
n: Axis number of position-number specification axis (0 or greater)
Byte address
40
Page 45
I/O Signal Details
Signal type Bit
Control
signal
PLC output
Command
position
number
Status
signal
PLC input
Completed
position
number
PROFIBUS Gateway
Signal
name
Pattern No. Description Details
b7 SON 0 to 4 Servo on command 5.2.2 (9)
b6 RES 0 to 4 Reset command 5.2.2 (4)
CSTR 0, 2, 3 Start command 5.2.2 (7) b5
PWRT 1 Position data load command TEAC
b4 STP 0 to 4 Pause command 5.2.2 (8)
b3 HOME 0 to 4 Home return command 5.2.2 (10)
b1 BKRL 0, 2 to 4 Forced brake release
b1 JOG- 1 Jog- command
b0 JOG+ 1 Jog+ command
b7 JISL 1 Jog/inching switching
b6 MOD 1 Teaching mode command
b7-b0 PC*** 0 to 3 Specify the command position
5.2.2 (7)
number using a binary value.
b6-b0 ST0-ST6 4 Specify the start position using a
5.2.2 (7)
bit pattern.
b7 BALM 0 to 4 Battery voltage low alarm
b6 ALM 0 to 4 Alarm 5.2.2 (3)
b5 EMGS 0 to 4 Emergency stop 5.2.2 (2)
b4 SV 0 to 4 Ready (servo is on) 2.2.2 (9)
b3 PEND 0, 2 to 4 Positioning complete 5.2.2 (7)
b3 WEND 1 Position data load command status
TEAC
b2 HEND 0 to 4 Home return complete 5.2.2 (10)
b1 RMDS 0 to 4 Operation mode status
b0 PZONE 0 to 2, 4 Position zone output monitor
b7 ZONE1 0, 4 Zone output monitor 1
b7 MODS 1 Teaching mode status
b6 MOVE 0, 1 Moving 5.2.2 (8)
b7 to b0 PM*** 0 to 3 The completed position number is
5.2.2 (7)
read as a binary value.
b6 to b0 PE0 to
PE6
4 The completed position is read as
a bit pattern.
5.2.2 (7)
41
Page 46
PROFIBUS Gateway
(2) Simple direct specification axis
Each axis consists of eight output bytes and six input bytes as shown below.
The target position data and current position data are signed, 32-bit hexadecimal integers set in units
of 0.01 mm.
PLC output = Axis control signal
Byte address
Sign
Target position data (signed 32-bit integer)
Movement data position number
Control signal
(Cannot be used.)
PLC input = Axis status signal
Byte address
Sign
Current position data (signed 32-bit integer)
Status signal
Status signal
B: Head address of simple direct specification axis
n: Axis number used only for simple direct specification axes (0 or greater)
42
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I/O Signal Details
Signal type Bit
Target
position
data
Movement
data
position
number
PLC output
Control
signal
Current
position
data
PLC input
Status
signal
PROFIBUS Gateway
32-bit
data
Signal
name
Set a signed 32-bit integer (unit: 0.01 mm) based
on hexadecimal notation. The maximum value is
Description Details
5.2.2 (5)
“000F423FH” (“999999” in decimal notation).
---
Example) To specify +25.4 mm, set “0009ECH”
(“2540” in decimal notation).
z If the most significant bit is “1,” the setting is
treated as a negative value.
16-bit
data PC1 to
PC32768
When setting movement data other than the target
position data in the position table, specify the
position number using a hexadecimal value.
b7-b5 --- Cannot be used.
b4 SON Servo on command 5.2.2 (9)
b3 STP Pause command 5.2.2 (8)
b2 HOME Home return command 5.2.2 (10)
b1 CSTR Start command 5.2.2 (5)
b0 RES Reset command 5.2.2 (4)
b7-b0 --- Cannot be used.
32-bit
data
---
The current position data is output as a signed 32bit integer (unit: 0.01 mm) based on hexadecimal
notation. The maximum value is “000F423FH”
(“999999” in decimal notation).
5.2.2 (5)
The same example and note for target position
data also apply here.
b7-b1 --- Cannot be used.
b0
PMSS
PIO/Modbus switching status
0: PIO, 1: Modbus
A PIO/Modbus switching command is used to
switch between the two modes.
b7 EMGS Emergency stop status 5.2.2 (2)
b6 PSEL Missed work 5.2.2 (6)
b5 PWR Controller ready 5.2.2 (1)
b4 SV Ready (servo is on) 5.2.2 (9)
b3 MOVE Moving 5.2.2 (8)
b2 HEND Home return complete 5.2.2 (10 )
b1 PEND Positioning complete 5.2.2 (5)
b0 ALM Alarm 5.2.2 (3)
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PROFIBUS Gateway
3. Command Area
The PLC outputs a request command (Byte + 4 and Byte + 5) and related data (Byte + 6 to Byte + 17),
and receives a response command (Byte + 4 and Byte + 5) and related data (Byte + 6 to Byte + 17).
Request commands and response commands consist of two bytes, respectively, while request data
and response data consist of 12 bytes, respectively. (Refer to “Overall address configuration.”)
However, only two command bytes and eight data bytes are used by the commands currently
available, as shown below.
* Byte addresses are relative addresses recognized with respect to the Gateway head address.
Output from PLC ⇒ Gateway Unit
⇒ Input to each axis
Upper byte Lower byte Upper byte Lower byte
Request command
Data 0
Data 1
Data 2
Data 3
Data 4 (Reserved)
Data 5 (Reserved)
Output from each axis ⇒ Gateway Unit
⇒ Input to PLC
Response command
Data 0
Data 1 (Error code)
Data 2
Data 3
Data 4 (Reserved)
Data 5 (Reserved)
Caution
If a command code is not synchronized with related data, the command does not function properly.
With Siemens’s S7 Series PLC, synchronicity (consistency) of Profibus I/Os is normally guaranteed
only in units of bytes and words. To handle data spanning multiple words synchronously, an applicable
item must be set to ensure data consistency in the STEP 7’s HW Config screen (refer to 5.3.3 (5),
“Setting for I/O data consistency) and the SFC14 and SFC15 must be used (used in the command
function blocks explained in 5.4).
44
Page 49
PROFIBUS Gateway
(1) Command list
The available commands and commands are listed below.
Function category Code Description
Handshake 0000H Clear a request command.
Position table data write
Position table data read
Present alarm code read 0342H Read an alarm code currently present.
Current value monitor 0440H Monitor the current position of a specified axis.
Group broadcast operation 0D03H Cause all axes in a group to start moving to the
PIO/Modbus control
authority switching
(Note) These commands and command codes cannot be used with old-version RCP2/ERC controllers.
1000H Write a target position.
1001H Write an in-position band.
1002H Write a speed.
1003H Write a positive boundary for each zone.
1004H Write a negative boundary for each zone.
1005H Write an acceleration.
1006H Write a deceleration.
1007H Write a current-limiting value for push motion.
1008H Write a load current threshold.
1040H Read a target position.
1041H Read an in-position band.
1042H Read a speed.
1043H Read a positive boundary for each zone.
1044H Read a negative boundary for each zone.
1045H Read an acceleration.
1046H Read a deceleration.
1047H Read a current-limiting value for push motion.
1048H Read a load current threshold.
same POS number.
0DA1H Switch between PIO and Modbus.
45
Page 50
(2) Each command and data format
[1] Position table data write commands
The following commands can be used to write data to the position table. Data is written by
overwriting the existing data in the position table.
Command name *1 PLC output (request) PLC input (response)
Target position write
In-position write
Speed write
Each zone positive
boundary write
Each zone negative
boundary write
Acceleration write
+4 1000H
6 Position number
8
10
12 Axis number 0 to FH *3
+4 1001H
6 Position number
8
10
12 Axis number 0 to FH
+4 1002H
6 Position number
8
10
12 Axis number 0 to FH
+4 1003H
6 Position number
8
10
12 Axis number 0 to FH
+4 1004H
6 Position number
8
10
12 Axis number 0 to FH
+4 1005H
6 Position number
8 Acceleration data *5
10 0
12 Axis number 0 to FH
PROFIBUS Gateway
Same as the value in the
request command if normal.
Position data *2
Same as the value in the
request command if normal.
In-position band data *4
Same as the value in the
request command if normal.
Speed data *4
Same as the value in the
request command if normal.
