IAI RoboNet Operation Manual

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Page 1

Operation Manual Forth Edition

ROBONET

Page 2

CAUTION

24-V Power Supply to Be Certified For UL Standards

Please see below for the 24-V power supply condition for UL certification.

• For UL certification, class2 power supply is required based on NEC NFPA 79 (Electrical Standard for Industrial Machinery).

• If a single class2 power supply unit is insufficient to provide enough power, use multiple class2 power supply units.

At that time, follow the (example) below for the wiring layout. Also, 0-V line to each power supply is required to be common.

Simple absolute R unit

R unit

unit unit unit unit unit

Power Supply

Page 3

CAUTION

Teaching pendant

PC, etc.

Do not connect the FG.

Do not connect the FG of the PC to ground. If the FC may be connected to ground through other COM port, disconnect the communication cable from the applicable COM port.

PC software

RS232 connection type <Model: RCM-101-MW> USB connection type <Model: RCM-101-USB>

* The cable is supplied with the PC software.

SIO converter (optional) (with built-in terminal resistor) Model: RCB-TU-SIO-A (B)

* One e-CON connector, one junction and one

terminal resistor are supplied with one controller link cable.

e-CON connector (3-1473562-4 by AMP) Junction (5-1473574-4 by AMP)

GateWay

R unit

Terminal resistor

Controller link cable Model: CB-RCB-CTL002

24-V power supply

Notes on Connecting PC and Teaching Pendant to ROBONET Whose 24-V Power Supply Is Grounded at Positive Terminal

If the positive terminal of the ROBONET’s 24-V power supply is grounded, use a SIO converter as shown below

to connect a teaching pendant or PC to the GateWayR unit. At this time, do not connect the FG of the SIO converter.

Page 4

CAUTION

If the positive terminal of the ROBONET’s 24-V power supply is grounded, a teaching pendant or PC cannot be connected directly to the GateWayR unit. If a teaching pendant or PC is connected directly to the GateWayR unit, the power supply may be short-circuited, causing the PC or teaching pendant to suffer damage.

Cannot be connected directly.

GateWay R unit

This teaching pendant cannot be used.

24-V power supply

Page 5

Introduction

Thank you for purchasing IAI’s ROBONET. “ROBONET” is a general term for dedicated single-axis controllers used in a field network environment and characterized by their ultra-compact size, wire-saving features, and easy installation. This manual provides the information you need to know to use the ROBONET. Before using your ROBONET, peruse this manual and understand its contents fully.

• Unauthorized reproduction of this manual, whether in part or in whole, is strictly prohibited.

• The information provided in this manual is subject to change without notice for the sake of improvement.

• This manual has been created with the utmost attention to accuracy. Should you find any error, however, or have any

comment, please contact IAI.

Page 6

Safety precautions

Safety Precautions (Please read before using the product.)

Carefully read this operation manual before using the product. In this operation manual, safety instructions are classified into “Danger,” “Warning,” “Caution” and “Note” as shown below.

Level Degree or danger/damage Symbol

Danger

Failure to observe the instruction will result in an imminent danger leading to death or serious injury.

Danger

Warning

Failure to observe the instruction may result in death or serious injury.

Warning

Caution

Failure to observe the instruction may result in injury or property damage.

Caution

Note

The user should take heed of this information to ensure the proper use of the product, although failure to do so will not re sult in injury.

Note

Also note that this product cannot be used in any way not described in this operation manual. IAI shall not assume any liability for unwanted outcomes of operations not described herein.

Page 7

Safety precautions

The safety precautions pertaining to this product are listed below.

NO. Task Precautions

1 Model selection z This product is not planned or designed for uses requiring high degrees of safety.

Accordingly, it cannot be used to sustain or support life and must not be used in the following applications: [1] Medical devices relating to maintenance, management, etc., of life or health [2] Mechanisms or mechanical devices (vehicles, railway facilities, aircraft facilities, etc.)

intended to move or transport people

[3] Important safety parts in mechanical devices (safety devices, etc.)

z Do not use this product in the following environments:

[1] Place subject to flammable gases, ignitable objects, flammables, explosives, etc. [2] Place that may be exposed to radiation [3] Place where the surrounding air temperature or relative humidity exceeds the specified

range [4] Place subject to direct sunlight or radiated heat from large heat sources [5] Place subject to sudden temperature shift and the formation of moisture. [6] Place subject to corrosive gases (sulfuric acid, hydrochloric acid, etc.) [7] Place subject to excessive dust, salt or iron powder [8] Place where the product receives direct vibration or impact

z Do not use this product outside the specified ranges. Doing so may significantly shorten the

life of the product or result in product failure or facility stoppage.