Position data *2
Same as the value in the
request command if normal.
Position data *2
Same as the value in the
request command if normal.
46
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PROFIBUS Gateway
Command name *1 PLC output (request) PLC input (response)
Deceleration write
+4 1006H
6 Position number
Same as the value in the
request command if normal.
8 Deceleration data *5
10 0
12 Axis number 0 to FH
Push motion currentlimiting value write
+4 1007H
6 Position number
0000 to 00FFH
8
(00FFH: maximum current)
Same as the value in the
request command if normal.
10 0
12 Axis number 0 to FH
Load current threshold
write
+4 1008H
6 Position number
0000 to 00FFH
8
(00FFH: maximum current)
Same as the value in the
request command if normal.
10 0
12 Axis number 0 to FH
*1) Relative byte address recognized with respect to the Gateway head address
2) Signed 32-bit integer data
3) Data 00 to 0FH correspond to axis numbers (0) to (15), respectively.
4) 32-bit integer data
5) Eight-bit integer data
6) This command is not enabled unless a push-motion % other than “0” is set in the position
table before the command is written.
47
Page 52
[2] Position table data read commands
Command name *1 PLC output (request) PLC input (normal response)
Target position read
In-position band read
Speed read
Each zone positive
boundary read
Each zone negative
boundary read
Acceleration read
PROFIBUS Gateway
+4 1040H
Same as specified to the left
6 Position number
8 0
Target position data *3
10 0
12 Axis number 0 to FH *2 Same as specified to the left
+4 1041H
Same as specified to the left
6 Position number
8 0
In-position band data *4
10 0
12 Axis number 0 to FH Same as specified to the left
+4 1042H
Same as specified to the left
6 Position number
8 0
Speed data *4
10 0
12 Axis number 0 to FH Same as specified to the left
+4 1043H
Same as specified to the left
6 Position number
8 0
10 0
Positive boundary data
for each zone *3
12 Axis number 0 to FH Same as specified to the left
+4 1044H
Same as specified to the left
6 Position number
8 0
10 0
Negative boundary data
for each zone *3
12 Axis number 0 to FH Same as specified to the left
+4 1045H
Same as specified to the left
6 Position number
8 0 Acceleration data *5
10 0
Same as specified to the left
12 Axis number 0 to FH
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PROFIBUS Gateway
Command name *1 PLC output (request) PLC input (normal response)
Deceleration read
+4 1046H
Same as specified to the left
6 Position number
8 0 Deceleration data *5
10 0
Same as specified to the left
12 Axis number 0 to FH
Current-limiting value read
*6
+4 1047H
6 Position number
8 0
10 0
Same as specified to the left
0000 to 00FFH
(00FFH: maximum current)
Same as specified to the left
12 Axis number 0 to FH
Load current threshold
read
+4 1048H
6 Position number
8 0
10 0
Same as specified to the left
0000 to 00FFH
(00FFH: maximum current)
Same as specified to the left
12 Axis number 0 to FH
*1) Relative byte address recognized with respect to the Gateway head address
2) Data 00 to 0FH correspond to axis numbers (0) to (15), respectively.
3) Signed 32-bit integer data
4) 32-bit integer data
5) 8-bit integer data
6) This command is not enabled unless a push-motion % other than “0” is set in the position
table before the command is written.
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[3] Present alarm code read command
Command name *1 PLC output (request) PLC input (normal response)
Alarm code currently
present read
+4 0342H
6 0
Same as specified to the left
8 0 Alarm code currently present
10 0
Same as specified to the left
12 Axis number 0 to FH
*1) Relative byte address recognized with respect to the Gateway head address
[4] Current value monitor
Command name *1 PLC output (request) PLC input (normal response)
Current value monitor
+4 0440H
Same as specified to the left
6 0
8 0
Current position *2
10 0
12 Axis number 0 to FH Same as specified to the left
*1) Relative byte address recognized with respect to the Gateway head address
*2) Signed 32-bit integer data set in units of 0.01 mm
PROFIBUS Gateway
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PROFIBUS Gateway
[5] Group broadcast POS movement start
This command causes all axes of the specified group number to start moving simultaneously to the
position specified by the POS number.
When this command is issued, the Gateway and each controller communicate in the broadcast
mode, meaning that the controller does not return any response.
The response result indicated by the PLC input only means that the command has been sent
successfully to the applicable controllers; it does not indicate the status of each controller. Check the
status signal of each axis to determine if the command was executed successfully.
*1 PLC output (request) PLC input (response)
+4 0D03H
6 Movement target POS number *2
Same as the value in the request
command if normal.
8 Group ID number *3
10 0
12 0
*1) Relative byte address recognized with respect to the Gateway head address
*2) Specifiable values vary depending on the type and setup of each controller.
*3) If this number is “0,” all linked axes will move regardless of the group specification.
A desired group number can be set using the applicable system parameter in the PC software.
*4) If a movement command is issued for each axis using a control word while the axes are still
moving under this command, the movement under this command will be cancelled and the
operation corresponding to the latest movement command will be performed. In other words,
each axis has two movement command interfaces.
Use only one interface at a time.
*5) Even if the CFG bit of the Gateway control signal is turned OFF to cancel the link, the controller
will always accept and execute this command once a link is established.
[6] PIO/Modbus switching command
*1 PLC output (request) PLC input (response)
+4 0DA1H
6 0
Same as the value in the request
command if normal.
8 Coil ON/OFF
00FFH = ON: Modbus (Disable PIO command)
0000H = OFF: PIO (Enable PIO command) *3
10 0
12 Axis number 0 to FH
*1) Relative byte address recognized with respect to the Gateway head address
*2) As for PIO/Modbus switching, while the control authority status of a simple direct specification
axis is reflected in the status signal PMSS, the control authority status is not indicated for a
position-number specification axis.
*3) Even if the coil is set to OFF (Enable PIO command), axis position data can still be changed
from the PLC via Modbus communication (although the link must be retained).
*4) The controller will still accept and execute movement commands via Modbus communication
even after the control authority is switched to PIO.
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PROFIBUS Gateway
(3) Error response
If a command error generates, the most significant bit (b7) of the response command will turn ON.
Also, one of the error codes below, whichever is applicable, will be set in response data 2 (relative
byte address 8 with respect to the Gateway head address).
Code Description
0101H Invalid address *1
0102H Invalid position number *1
0103H Invalid request command *1
0201H Communication failed
0202H Not executable by the controller
*1) If any of these conditions is found as a result of data check from the PLC, an applicable error
code will be set in the response data without the data being sent to the controller.
*2) If link is not established, no response command is indicated.
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PROFIBUS Gateway
5.1.3 Numerical Specification Mode
In positioning operation in the numerical specification mode, the actuator is operated by specifying the
position data, speed, acceleration/deceleration, and in-position band, in numerical values.
In push-motion operation in the numerical specification mode, the actuator is operated by specifying the
position data, current-limiting value for push motion, speed, acceleration/deceleration, and in-position
band (push band), in numerical values.
The current position data can be read at any time.
There is no need to set the position table for each axis.
The key functions that can be controlled in this mode are summarized in the table below.
{: Direct control
Key function
∆: Indirect control
X: Disabled
Home return operation
Positioning operation
Speed/acceleration setting
{
{
{
Pitch (incremental) feed X Pitch feed data cannot be processed directly.
The host PLC must issue each command by
adding/subtracting the pitch-feed distance
data to/from the current position.
Push-motion operation
Speed change during movement
{
{
Speed data is accepted at the start of
positioning. To change the speed during
movement, therefore, change the speed data
during movement and then restart the
positioning operation.
Operation with acceleration and
deceleration set differently
{
Acceleration/deceleration data is accepted at
the start of positioning. To specify a
deceleration different from the acceleration,
therefore, change the deceleration data
during movement and then restart the
positioning operation.
Pause
{
Zone signal output X Monitor the current position using the PLC.
(*)
PIO pattern selection X
* No strobe signal is provided for current position data. To check the current position from the PLC during
movement, set zones and check if the data has remained inside a given zone for at least two scans.
Remarks
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)
)
)
)
)
PROFIBUS Gateway
(1) Overall address configuration
Each Gateway control/status address consists of four bytes each for both input and output. In the
numerical specification mode, each axis control signal consists of the PLC output area (Gateway
input area) containing 12 bytes and the PLC input area (Gateway output area) containing six bytes.