2 Transportation z When transporting the product, exercise due caution not to bump or drop the product.

z Use appropriate means for transportation. z Do not step on the package. z Do not place on the package any heavy article that may deform the package. z When using a crane capable of 1t or more of weight, have an operator who has

qualifications for crane operation and sling work.

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

more than the equipment’s limit.

z Use a hook that suits for the load. Consider the safety factor of the hook in such factors as

shear strength.

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

3 Storage and

Preservation

z The storage and preservation environment should conform to the installation environments.

Among others, be careful not to cause the formation of moisture. (1) Installing the robot, controller, etc.

z Be sure to firmly secure and affix the product (including its loads).

If the product tips over, drops, malfunctions, etc., damage or injury may result.

z Do not step on the product or place any article on top. The product may tip over or the

article may drop, resulting in injury, product damage, loss of/drop in product function, shorter life, etc.

z If the product is used in any of the following places, provide sufficient shielding measures:

[1] Place subject to electrical noise [2] Place subject to a strong electric or magnetic field [3] Place where power lines or drive lines are wired nearby [4] Place subject to splashed water, oil or chemicals

4 Installation/startup

(2) Wiring the cables

z Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool,

etc.

z Do not damage, forcibly bend, pull, loop around an object or pinch the cables or place

heavy articles on top. Current leak or poor electrical continuity may occur, resulting in fire, electric shock or malfunction.

z Wire the product correctly after turning off the power. z When wiring a DC power supply (+24 V), pay attention to the positive and negative

polarities. Connecting the wires in wrong polarities may result in fire, product failure or malfunction.

Page 8

Safety precautions

NO. Task Precautions

z Securely connect the cable connectors in a manner free from disconnection or looseness.

Failure to do so may result in fire, electric shock or product malfunction.

z Do not cut and reconnect the cables of the product to extend or shorten the cables. Doing

so may result in fire or product malfunction. (3) Grounding

z Be sure to provide class D (former class 3) grounding for the controller. Grounding is

required to prevent electric shock and electrostatic charges, improve noise resistance and suppress unnecessary electromagnetic radiation.

4 Installation/startup

(4) Safety measures

z Implement safety measures (such as installing safety fences, etc.) to prevent entry into the

movement range of the robot when the product is moving or can be moved. Contacting the moving robot may result in death or serious injury.

z Be sure to provide an emergency stop circuit so that the product can be stopped

immediately in case of emergency during operation.

z Implement safety measures so that the product cannot be started only by turning on the

power. If the product starts suddenly, injury or product damage may result.

z Implement safety measures so that the product will not start upon cancellation of an

emergency stop or recovery of power following a power outage. Failure to do so may result in injury, equipment damage, etc.

z Put up a sign saying “WORK IN PROGRESS. DO NOT TURN ON POWER,” etc., during

installation, adjustment, etc. If the power is accidently turned on, electric shock or injury may result.

z Implement measures to prevent the loads, etc., from dropping due to a power outage or

emergency stop.

z Ensure safety by wearing protective gloves, protective goggles and/or safety shoes, as

necessary.

z Do not insert fingers and objects into openings in the product. Doing so may result in injury,

electric shock, product damage, fire, etc.

5 Teaching z Whenever possible, perform teaching from outside the safety fences. If teaching must be

performed inside the safety fences, prepare “work rules” and make sure the operator understands the procedures thoroughly.

z When working inside the safety fences, the operator should carry a handy emergency stop

switch so that the operation can be stopped any time when an abnormality occurs.

z When working inside the safety fences, appoint a safety watcher in addition to the operator

so that the operation can be stopped any time when an abnormality occurs. The safety watcher must also make sure the switches are not operated inadvertently by a third party.

z Put up a sign saying “WORK IN PROGRESS” in a conspicuous location. * Safety fences --- Indicate the movement range if safety fences are not provided.