The number of controlled axes is set using the mode setting switch (refer to 2.3).
“Byte” refers to the head address in the assigned area of the master.
The values in parentheses indicate axis numbers.
Byte address
Byte+
Output from PLC ⇒ Gateway Unit
⇒ Input to each axis
Gateway control 0
Gateway control 1
Axis control (0)
Axis control (1)
Axis control (2)
Axis control (3)
Axis control (4)
Axis control (5)
Axis control (6)
Axis control (7)
Axis control (8)
Axis control (9)
Axis control (10)
Axis control (11)
Axis control (12)
Axis control (13)
Axis control (14)
Axis control (15)
Output from each axis ⇒ Gateway Unit
Byte+
⇒ Input to PLC
Gateway status 0
Gateway status 1
Axis status (0)
Axis status (1)
Axis status (2)
Axis status (3)
Axis status (4)
Axis status (5)
Axis status (6)
Axis status (7)
Axis status (8)
Axis status (9)
Axis status (10)
Axis status (11)
Axis status (12)
Axis status (13)
Axis status (14)
Axis status (15)
Byte data
Status signal (11
Status signal (11
Current position data (11
Current position data (11
Current position data (11
Cannot be used.
Byte data
Target position data (11)
Target position data (11)
Target position data (11)
Current-limiting value for
push motion
Speed (11)
Speed (11)
Speed (11)
Acceleration/deceleration
In-position band (11)
In-position band (11)
In-position band (11)
Control signal (11)
Mode No. 1
Mode No. 2
Mode No. 3
Mode No. 4
Mode No. 5
(11)
(11)
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PROFIBUS Gateway
(2) Assignment for each axis
Control and status signals are set using ON/OFF signal bits, while current-limiting value for pushmode operation and acceleration/deceleration are set using one-byte (eight-bit) hexadecimal data.
Speed, target position data, in-position band and current position data are three-byte (24-bit)
hexadecimal data.
It is recommended that control and status signals be transferred to, and used in, bit registers.
Set a desired current-limiting value for push motion, acceleration/deceleration or speed within the
corresponding range specified for the applicable actuator, while target position data must be inside
the soft stroke limits.
Units: Current-limiting value = 1%, Acceleration/deceleration = 0.01 G, Speed = 1/100 mm/sec,
Position data/in-position band = 1/100 mm
PLC output = Axis control signal
Byte address
Sign
Target position data (signed 24-bit integer)
Current-limiting value for push motion
Speed (24-bit integer)
Acceleration/deceleration
In-position band (24-bit integer)
Control signal
* “Byte+” indicates the Gateway head address, while n indicates an axis number (0 to 15).
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PROFIBUS Gateway
PLC input = Axis status signal
* “Byte+” indicates the Gateway head address, while n indicates an axis number (0 to 15).
Byte address
Status signal
Sign
Current position data (signed 24-bit integer)
Caution
1. Signed 24-bit hexadecimal data output or input from/to the PLC is treated as a negative value when
the most significant bit is “1.” Take note that all these data are treated as normal numerical data
within the PLC.
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I/O Signal Details
Signal type Bit
Target
position
data
Current-
limiting
value for
push
motion
PLC output
Speed
Acceleration/
deceleration
24-bit
data
8-bit
data
24-bit
data
8-bit
data
Signal
name
---
---
---
---
PROFIBUS Gateway
Description Details
Set a signed 24-bit integer (unit: 0.01 mm) based
on hexadecimal notation. The maximum value is
“0F423FH” (“999999” in decimal notation).
Example) To specify +25.4 mm, set “0009ECH”
(“2540” in decimal notation).
(Notes)
z If the most significant bit is “1,” the setting is
treated as a negative value.
z Set position data within the soft stroke limits.
To set the push force, set the current-limiting
value for push motion as a hexadecimal value
(unit: %).
The setting range is from “00H” to “FFH,” with
FFH corresponding to 100%.
Example) To specify 50%, set “7FH”
(corresponding to the decimal value of
127 obtained by FFH (255) x 50%).
Set a 24-bit integer (unit: 0.01 mm/sec) based on
hexadecimal notation. The maximum value is
“0F423FH” (“999999” in decimal notation).
Example) To specify 200 mm/sec, set “004E20H”
(“20000” in decimal notation).
(Note)
z If speed is not set or the set speed is “0,” the
actuator will remain stopped. No alarm will
generate.
If the set speed is changed to “0” during
movement, the actuator will decelerate to a stop.
Set an eight-bit integer (unit: 0.01 G) based on
hexadecimal notation.
Example) To specify 0.2 G, set “14H” (“20” in
decimal notation).
The maximum value is “C8H” (“200” in decimal
notation) corresponding to 2 G.
(Note)
z Even if acceleration/deceleration is not set, the
setting of parameter No. 9, “Default
acceleration/deceleration” will not be applied.
5.2.2
(5) (6)
5.2.2 (6)
5.2.2
(5) (6)
5.2.2
(5) (6)
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Signal type Bit
In-position
band
PLC output
Control
signal
Status
signal
PLC input
Current
position
data
--- b7-0 --- Cannot be used. ---
PROFIBUS Gateway
Signal
name
Set a 24-bit integer (unit: 0.01 mm) based on
hexadecimal notation. The maximum value is
Description Details
5.2.2
(6)
“0F423FH” (“999999” in decimal notation).
Example) To specify +25.4 mm, set “0009ECH”
(“2540” in decimal notation).
24-bit
data
---
(Notes)
z Set position data within the soft stroke limits.
z Specify the direction of push-motion operation
using DIR.
z Even if in-position band is not set, the setting of
parameter No. 10, “Default in-position band” will
not be applied.
b7 --- Cannot be used. ---
Push direction specification
b6 DIR
(0 = Home return direction,
5.2.2 (6)
1 = Opposite to home return direction)
b5 PUSH Push-motion operation mode specification 5.2.2 (6)
b4 SON Servo on command 5.2.2 (9)
b3 STP Pause command 5.2.2 (8)
b2 HOME Home return command 5.2.2 (10)
b1 CSTR Start command 5.2.2 (7)
b0 RES Reset command 5.2.2 (4)
b7 EMGS Emergency stop status 5.2.2 (2)
b6 PSFL Missed work 5.2.2 (6)
b5 PWR Controller ready 5.2.2 (1)
b4 SV Ready (servo is on) 5.2.2 (9)
b3 MOVE Moving
5.2.2
(5) (6) (8)
b2 HEND Home return complete 5.2.2 (10)
b1 PEND Positioning complete
5.2.2
(5) (6)
b0 ALM Alarm 5.2.2 (3)
b7-0 --- Cannot be used. ---
The current position data is output as a signed 24bit integer (unit: 0.01 mm) based on hexadecimal
5.2.2
(5) (6)
notation. The maximum value is “0F423FH”
24-bit
data
---
(“999999” in decimal notation).
Example) To specify +25.4 mm, set “0009ECH”
(“2540” in decimal notation).
(Note)
z If a negative value is set, the most significant bit
becomes “1.”
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PROFIBUS Gateway
5.1.4 Position-number Specification Mode
In this mode, the actuator is operated by specifying position numbers in the position table. Up to 16 axes
can be controlled. To operate each axis in this mode, its position table must be set using the PC software
or teaching pendant.
Position numbers are written to the data area of the PLC before they are used to perform actuator
operation.
Up to 64 positions from Nos. 0 to 63 can be specified. The number of specifiable points varies depending
on the mode set for each axis.
The key functions that can be controlled in this mode are summarized in the table below.
{: Direct control
Key function
∆: Indirect control
X: Disabled
Home return operation
Positioning operation
Speed/acceleration setting
Pitch (incremental) feed
Push-motion operation
Speed change during movement
Operation with acceleration and
{
∆
∆
∆
∆
∆
∆
deceleration set differently
Pause
Zone signal output
{
{
PIO pattern selection X
Positioning operation is performed by specifying
an applicable number in the position table.
Set in the position table.
Set in the position table.
Set in the position table.
Speed change is implemented by combining
two or more position numbers. (Refer to the
operation manual for the controller.)
Set in the position table.
Each zone is set by parameters.
Remarks
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PROFIBUS Gateway
(1) Overall address configuration
In the position-number specification mode, each Gateway control signal consists of four bytes for
both input and output. With control signals for each axis, the PLC input area and output area consist
of two bytes, respectively, with the total address length fixed to 48 bytes each for input and output.