6 Confirmation

operation

z After teaching or programming, carry out step-by-step confirmation operation before

switching to automatic operation.

z When carrying out confirmation operation inside the safety fences, follow the specified work

procedure just like during teaching.

z When confirming the program operation, use the safety speed. Failure to do so may result

in an unexpected movement due to programming errors, etc., causing injury.

z Do not touch the terminal blocks and various setting switches while the power is supplied.

Touching these parts may result in electric shock or malfunction.

Page 9

Safety precautions

NO.

7 Automatic operation z Before commencing automatic operation, make sure no one is inside the safety fences.

z Before commencing automatic operation, make sure all related peripherals are ready to

operate in the auto mode and no abnormalities are displayed or indicated.

z Be sure to start automatic operation from outside the safety fences. z If the product generated abnormal heat, smoke, odor or noise, stop the product

immediately and turn off the power switch. Failure to do so may result in fire or product damage.

z If a power outage occurred, turn off the power switch. Otherwise, the product may move

suddenly when the power is restored, resulting in injury or product damage.

8 Maintenance/

inspection

z Whenever possible, work from outside the safety fences. If work must be performed inside

the safety fences, prepare “work rules” and make sure the operator understands the procedures thoroughly.

z When working inside the safety fences, turn off the power switch, as a rule. z When working inside the safety fences, the operator should carry a handy emergency stop

switch so that the operation can be stopped any time when an abnormality occurs.

z When working inside the safety fences, appoint a safety watcher in addition to the operator

so that the operation can be stopped any time when an abnormality occurs. The safety watcher must also make sure the switches are not operated inadvertently by a third party.

z Put up a sign saying “WORK IN PROGRESS” in a conspicuous location. z Use appropriate grease for the guides and ball screws by checking the operation manual

for each model.

z Do not perform a withstand voltage test. Conducting this test may result in product damage. * Safety fences --- Indicate the movement range if safety fences are not provided.

9 Modification z The customer must not modify or disassemble/assemble the product or use maintenance

parts not specified in the manual without first consulting IAI.

z Any damage or loss resul ting from the above actions will be excluded from the scope of

warranty.

10 Disposal z When disposing of the product after it has become no longer usable or necessary, dispose

of it properly as an industrial waste.

z When disposing of the product, do not throw it into fire. The product may explode or

generate toxic gases.

Page 10

CE Mark

1. EC Directives

The EC Directives are a new set of directives issued by the European Commission that are intended to protect the health and safety of users and consumers of products distributed within the EU (European Union) zone, while ensuring free movements of these products within the EU zone. Companies exporting to Europe or having a production facility in Europe must comply with the following directives in order to receive a CE Mark certification for their products.

The ROBONET is designed to comply with the Low Voltage Directive on its own. As for the EMC Directives, we determine connection/installation models (conditions) for controllers, actuators and peripherals and ensure compliance of these models with the related standards under the EMC Directives.

2. Applicable Standards

<Low-voltage Directive>

EN50178 (Electronic equipment used in electrical installations)

EN55011 (Radio interference characteristics of industrial, scientific and medical equipment generating radio

frequency) EN61000-6-2 (Immunity in industrial environment) EN61000-4-2 (Immunity to electrostatic discharge) EN61000-4-3 (Immunity to electromagnetic field generated by irradiated radio frequency) EN61000-4-4 (Electrical first transient/burst immunity test) EN61000-4-5 (Surge immunity test) EN61000-4-6 (Immunity test against conductive interference induced by radio-frequency electromagnetic field) EN61000-4-8 (Immunity test against power-frequency magnetic field) EN61000-4-11 (Immunity test against voltage dip, momentary power failure and voltage fluctuation)

Page 11

CE Mark

Use Environment Item Standard Remarks

Overvoltage category II Pollution degree II Protection code IP 20 Protection class *1 I Altitude 2000 m or less

*1) Protection class I device

A device in which additional safety measures are taken against electric shock, without depending solely on the basic insulation, by connecting conductors that may become contactable should the basic insulation fail to a protective grounding conductor of a fixed cable of the facility. In other words, a protection class I device refers to a device for which grounding connection is required.