The values in parentheses indicate axis numbers.
Byte address
Output from PLC ⇒ Gateway Unit
⇒ Input to each axis
00 (lower) 01 (upper) 00 (lower) 01 (upper)
Gateway control signal 0
Gateway control signal 1
Control signal (0)
Control signal (1)
Control signal (2)
Control signal (3)
Control signal (4)
Control signal (5)
Control signal (6)
Control signal (7)
Control signal (8)
Control signal (9)
Control signal (10)
Control signal (11)
Control signal (12)
Control signal (13)
Control signal (14)
Control signal (15)
Cannot be used.
Cannot be used.
Same as specified
to the left
Same as specified
to the left
Command position
number (0)
Command position
number (1)
Command position
number (2)
Command position
number (3)
Command position
number (4)
Command position
number (5)
Command position
number (6)
Command position
number (7)
Command position
number (8)
Command position
number (9)
Command position
number (10)
Command position
number (11)
Command position
number (12)
Command position
number (13)
Command position
number (14)
Command position
number (15)
Cannot be used.
Cannot be used.
Cannot be used.
Cannot be used.
Cannot be used.
Cannot be used.
Cannot be used.
Cannot be used.
Cannot be used.
Cannot be used.
1 byte 1 byte 1 byte 1 byte
* Byte addresses are relative addresses recognized with respect to the Gateway head address.
Output from each axis ⇒ Gateway Unit
⇒ Input to PLC
Gateway status signal 0
Gateway status signal 1
Status signal (0)
Status signal (1)
Status signal (2)
Status signal (3)
Status signal (4)
Status signal (5)
Status signal (6)
Status signal (7)
Status signal (8)
Status signal (9)
Status signal (10)
Status signal (11)
Status signal (12)
Status signal (13)
Status signal (14)
Status signal (15)
Cannot be used.
Cannot be used.
Cannot be used.
Cannot be used.
Cannot be used.
Cannot be used.
Same as specified
to the left
Same as specified
to the left
Completed position
number (0)
Completed position
number (1)
Completed position
number (2)
Completed position
number (3)
Completed position
number (4)
Completed position
number (5)
Completed position
number (6)
Completed position
number (7)
Completed position
number (8)
Completed position
number (9)
Completed position
number (10)
Completed position
number (11)
Completed position
number (12)
Completed position
number (13)
Completed position
number (14)
Completed position
number (15)
Cannot be used.
Cannot be used.
Cannot be used.
Cannot be used.
Cannot be used.
Cannot be used.
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PROFIBUS Gateway
(2) Assignment for each axis
With I/O signals for each axis, the PLC input area and output area consist of two bytes, respectively.
Control and status signals consist of ON/OFF signal bits.
Command position and completed position numbers are treated as one -byte (eight-bit) binary data.
Specify command position numbers within the position number range set for each controller axis.
PLC output
Byte address
Control signal
Command position number
PLC input
Byte address
Status signal
Completed position number
* Byte addresses are relative addresses recognized with respect to the Gateway head address.
Byte: Gateway head address
n: Axis number (0 to 15)
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I/O Signal Details
Signal type Bit
Control
signal
PLC output
Command
position
number
Status
signal
Zone
signal
PLC input
output 2
Zone
signal
output 1
Completed
position
number
(alarm
output)
PROFIBUS Gateway
Signal
name
Description Details
b7 --- Cannot be used. --b6 --- Cannot be used. --b5 --- Cannot be used. --b4 SON Servo on command 5.2.2 (9)
b3 STP Pause command 5.2.2 (8)
b2 HOME Home return command 5.2.2 (10)
b1 CSTR Start command 5.2.2 (7)
b0 RES Reset command 5.2.2 (4)
6-bit
data
---
Specify the command position number using a
binary value.
5.2.2 (7)
(b5-0)
b7 EMGS Emergency stop 5.2.2 (2)
b6 --- Cannot be used. ---
b5 PWR Controller ready 5.2.2 (1)
b4 SV Ready (servo is on) 5.2.2 (9)
b3 MOVE Moving
5.2.2
(7) (8)
b2 HEND Home return complete 5.2.2 (10)
b1 PEND Positioning complete 5.2.2 (7)
b0 ALM Alarm 5.2.2 (3)
The completed position number and zone signal
b7 ZONE2
status are output. Read the completed position
number as a six-bit binary value.
5.2.2
(7) (11)
b6 ZONE1
6-bit
data
---
(b5-0)
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r
PROFIBUS Gateway
5.2 Communication Signal Details
5.2.1 Overview of Communication Signal Timings
When a given control signal is turned ON to operate the ROBO Cylinder using the sequence program in
the PLC, the maximum response time before a response (status) signal will be received is expressed by
the formula below:
Maximum response time (msec) = Profibus transmission delay (Yt + Xt) + 2 x Mt + Response processing time
Mt = 10 (msec) x (n+1): SIO link (Modbus) cycle time
n: Number of controlled axes
Yt: Master → remote I/O station transmission delay
Xt: Remote I/O → master station transmission delay
For the master → remote I/O station transmission delay (Yt) and remote I/O → master station
transmission delay (Xt), refer to the operation manuals for your Profibus master unit and PLC.
PLC sequence program
Control signal
Status signal
Master → remote I/O station
transmission delay (Yt)
Remote I/O → master station
transmission delay (Xt)
Gateway
Control signal
Status signal
SIO link cycle time SIO link cycle time
Controlle
Control signal
Response
processing time
Status signal
(Note) If a communication error occurs due to a problem along the transmission path, etc., a
communication retry or retries (up to three times) may occur, in which case the SIO link cycle time
(Mt) will be extended.
Profibus
transmission delay
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5.2.2 Communication Signals and Operation Timings
PROFIBUS Gateway
(1) Controller ready (PWR)
This signal turns ON when the controller has become ready following the power on.
Function
This signal turns ON once the controller has been succe ssfully initialized and become ready
following the power on, regardless of whether or not an alarm is present or the servo is on or off.
Even if an alarm is present, PWR is always ON as long as the controller is ready.
PWR is synchronized with the status indicator LED (green) on the front face of the controller.
(2) Emergency stop (EMGS)
This signal turns ON when
Function
This signal turns ON when the controller has actuated an emergency stop due to occurrence of a
controller alarm or triggering of the emergency stop circuit (refer to 4.3.1), or the motor drive
power has been cut off. EMGS will turn OFF once the emergency stop is cancelled.
the controller has actuated an emergency stop.
(3) Alarm (ALM)
This signal turns ON when
Function
This signal turns ON when the controller has detected an error and its protective circuit (function)
has actuated.
It can be turned OFF by turning the reset (RES) signal ON after removing the cause of the alarm
(excluding cold-start level alarms).
When an alarm is detected, the ALM LED (red) on the front face of the alarm will illuminate. This
LED remains unlit while the controller is normal.
With the ERC2, the LED at the top of the motor unit will illuminate in red. The LED will return to
green once the servo is turned on.
the controller’s protective circuit (function) has detected an error.
(4) Reset (RES)
This signal has two functions. It can be used to reset controller alarms or cancel the remaining travel
distance while the actuator is paused.
Function
[1] If an alarm is present, the al arm signal can be reset by turning this signal ON after removing
the cause of the alarm (excluding cold-start level alarms).
[2] Turning this signal ON while the actuator is paused will cancel the remaining travel distance.
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PROFIBUS Gateway
(5) Positioning operation in the numerical specification mode
(Position data, current position data, CSTR, PEND, MOVE, acceleration/deceleration data,
speed data)
A function is provided to operate the ROBO Cylinder by writing the target position data,
acceleration/deceleration data and speed data to the link registers in the PLC, without using the
position table in the controller.
Function
a. Positioning operation
This function is effective when the numerical specification mode is selected.
[1] Set the target position data in the position data specification regi ster.
[2] Turn CSTR (start) ON the moment [1] occurs or briefly thereafter (≥ 0).
In a normal condition, turn CSTR ON while PEND (positioning complete) is ON or MOVE
(moving signal) is OFF.
The target position data is sent to the controller at the ON edge of CSTR (leading edge of the
signal).
[3] PEND turns OFF tdpf after CSTR has turned ON.