Page 12

CE Mark

100 or 200-VAC power supply bus

Control panel

Field network cable

PLC

master

Clamp filter

Circuit

breaker

Earth leakage breaker

24-VDC

power supply

Surge

protector

Network

connector

Power-

supply

terminal

FG ground

ROBONET

controller

Encoder cable

Actuator

Motor cable

Actuator

Encoder cable

Motor cable

3. Configuration of Peripherals

(1) Environment

Use the ROBONET in an environment of pollution degree 1 or 2 as specified in IEC 60664-1. Example) Install it in a control panel constructed to shut off water, oil, carbon, dust, etc. (IP54).

(2) Power supply

A) Use the ROBONET in an environment of overvoltage category II as specified in IEC 60664-1. Accordingly, be sure to

install a circuit breaker between the power distribution board and ROBONET controller.

B) For the 24-VDC power supply, use a (SELV) power supply bearing a CE Mark with reinforced insulation of

inputs/outputs.

(3) Grounding

Be sure to connect the protective grounding terminal $$ of the ROBONET with the protective earth (grounding plate) of the control panel to prevent electric shock.

(4) Earth leakage breaker

Install an inverter earth leakage breaker on the primary side of the ROBONET.

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CE Mark

(5) Clamp filter

Install clamp filters of the following type on the field network cable, motor cable and encoder cable. Install them immediately near the cable connectors on the controller unit. One clamp filter is required for each gateway unit, and two for each controller unit. On the field network cable, install each clamp filter by looping it twice around the cable.

Manufacturer: TDK Corp. Model: ZCAT3035-1330

External View of Clamp Filter

Shape/dimensions (mm)

Shape/dimensions ZCAT type

Page 14

CE Mark

(6) Surge protector

Install a surge protector on the primary side of the 24-VDC power supply to protect the equipment from surge noise generated by lightning, etc.

Manufacturer: Okaya Electric Model: ZCAT3035-1330

External View of Surge Protector

(7) Cables

Take note that cables are also subject to various limitations. A) All cables connected to the ROBONET, such as the motor cable, encoder cable and various network cables, must

be less than 30 m long.

B) For the CC-Link cable, use a dedicated Version 1.10 cable (terminal resistance: 110 Ω).

BWZ series

Page 15

Warranty

The ROBONET you have purchased passed our strict outgoing inspection. This unit is covered by the following warranty: The details of the warranty are described below.

(1) Warranty Period

The warranty period ends upon either of the following, whichever occurs first:

• 18 months after shipment from our factory

• 12 months after delivery to a specified location

(2) Scope of Warranty

The warranty covers only the IAI product you have purchased. If the product fails due to a defective material or poor workmanship during the above warranty period despite use in a proper condition, we will provide a replacement unit or repair the failed product free of charge. Note, however, that the following items are not covered by the warranty: [1] Problem resulting from handling or use of the product under any condition or environment not specified in the catalog

or operation manual [2] Problem due to use of any product not manufactured by IAI [3] Problem resulting from alteration or repair not performed by IAI or its sales agent [4] Problem that was unforeseeable based on the science or technology available when the product was shipped from

IAI [5] Problem resulting from an act of God, natural disaster, accident or any other event beyond the control of IAI [6] Natural fading of paint or other deterioration normally expected over time [7] Wear of consumable parts due to use [8] Noise and other perceptive phenom ena that do not affect the function of the facility

The warranty only covers the product as delivered. IAI is not responsible for any losses arising from a defect in the delivered product. The customer must hand-carry the product to IAI’s factory to receive repair.

(3) Limited Liability

IAI shall bear no responsibility for any special damage, in direct loss or passive loss arising from IAI’s product.

(4) Scope of service

The price of the delivered product does not include costs of programming, dispatching engineers, etc. Accordingly, separate fees will be charged for the following services even during the warranty period:

• Guidance on installation/adjustment and witnessing of trial operation

• Maintenance/inspection

• Technical guidance and training on operating/wiring procedures, etc.

• Technical guidance and training on programming and other items relating to programs

• Other services and tasks specified by IAI as chargeable

Page 16

Warranty

Related manuals

• PC Software RCM-101-** Operation Manual

• RCM-* Teaching Pendant Operation Manual

• ROBO CYLINDER Series – Serial Communication [Modbus Version] Operation Manual

• Touch Panel Display RCM-PM-01 Operation Manual (Not sold in the US market)

Manual revision history

[1] August 2008– First edition Integration of the ROBONET Operation Manual “Specification,” ROBONET

Operation Manual “Startup/Maintenance” and operation manual of the ROBONET

extension unit [2] F ebruary 2009– Second edition Addition of UL standards application page [3] March 2009– Third edition Change in Gateway Parameter Setting Tool

Page 17

Table of Contents

Introduction Safety Precautions CE Mark Warranty Related manuals

Manual revision history

Part 1 Specification........................................................................................1

Chapter 1 Overview of ROBONET ........................................................................ ... ....... ... ... ... ...... ... ... .... . ..1

1.1 Overview.....................................................................................................................................................1

1.2 Features......................................................................................................................................................2

Chapter 2 System Configuration and General Specifications.................................................................6

2.1 System Configuration..................................................................................................................................6

2.2 List of Component Units..............................................................................................................................6

2.3 General Specifications................................................................................................................................9

2.4 24-V Power Current Consumption of Each Unit..........................................................................................9

2.5 Connection Diagram .................................................................................................................................11

Chapter 3 GateWayR unit..........................................................................................................................12

3.1 Overview...................................................................................................................................................12

3.3 GateWayR unit and Accessories...............................................................................................................13

3.4 General Specifications..............................................................................................................................14

3.4.1 CC-Link.........................................................................................................................................14

3.4.2 DeviceNet.....................................................................................................................................16

3.4.3 PROFIBUS ...................................................................................................................................17

3.4.4 RS485 SIO....................................................................................................................................18

3.5 Name/Function of Each Part and External Dimensions ............................................................................19

3.5.1 Name of Each Part........................................................................................................................19

3.5.2 LED Indicators..............................................................................................................................20

3.5.3 MODE Switch ...................................................................... .........................................................22

3.5.4 TP Connector................................................................................................................................22

3.5.5 User Setting Switches...................................................................................................................22

3.5.6 ROBONET Communication Connector.........................................................................................22

3.5.7 Power-supply Input Terminal Block ..............................................................................................22

3.5.8 FG Terminal (Frame Ground).......................................................................................................23

3.5.9 EMG Connector (Emergency Stop) ..............................................................................................23

3.5.10 Field Network Connector..............................................................................................................25

3.5.11 External Dimensions .....................................................................................................................29

3.6 Operation Function List.............................................................................................................................30

3.7 Address Configuration...............................................................................................................................32

3.7.1 Examples of Overall Address Configuration.................................................................................33

(1) CC-Link ................................................................................................................................33

(2) DeviceNet.............................................................................................................................36

(3) PROFIBUS...........................................................................................................................38

(4) RS485SIO............................................................................................................................40

3.7.2 Gateway Control/Status Signals...................................................................................................42

3.7.3 Command Area.............................................................................................................................44

3.7.4 Position Table...............................................................................................................................52

3.7.5 Assignments in the Positioner 1 Mode or Simple Direct Mode .....................................................59

3.7.6 Assignments in the Direct Numerical Specification Mode.............................................................63

3.7.7 Assignment in Positioner 2 Mode .................................................................................................68

3.7.8 Solenoid valve mode 1..................................................................................................................69

3.7.9 Solenoid valve mode 2..................................................................................................................71

Page 18

Table of Contents

3.8 I/O Signals ................................................................................................................................................73

3.8.1 I/O Signal Timings ........................................................................................................................73

3.8.2 I/O Signal Functions......................................................................................................................74

3.8.3 Basic Operation Timings...............................................................................................................85

3.8.4 Other Basic Operations.................................................................................................................97

3.8.5 Command Transmission.............................................................................................................109

3.9 Modbus Gateway Mode of RS485 SIO...................................................................................................110

3.9.1 Overview.....................................................................................................................................110

3.9.2 Modbus/RTU Protocol Specification...........................................................................................111

3.9.9 Protocol Format ..........................................................................................................................115

3.9.3.1 Gateway Address Map...............................................................................................115

3.9.3.2 Query List...................................................................................................................117