[4] Cause CSTR to turn OFF upon turning OFF of PEND or turning ON of MOVE (moving).
Do not change the target position data unless CSTR turns OFF.
[5] MOVE turns ON the moment PEND turns OFF or within 1 Mt thereafter.
[6] The current position data is constantly updated. PEND turns ON the moment the current
position is updated or within 1 Mt thereafter, as long as the remaining travel distance is within
the range of controller parameter No. 10, “Default in-position band” and CSTR is OFF.
To read the stopped position data after completion of positioning, therefore, wait for an
appropriate time (time needed for the actuator to complete the remaining travel distance) after
PEND has turned ON.
Also note that even when the actuator is stopped, the current position data may still change
slightly due to vibration, etc., Consider this change when handling position data.
[7] MOVE turns OFF the moment PEND turns ON or within 1 Mt thereafter.
[8] The target position data can be changed during movement.
To change the target position data during movement, change the target position data, wait for
a while (longer than the PLC scan time), and then turn CSTR ON.
In this case, keep CSTR ON for tdpf or longer. Also provide a minimum interval of 1 Mt after
CSTR turns OFF until it turns ON again.
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PROFIBUS Gateway
Position data
setting
[1]
[2]
[4]
[3]
[4]
Current
position
[5]
[6]
[7]
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b. Acceleration/deceleration and speed data specification
This function is effective when the numerical specification mode is selected.
[1] Set the acceleration/deceleration a nd speed data in the respective specification registers
simultaneously as or before setting the target position data in a.
If acceleration/deceleration is not set, the setting of parameter No. 9, “Default
acceleration/deceleration” will be applied. If speed is not set or the set speed is “0,” the
actuator will remain stopped. No alarm will generate.
[2] The acceleration/deceleration and speed data is sent to the controller together with the target
position data at the ON edge of CSTR (start) (leading edge of the signal).
[3] The acceleration/decele ration or speed data can be changed during movement.
To change the acceleration/deceleration or speed data during movement, change the
acceleration/deceleration or speed data, and then turn CSTR ON.
In this case, keep CSTR ON for tdpf or longer. Also provide a minimum interval of 1 Mt after
CSTR turns OFF until it turns ON again.
If the set speed is changed to “0” during movement, the actuator will decelerate to a stop. No
alarm will generate.
Caution
PROFIBUS Gateway
1. Target position data must be set even if you only want to change the acceleration/deceleration or
speed data during movement.
2. Acceleration/deceleration or speed data must be set even if you only want to change the target
position during movement.
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Speed and
acceleration/deceleration
setting
Actuator speed
[1]
[2]
PROFIBUS Gateway
[3]
Speed n3
Speed n2
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PROFIBUS Gateway
(6) Push-motion operation in the numerical specification mode
(Position data, acceleration/deceleration data, speed data, current-limiting value, in-position
band, current position data, DIR, PUSH, CSTR, PEND, MOVE)
A function is provided to operate the actuator in the push-motion mode by writing the position data,
acceleration/deceleration data, speed data, current-limiting value and in-position band directly to the
link registers in the PLC, without using the position table in the controller.
This function is effective when the numerical specification mode is selected.
Function
[1] Set the push-motion start position data in the position data specification register.
[2] Set the speed at which to travel to the push-motion start position in the speed specification
register, and set the corresponding acceleration/deceleration in the acceleration/deceleration
register. Even if acceleration/deceleration is not set, the setting of parameter No. 9, “Default
acceleration/deceleration” will not be applied.
[3] Set the push-motion travel distance (maximum push distance) in the in-position band
specification register. (*)
[4] Set the current-limiting value in the current-limiting value register to set the push force.
[5] Turn the PUSH (push-motion operation mode specification) signal ON.
[6] Select the push direction using the DIR (push direction specification) signal.
If the DIR signal is ON, push-motion operation will be performed in the direction opposite to
the home return operation. If the DIR signal is OFF, push-motion operation will be performed
in the home return direction.
[7] Turn CSTR (start) ON simultaneously or briefly thereafter (≥ 0).
Turn CSTR ON while PEND (positioning complete) is ON or MOVE (moving signal) is OFF.
The data set in [1] through [4] is sent to the controller at the ON edge of CSTR (leading edge
of the signal).
[8] PEND turns OFF tdpf after CSTR has turned ON.
[9] Cause CSTR to turn OFF upon turning OFF of PEND or turning ON of MOVE (moving).
[10] MOVE turns ON the moment PEND turns OFF or within 1 Mt thereafter
[11] PEND turns ON if CSTR is OFF and the motor current has reached the current-limiting value
set in [4] as a result of push-motion operation (push-motion operation has completed).
If the in-position band set in [3] has been reached but the motor current has not yet reached
the current-limiting value set in [4], the PSFL (missed work) signal turns ON
In this case, PEND does not turn ON (the actuator has missed the work).
[12] The current position data is constantly updated.
[13] PUSH and DIR turn OFF upon turning ON of PEND or PSFL.
~ Normal positioning in the push-motion operation enab le mode
During normal positioning in the push-motion operation enable mode, the signal in [5] remains
OFF while the actuator operates. The setting in [4] is not required, either. PEND turns ON if CSTR
is OFF when the remaining travel distance has entered the in-position band specification data set
in [3]. All other steps are the same as those in 5.3.2 (5), “Positioning operation in the numerical
specification mode.”
* Even if in-position band is not set, the setting of parameter No. 10, “Default in-position band” will
not be applied.
.
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Position data
setting
acceleration/deceleration
Speed and
setting
In-position band
setting
Current-limiting
value setting
Current
position
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[10]
PROFIBUS Gateway
[13]
[9]
[11]
[12]
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(7) Position-number specification operation
(Command position number, completed position number, CSTR, PEND, MOVE)
This function is
Function
The actuator is operated by specifying position data in the controller’s position table beforehand,
and specifying a desired position number using the link register in the PLC.
The push-motion operation, speed change operation during move ment, and pitch feed by relative
coordinate specification, are same as the corresponding operations in the PIO mode (using the I/O
cable). Refer to the operation manual for the RCP2 or ERC.
[1] Set the position number in the command position number register.
[2] Turn CSTR (start) ON simultaneously on briefly thereafter (≥ 0).
[3] PEND (positioning complete) turns OFF tdpf after CSTR has turned ON.
[4] Cause CSTR to turn OFF upon turning OFF of PEND or turning ON of MOVE (moving).
[5] MOVE turns ON the moment PEND turns OFF or within 1 Mt thereafter
[6] The completed position number and PEND are output if CSTR is OFF when the remaining travel
distance has entered the range set in controller parameter No. 10, “Default in-position band.”
To read the completed position number after completion of positioning, therefore, wait for an
appropriate time (time needed for the actuator to complete the remaining travel distance) after
PEND has turned ON.
effective when the position-number specification operation mode is selected.
PROFIBUS Gateway
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PROFIBUS Gateway
Command
position number
[1]
[2]
[3]
[4]
Completed
position number
[6]
[5]
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PROFIBUS Gateway
(8) Pause (STP, MOVE)
This function is used to pause the axis while moving.
Function
The STP (pause) signal can be used to stop and restart axis movement. The axis stops moving
while the STP signal is ON.
The relationship of the STP signal and MOVE (moving) signal is shown below.
tdicm ≤ Acceleration/deceleration
tdicp ≤ Yt + 2Mt + Xt + 6 (msec)
(9) Servo on (SON, SV)
This signal is used to set the motor ready.
When the servo is turned on, the SV LED (green) on the front face of the controller will illuminate.
With the ERC2-SE, the LED at the top of the motor unit will illuminate.
The SV (ready) signal is synchronized with the indication of this LED.
Function
The controller servo can be turned on/off using the SON (servo on) signal.
The controller servo remains on and the actuator can be operated while the SON signal is ON.
The relationship of the SON signal and SV signal is shown below.
(10) Home return (HOME, HEND)
a. Standard specification (incremental)
Home return is performed at the ON edge of the HOME (home return) signal (leading edge of the signal).
When the home return has completed, the HEND (home return complete) signal turns ON.
Turn the HOME signal OFF when the HEND signal has turned ON. Even after home return h as been
completed once, another home return can be performed using the HOME signal.
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PROFIBUS Gateway
Caution
1. If, in the position-number specification mode a positioning command to a given position is issued
without performing any home return following the power on, the actuator will perform home return
and then perform the positioning operation. Thereafter, home return will not be performed prior to
each positioning operation.
2. If the aforementioned operation is performed in a mode other than the position-number
specification mode, error code 83, “Alarm home ABS (absolute position movement command
before completion of home return)” will generate.
b. Absolute specification (optional)
With the absolute controller, perform an absolute reset using the teaching pendant or PC software
only once after the controller has been started for the first time. Once an absolute reset is done, you
need not perform home return every time the power is turned on.
This section explains how to use the home return signal to perform an absolute reset.
(Refer to the operation manual for the controller for details on the absolute reset. The ERC2 does not
support the following procedure.)
[1] When the controller power is turned on, the ALM LED (red) on the controller should illuminate.
The alarm (ALM) signal is ON
[2] If the slider or rod is positioned near the home-side mechanical end or home, move it by hand to
the opposite direction until the slider/rod is sufficiently away from the mechanical end or home. If
the actuator is equipped with a brake, release the brake using the brake release switch on the
controller. After the slider/rod has been moved, actuate the brake again.
[3] Turn the reset (RES) signal ON (≥ Mt).
[4] Reset the controller’s emergency stop or turn on the motor drive power. The ALM LED (red) on
the controller should illuminate.
[5] Turn the servo on (SON) signal ON. The RUN LED (green) on the controller will illuminate with
the servo turned on.
The positioning completed (PEND) signal and servo on (SV) signal will be output.
[6] Home return is performed at the ON edge of the home return (HOME) signal (leading edge of the
signal). When the home return has completed, the home return complete (HEND) signal turns ON
and the absolute coordinates are established where the home is defined as the positio n at which
the home return has completed.
Turn the home return (HOME) signal OFF when the home return complete (HEND) signal has
turned ON. Even after home return has been completed once, another home return can be
performed using the home return (HOME) signal.
, and the alarm code (PM8 to PM1) signals output “1101.”
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PROFIBUS Gateway
(11) Zone (ZONE1, ZONE2)
In the position-number specification mode, two zone signals can be output inside arbitrary zo nes set
by parameters.
The ZONE1 (zone 1) signal turns ON inside the zone set by parameter No. 1 (Zone boundary 1+)
and No. 2 (Zone boundary 1-).
The ZONE2 (zone 2) signal turns ON inside the zone set by parameter No. 23 (Zone bo undary 2+)
and No. 24 (Zone boundary 2-).
Caution
1. Zone signals are not supported in any other mode but the position-number specification mode.
2. Use zone signals after home return has completed (while the HEND signal is ON). As long as the
HEND (home return complete) signal is ON, zone signals are effective even when the servo is or
an emergency stop is being actuated.
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PROFIBUS Gateway
5.2.3 Command Transmission
A timing chart of command transmission is given below.
Every time control/status data is exchanged for any of the connected axes in normal operations, the
Gateway Unit analyzes each request command and responds to the command.
The PLC and Gateway perform the following steps:
[1] After confirming zeros in a response command, the PLC application sets the next request command
and data required.
[2] After detecting non-zero data in the request command, the Gateway Unit sends the request data to the
applicable axis.
[3] After receiving a response from the applicable axis, the Gateway outputs a response result.
[4] After checking the response result, the PLC application clears the request command.
[5] After detecting that the request command has been cleared, the Gateway clears the response
command and waits for the next command.
Steps [1] through [5] are repeated in continuous command transmissions.
Output of PLC request
(PLC → GW)
Gateway response
[1]
Response = 0000H
Request command,
data
[2]
Transmission to/from the
controller is performed by
the Gateway
[3]
Response command,
Request = 0000H
[4]
[5]
data
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PROFIBUS Gateway
5.3 System Design
The following settings are required for the Profibus master PLC to communicate with the controller via the
Gateway.
[1] Controller settings for enabling SIO (Modbus) communication between the Gateway Unit and the controller
[2] PLC and Gateway Unit settings for enabling Profibus communication between the PLC and the
Gateway Unit
5.3.1 Settings for Controller Communication
For the controller to be able to communicate with the Gateway, the settings specified below must be
performed.
(1) Set a unique axis number in a range of 0 to 15.
Take note that the range of settable axis numbers varies depending on the operation mode of the
Gateway Unit.
(2) Set parameters
[1] Set parameter No. 16, “SIO baud rate” to “230400” (230.4 kbps).
SIO communication cannot be performed at any other baud rate but 230.4 kbps.
[2] Set parameter No. 17, “Slave transmitter activation minimum delay” to “5” or less.
To turn the communication cycle at the maximum speed, set “0.”
The figure below shows the user parameter setting screen of the PC software.
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PROFIBUS Gateway
5.3.2 Settings for Profibus-DP Communication
For the Gateway Unit to be able to communicate with the master station, the settings specified below must
be performed.
The following items must be consistent between the master station and the Gateway Unit.
{: ON X: OFF
Item Gateway Unit setting PLC master setting
Unit type →
Universal module *1
I/OTYPE → Out-
Input
Address Address setting switch Profibus unit
address
Assignments NO. Mode setting switch SW1 I/O size
4 3 2 1 Output
(bytes)
Input
(bytes)
1 X X X X 52 28 Nu
mer
ical,
4
axe
s
2 X { X X 76 40 Nu
mer
ical,
6
axe
s
3 { X X X 100 52 Nu
mer
ical,
8
axe
s
4
{ {
X
{
124 64 Nu
mer
ical,
10
axe
s
5
{ {
X X 196 100 Nu
mer
ical,
16
axe
s *2
6 X X { X 48 48 PO
S,
16
axe
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7 X X X { 160 160 Sim
8 X { X
{
128 128 Sim
9 { X X { 64 64 Sim
PROFIBUS Gateway
s
ple
dire
ct/p
ositi
onnu
mb
er
spe
cific
atio
n
mo
de,
larg
e
ple
dire
ct/p
ositi
onnu
mb
er
spe
cific
atio
n
mo
de,
mid
dle
ple
dire
ct/p
ositi
onnu
mb
er
spe
cific
atio
n
mo
de,
sm
all
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PROFIBUS Gateway
*1) Multiple modules, each consisting of m/n input/output bytes, may be set without space between the
I/O addresses. If function blocks are used, the head address numbers must be continuous and the
same between input and output sides.
*2) When connecting 10 or more axes, the PLC must be the S7-400 or S7-318-2 (Siemens).
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5.3.3 Creation of Network Configuration
PROFIBUS Gateway
(1) Installing a GDS file
To define the Gateway in the STEP 7’s HW Config screen, the Gateway’s GDS file must be imported
beforehand. The GDS file to be imported is HMS_1003.GDS. This file can be downloaded from IAI’s
website.
<GDS file import>
When the GDS file has been imported successfully, a new level called “ANYBUS-PDP” will be
created in the catalog window of the HW Config screen, as shown below.
<Catalog window showing the imported GDS file>
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PROFIBUS Gateway
(2) Inserting a Profibus-DP mater system
Select a Profibus-DP master and insert it as the master system, as shown below.
<Master system insertion>
When the Profibus-DP master has been inserted successfully, it will be displayed as the master
system, as shown below.
<After the Profibus-DP master system has been inserted>
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PROFIBUS Gateway
(3) Inserting a Gateway rack in the network
Drag and drop “ANYBUS-S PDP” in the catalog window over to the master system and insert it as a
module, as shown below.
The address will be set automatically. To change the address that has been set automatically, do so
in the Properties dialog box. This address must correspond to the address switch setting of the
Gateway, as mentioned earlier
.
<Rack insertion into the network>
(4) Setting the I/O assignments – Inserting a universal module
Insert a
maximum input/output bytes of the universal module are 64 each, another universal module must be
inserted if there are 10 or more axes.
universal module into the rack inserted in the previous step, as shown below. Since the
<Universal module insertion into the rack>
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PROFIBUS Gateway
Double-clicking the inserted universal module will open the Properties dialog box shown below.
Set “Out-input” under I/O Type, and then enter the output length and input length according to the
table in 5.3.2. The example below assumes connection of four axes. The address will be set
automatically, but it can be changed if necessary.
<I/O length settings for the universal module>
Clicking OK will apply the settings to the universal module, as shown below.
<Universal module with its I/O lengths set>
All settings are now complete. You can now download them to the PLC.