3.9.3.3 Read Holding Registers (Query using FC = 03H).......................................................119

3.9.3.4 Preset Single Register (Query using FC = 06H).........................................................130

3.9.3.5 Preset Multiple Registers (Query using FC = 10H).....................................................147

3.9.4 Function Block............................................................................................................................165

3.9.4.1 Dedicated ROBONET Function Block........................................................................165

3.9.4.2 What Is A Function Block? .........................................................................................176

Chapter 4 Controller Unit.................................................................................... .....................................180

4.1 Overview.................................................................................................................................................180

4.1.1 Features......................................................................................................................................180

4.1.2 How to Read the Model Name....................................................................................................180

4.2 Basic Specifications................................................................................................................................182

4.3 Name/Function of Each Part and External Dimensions. .........................................................................183

4.3.1 Name of Each Part......................................................................................................................183

4.3.2 LED Indicators............................................................................................................................184

4.3.3 Brake Release Switch.................................................................................................................186

4.3.4 User Setting Switches.................................................................................................................186

4.3.5 Axis Number Setting Switch........................................................................................................186

4.3.6 ROBONET Communication Connector.......................................................................................187

4.3.7 Simple Absolute R Unit Connector..............................................................................................187

4.3.8 Power-supply Input Terminal Block ............................................................................................187

4.3.9 Motor Cable Connector...............................................................................................................189

4.3.10 Encoder Cable Connector...........................................................................................................190

4.3.11 External Dimensions ...................................................................................................................191

4.4 Parameters .............................................................................................................................................192

4.4.1 Parameter List ............................................................................................................................192

4.4.2 Parameters Relating to Actuator Stroke......................................................................................194

4.4.3 Parameters Relating to Actuator Operating Characteristics........................................................196

4.4.4 Parameters Relating to External Interface..................................................................................206

4.4.5 Parameters Relating to Servo Gain Adjustment .........................................................................207

4.5 Notes on ROBO Rotary...........................................................................................................................210

4.6 Notes on ROBO Gripper.........................................................................................................................212

Chapter 5 Simple Absolute R Unit.................................................. ... .... ... ...... ... ... ... ....... ... ... ... ...... ... ... ...214

5.1 Overview.................................................................................................................................................214

5.2 How to Read the Model Name................................................................................................................ 215

5.3 Specifications..........................................................................................................................................216

5.3.1 General Specifications................................................................................................................216

5.3.2 Backup Battery ...........................................................................................................................217

5.4 Name/Function of Each Part and External Dimensions ..........................................................................218

5.4.1 Name of Each Part......................................................................................................................218

5.4.2 Functions....................................................................................................................................219

5.4.3 External Dimensions...................................................................................................................222

5.5 Notes ...................................................................................................................................................223

Chapter 6 Extension unit.......................................................................................................... ...............224

6.1 Overview.................................................................................................................................................224

6.2 Specifications..........................................................................................................................................225

6.3 Product Configuration .............................................................................................................................226

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Table of Contents

6.4 Name of Each Part and External Dimensions .........................................................................................230

6.4.1 Name of Each Part......................................................................................................................230

6.4.2 External Dimensions...................................................................................................................231

Part 2 Startup..............................................................................................232

Chapter 1 Overview................................................. ...................................................................... ...........232

1.1 Required Tools........................................................................................................................................232

1.2 Startup Procedure...................................................................................................................................233

Chapter 2 Mounting and Installation......................................................................................................234

2.1 Installation...............................................................................................................................................234

2.1.1 Important Information and Items to Note.....................................................................................234

2.1.2 Mounting on a DIN Rail...............................................................................................................238

2.1.3 Interconnecting Multiple Units.....................................................................................................240

2.1.4 Installing in a Control Panel........................................................................................................242

2.2 Wiring ...................................................................................................................................................243

2.2.1 Wiring the Power Supply.............................................................................................................243

2.2.2 Grounding Wire...........................................................................................................................245

2.2.3 EMG Connector..........................................................................................................................245

2.2.4 Motor Cable and Encoder Cable.................................................................................................246

2.2.5 Multi-stage ROBONET Layout....................................................................................................248

2.2.6 External SIO Link of ROBONET.................................................................................................250

2.2.7 Emergency Stop Circuit..............................................................................................................253