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PROFIBUS Gateway
(5) Setting for I/O data consistency
With normal settings, consistency of Profibus IQ data is guaranteed in units of words and bytes. It is
important that each command code and related parameters in the command area are read or written
together.
To ensure consistent data access, an applicable item must be set to ensure data consistency in the
HW Config screen, and data must be accessed using the SFC14 and SFC15.
With command function blocks, the first five words in the command area are accessed using the
SFC14/15. Accordingly, the data consistency setting must be performed in the IQ areas for the
applicable five words, as shown in the example below.
Double-click a desired line
or select Object Properties
in the pull-down menu.
Set “Total length,” instead of a
unit (Byte or Word) under
Consistent over.
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PROFIBUS Gateway
5.3.4 Example of Actual Assignments
After completing the I/O assignments in the preceding sections with all pins of the mode setting switch SW1
set to the OFF positions (numerical, 4 axes), the actual addresses should look like those shown below.
Based on the above, the control signals, status signals, direct specification data and current position
of axis (3) will be addressed as shown in the table below.
Output signal/data name
Target position
Push rate
Speed
Acceleration/deceleration
In-position band
The S7-300 PLC guarantees consistency of I/O image and data at the data width (byte, word or double
words) defined in the program. If data consistency must be guaranteed throughout the I/O areas, one
way is to copy/write the I/O areas to the memory area (M area) using system function blocks SFC14
and SFC15, and then specify the M area in the program.
For details on this method, refer to the applicable document published by HMS:
http://www.anybus.com/eng/upload/AnyBus-S-0012-Siemens%20Step7%20and%20AnyBus-S.pdf
PLC output
Gateway control word 0
Gateway control word 1
Axis (0) target position
Axis (0) push rate
Axis (0) speed
Axis (0) acceleration/deceleration
Axis (0) in-position band
Axis (0) control signal
Axis (1) target position
Axis (1) push rate
Axis (1) speed
Axis (1) acceleration/deceleration
Axis (1) in-position band
Axis (1) control signal
Axis (2) target position
Axis (2) push rate
Axis (2) speed
Axis (2) acceleration/deceleration
Axis (2) in-position band
Axis (2) control signal
Axis (3) target position
Axis (3) push rate
Axis (3) speed
Axis (3) acceleration/deceleration
Axis (3) in-position band
Axis (3) control signal
Address Data length Address Data length Input signal/data
3 bytes
1 byte
3 bytes
1 byte
3 bytes
1 bit
1 bit
1 bit
1 bit
1 bit
1 bit
1 bit
1 bit
Axis (0) status signal
Axis (1) status signal
Axis (2) status signal
Axis (3) status signal
Current position
PLC input
Gateway status word 0
Gateway status word 1
Cannot be used.
Axis (0) current position
Cannot be used.
Cannot be used.
Axis (1) current position
Cannot be used.
Cannot be used.
Axis (2) current position
Cannot be used.
Cannot be used.
Axis (3) current position
Cannot be used.
1 bit
1 bit
1 bit
1 bit
1 bit
1 bit
1 bit
1 bit
3 bytes
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PROFIBUS Gateway
5.4 Supported S7 Function Blocks/Functions
The function blocks/functions provided by IAI allow for easy programming without the need to worry
about detailed I/O assignments. The basic functions provided include this addressing function and a
range check function for certain input parameters.
These function blocks/functions can be utilized only with the Siemens S7 Series. Short sample programs
are provided in the appendix for reference.
The following function blocks/functions are supported.
Name Overview Note
GW CTL ** Start/stop Gateway-controller communication and specify a linked axis.
RC NVC ** Execute movement by numerical specification.
RC ESYNC ** Execute movement by simple numerical spe cificatio n.
RC BCMOVP ** Broadcast a movement start command. *1
RC READ ** Read RC data (POS table data, current position, alarm code). *1
RC WRITE ** Write RC data (POS table data). *1
RC PROM ** Convert position data into ROM. *1
RC PMSL ** Switch between PIO and Modbus. *1
*1) Use only one of these function blocks at a time, as th ey all acce ss the same a rea.
These function blocks control command transmission, but do not monitor the
response time. The response time mu st be mon itored by the applicati on if nec essary.
*2) In the common input parameter LADDR, set the Gateway I/O head addresses
set in HW Config. (The head address numbers must be continuous and the
same between input and output sides. Refer to 5.3.2, “Settings for Profibus-DP
Communication.”) For details on the I/O parameters for each function block,
refer to “Address Assignments.”
*3) All function blocks/functions use address register 1 (AR1). Exercise caution if this
register is used by the application.
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5.4.1 GW_CTL_11
Modbus communication start
Axis configuration definition word
Number of POS mode axes
POS-mode PIO pattern number
Gateway head address
Explanation; This is a function to access Gateway control/status words.
Before calling other function block/function, communication between the Gateway and
the controller must be started using this function. Axis configuration must also be
defined in the Profibus module.
Parameters;
I/O
Input
Parameter
name
MON BOOL Start Gateway-controller communication.
Data
type
Explanation
CFG WORD Specify an axis to be actually configured using a bit
pattern (bit 0 = Axis 0, bit 15 = Axis 15).
NPS INT Number of axes used in the POS-number
specification movement mode. Axis numbers are
assigned from 0 based on this value, and the direct
numerical specification mode becomes effective for
all remaining areas. *1
PPS INT PIO pattern number in the POS-number specification
movement mode *1
LADDR WORD Output Gateway head I/O addresses for output
Output
GW_STS WORD Gateway status word 0 is output.
LNKS WORD Gateway status word 1 is output.
10 Initial version. Change history;
11 Added the input parameters NPS and PPS.
Note; *1 This setting is effective only when the mode setting switch is set to 0x1, 0x5
and 0x9.
PROFIBUS Gateway
Gateway status
Axis link status
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PROFIBUS Gateway
5.4.2 RC_NVC_11
Push-motion operation
Acceleration/deceleration
Gateway head address
Move request
Servo on
Home return
Push direction
Pause
Alarm reset
Target position
Speed
In-position band
Push rate
Axis number
Explanation; SV, VELO, ADCC, INP and PROW are transferred from the Gateway to the controller at the
leading edge of MREQ, and executed. Other parameters are always effective when this function
block is called. For example, even if MREQ is OFF, calling this function block during home return
will change the applicable output parameters in accordance with the home return operation.
Parameters;
I/O
Input
Output
10 Initial version. Change history;
11 Corrected the ENO control method.
Parameter
name
MREQ BOOL
SON BOOL Servo on command
HOME BOOL Home return command
PUSH BOOL Push mode, if TRUE
DIR BOOL Push direction (0 = Home return direction, 1 = Opposite to
STOP BOOL Pause command
ALMRS BOOL Alarm reset command
SV DINT Target position (Set value)
SPEED DINT Speed
ADCC INT Acceleration/deceleration
INP DINT In-position band (Push band, if PUSH is ON)
PPOW WORD Push rate (Effective, if PUSH is ON)
LADDR INT Gateway head I/O address
AXIS INT Axis number (0 to 15)
RDY BOOL Controller ready
SERVO BOOL Servo status
HEND BOOL Home return status
ALM BOOL Alarm status
EMG BOOL Emergency stop status
DONE BOOL One pulse is output upon completion of movement (PEND or
MOVE BOOL Moving, if TRUE
AERR WORD The value of AXIS exceeds 15 or negative, or LADDR is negative.
PV DINT Current position (Process value)
Changed the order of parameters to minimize the instance memory.
Data
type
Explanation
Issue a movement request upon FALSE → TRUE.
home return direction)
PSFL leading edge pulse).
Controller ready
Servo status
Home return status
Alarm status
Emergency stop status
Movement complete pulse
Moving
Address error
Current position
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PROFIBUS Gateway
5.4.3 RC_ESYNC_00
Movement parameter number
Gateway head address
Explanation; SV and PARA_N are transferred from the Gateway to the controller at the leading
Parameters;
Change history; 00 Initial version.
Move request
Servo on
Home return
Target position
Controller ready
Servo status
Home return status
Alarm status
Emergency stop status
Pause
Alarm reset
Movement complete pulse
Movement start pulse
Current position
Axis number
Address error
edge of MREQ, and executed. Other parameters are always effective when this
function block is called. For example, even if MREQ is OFF, calling this function block
during home return will change the applicable output parameters in accordance with
the home return operation.
I/O
Input
Parameter
name
MREQ BOOL
Data
type
Explanation
Issue a movement request upon FALSE → TRUE.
SON BOOL Servo on command
HOME BOOL Home return command
SV DINT Target position (Set value)
PARA_N INT Movement parameter (POS) number
STOP BOOL Pause command
ALMRS BOOL Alarm reset command
LADDR INT Gateway head I/O address
AXIS INT Axis number (0 to 15)
Output
RDY BOOL Controller ready
SERVO BOOL Servo status
HEND BOOL Home return status
ALM BOOL Alarm status
EMG BOOL Emergency stop status
DONE BOOL One pulse is output upon completion of movement
(PEND or PSFL leading edge pulse).
MVES BOOL Movement start pulse
(PEND or PSFL trailing edge pulse).
PV DINT Current position (Process value)
AERR WORD The value of AXIS exceeds 15 or negative, or LADDR is
negative.
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PROFIBUS Gateway
5.4.4 RC_BCMOVP_00
Move request
Gateway head address
POS number
Group number
Explanation; The Gateway broadcasts the start command for the specified POS to the specified
group at the leading edge of REQ. The execution complete pulse of this function
block indicates that issuance of this command has completed, not that movement of
each axis has completed.
To check if each axis has completed its movement, check the status bit of each axis.
Parameters;
I/O
Input
Parameter
name
REQ BOOL
Data
type
Explanation
Issue an execution request upon FALSE → TRUE.
POS WORD Position number value. Settable values vary
depending on the axis.
GROUP BYTE Group ID number
LADDR WORD Gateway head I/O address
Output
DONE BOOL One pulse is output upon completion of command
issuance.
BUSY BOOL The command is being issued.
RESULT WORD Command
issuance result
code;
0000H Successful
0102H Invalid POS number
0103H Invalid command
0201H Communication failed
0202H Exceptional response
Note; 1 This function block uses the SFC14/15. Consistency setting is required for
data corresponding to the first five words in the command area.
Change history; 00 Initial version.
Issuance complete pulse
Executing
Result code
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PROFIBUS Gateway
5.4.5 RC_READ_00
Gateway head address
Explanation; The data specified by POS and DATA_ID is read from the specified axis at the leading
Parameters;
Change history; 00 Initial version.
Read request
Position number
Data type ID
Complete pulse
Executing
Result code
Read data
Axis number
edge of REQ. The input parameter POS is effective only when the data type ID is one
that relates to the POS table.
I/O
Input
Parameter
name
REQ BOOL
Data
type
Explanation
Issue an execution request upon FALSE → TRUE.
POS INT Position number value. Settable values vary
depending on the axis.
DATA_ID INT Data type ID;
0 Target position (unit: 0.01 mm)
1 In-position band (unit: 0.01 mm)
2 Speed (unit: 0.01 mm/s)
3 Each zone+ (unit: 0.01 mm)
4 Each zone- (unit: 0.01 mm)
5 Acceleration (unit: 0.01 G)
6 Deceleration (unit: 0.01 G)
7 Push rate (FFH = 100%)
8 Threshold % (FFH = 100%)
128 Current value
129 Alarm code
LADDR WORD Gateway head I/O address
AXIS BYTE Axis number (0 to 15)
Output
DONE BOOL One pulse is output upon completion of command
issuance.
BUSY BOOL The command is being issued.
RESULT WORD Command
issuance
result code;
0000H Successful
0102H Invalid POS number
0103H Invalid command
0201H Communication failed
0202H Exceptional response
1000H Invalid axi s nu m b e r o r d a t a I D
DATE DWORD Read data
Note; 1 This function block uses the SFC14/15. Consistency setting is required for
data corresponding to the first five words in the command area.
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5.4.6 RC_WRITE_00
Gateway head address
Explanation; The data specified by POS and DATA_ID is written to the specified axis at the leading
Parameters;
Change history; 00 Initial version.
Write request
Position number
Data type ID
Complete pulse
Executing
Result code
Write data
Axis number
edge of REQ.
I/O
Input
Parameter
name
REQ BOOL
Data
type
Explanation
Issue an execution request upon FALSE → TRUE.
POS INT Position number value. Settable values vary
depending on the axis.
DATA_ID INT Data type ID;
0 Target position
1 In-position band
2 Speed
3 Each zone+ (DATA: unit: 0.01 mm)
4 Each zone- (DATA: unit: 0.01 mm)
5 Acceleration (DATA: uni t: 0.01 G)
6 Deceleration (DATA: uni t: 0.01 G)
7 Push rate (DATA: FFH = 100%)
8 Threshold % (DATA: FFH = 100%)
DATA DWORD Write data
LADDR WORD Gateway head I/O address
AXIS BYTE Axis number (0 to 15)
Output
DONE BOOL One pulse is output upon completion of command
issuance.
BUSY BOOL The command is being issued.
RESULT WORD Command
issuance
result code;
0000H Successful
0102H Invalid POS number
0103H Invalid command
0201H Communication failed
0202H Exceptional response
1000H In v a l id a x i s n u m b e r o r d a t a I D
Note; 1 This function block uses the SFC14/15. Consistency setting is required for
data corresponding to the first five words in the command area.
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5.4.7 RC_PROM_00
ROM conversion request
Gateway head address
Axis number
Complete pulse
Explanation; A ROM conversion command is issued for the POS data of the specified axis at the leading edge of REQ.
Parameters;
Note; 1 This function block uses the SFC14/15. Consistency setting is required for data corresponding to
Change history; 00 Initial version.
I/O
Input
Output
Parameter
name
REQ BOOL
LADDR WORD Gateway head I/O address
AXIS BYTE Axis number (0 to 15)
DONE BOOL One pulse is output upon completion of command issuance.
BUSY BOOL The command is being issued.
RESULT WORD Command issuance result
the first five words in the command area.
Data type Explanation
Issue an execution request upon FALSE → TRUE.
code;
0000H Successful
0103H Invalid command
0201H Communication failed
0202H Exceptional response
1000H Invalid axis number
5.4.8 RC_PMSL_00
Control authority switching request
PIO/Modbus switching specification
Gateway head CH number
Axis number
Explanation; PIO/ M o db u s switching is implement e d fo r th e sp e cif i e d a x i s by PMSL at th e l ea d in g ed g e of RE Q .
Parameters;
Note; 1 This function block uses the SFC14/15. Consistency setting is required for data corresponding to
Change history; 00 Initial version.
I/O
Input
Output
Parameter
name
REQ BOOL
LADDR UNIT Gateway head I/O address
AXIS UNIT Axis number (0 to 15)
DONE BOOL One pulse is output upon completion of command issuance.
BUSY BOOL The command is being issued.
RESULT WORD Command issuance result
the first five words in the command area.
Data type Explanation
Issue an execution request upon FALSE → TRUE.
specification
code;
0 PIO (Enable PIO command) PMSL BOOL PIO/Modbus switching
1 Modbus (Disable PIO command)
0000H Successful
0102H Invalid POS number
0103H Invalid command
0201H Communication failed
0202H Exceptional response
Executing
Result code
Complete pulse
Executing
Result code
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Appendix 1. Sample Programs for S7-300
Example of Using RC_NVC_11 and GW_CTL_11
Online status is checked from the STS_W, LNK_W and RC_NVC_11 (instance name: NC0) outputs.
The next target position is controlled based on the movement
completion pulse (NC0.DONE) output by a FB.
The target position changes in the sequence of x0p1 → x0p2 →
x0p3 → x0p1, …, every time the NC0.DONE pulse is input.
#AnyON is always ON.
GW/controller communication starts (MON).
Axis 0 is configured (W#16#1).
The Gateway I/O head addresses are “0.”
Servo on delay timer
Homing delay timer
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Step1 movement data set (push motion)
Target position: 30.00 mm Speed: 100.00 mm/s
Acceleration/deceleration: 0.2 Push band: 20.00 mm Push rate: 49% (7F / FF)
Step2 movement data set (normal movement)
Target position: 20.00 mm Speed: 100.00 mm/s
Acceleration/deceleration: 0.2 Positioning band: 00.10 mm Push rate: 0%
Step3 movement data set (normal movement)
Target position: 00.00 mm Speed: 100.00 mm/s
Acceleration/deceleration: 0.2 Positioning b and: 00.10 mm Push rate: 0%
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