2.2.8 Network Wiring ...........................................................................................................................256

(1) CC-Link ..............................................................................................................................256

(2) DeviceNet...........................................................................................................................257

(3) PROFIBUS-DP ...................................................................................................................259

(3) RS485SIO..........................................................................................................................261

2.2.9 How to Connect Teaching Tool When Grounding Positive Terminal of 24-V Power Supply.......262

Chapter 3 Controller Address Setting............................................................... ................... ..................263

Chapter 4 Absolute Reset............................................................................. ...........................................264

4.1 Overview of Simple Absolute System.....................................................................................................264

4.2 Setting the Configuration Switches.........................................................................................................265

4.3 Connecting the Backup Battery...............................................................................................................267

4.4 Setting the Parameters...........................................................................................................................267

4.5 Performing an Absolute Reset................................................................................................................267

4.5.1 Performing an Absolute Reset in the PC Software.....................................................................267

4.5.2 Performing an Absolute Reset from the Host..............................................................................269

Chapter 5 Network Setup.........................................................................................................................270

5.1 How to Use the ROBONET Gateway Parameter Setting Tool................................................................270

5.1.1 Operating Environment...............................................................................................................270

5.1.2 Launching the Setting Tool.........................................................................................................270

5.1.3 Explanation of the Main Screen..................................................................................................271

5.1.4 Operating Procedures.................................................................................................................276

5.2 Setting Up the Master .............................................................................................................................294

5.2.1 CC-Link.......................................................................................................................................294

5.2.2 DeviceNet...................................................................................................................................300

5.2.3 PROFIBUS .................................................................................................................................313

5.2.4 RS485SIO...................................................................................................................................318

5.3 Creating a Controller Position Table.......................................................................................................333

5.4 Address Correlation Diagram..................................................................................................................335

5.4.1 Address Correlation Diagram for CC-Link System (Example) ....................................................336

5.4.2 Address Correlation Diagram for DeviceNet System (Example).................................................338

5.4.3 Address Correlation Diagram for RS485SIO System (Example)................................................339

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Table of Contents

Chapter 6 Setting for External SIO Link and Other ............. ...... ... ... .... ...... ... ... ... ...... ... .... ... ...... ... ... ... ...340

6.1 SCON/PCON-CF Settings and Signal Assignments...............................................................................340

6.2 Other ...................................................................................................................................................341

Part 3 Maintenance.....................................................................................342

Chapter 1 Troubleshooting................................................................................................. .....................342

1.1 Actions to Be Taken upon Problems.......................................................................................................342

1.2 Alarms of the GateWayR unit..................................................................................................................343

1.2.1 Common Alarms.........................................................................................................................344

1.2.2 Alarms by Field Network Type....................................................................................................345

1.2.3 Examples of Indicator Statuses Corresponding to Representative Alarms.................................348

1.3 Alarms of the Controller Unit and Simple Absolute R Unit ......................................................................349

1.3.1 Overview of Alarms.....................................................................................................................349

1.3.2 Alarms, Causes and Actions.......................................................................................................352

1.3.3 Messages Displayed during Operation Using the Teaching Pendant or PC Software................360

Chapter2 Maintenance/Inspection..................................... ....................................................................362

2.1 Periodic Inspection Items........................................................................................................................363

2.2 Important Information on Unit Replacement............................................................................................364

2.3 Replacing the Backup Battery.................................................................................................................365

Appendix ..................................................................................................................................................365

RACON Specification List of Supported Actuators...................................................................................366

RPCON Specification List of Supported Actuators...................................................................................367

Page 21

Part 1 Specification

Part 1 Specification Chapter 1 Overview of ROBONET

1.1 Overview

“ROBONET” is a general term for dedicated controllers used to operate ROBO Cylinders (RCA/RCA2/RCL/RCP2/RCP3) over a field network connected to a host programmable controller (hereinafter referred to as “PLC”). A ROBONET system can be configured with a desired combination of a GateWayR unit, which serves as a field network connection interface, and one or more RACON units (RAC/RCA2/RCL controllers) and RPCON unit (RCP2/RCP3 controllers). Up to 16 axes can be controlled in one ROBONET system. You can also configure an absolute system by connecting a simple absolute R unit to the controller of each axis. The GateWayR unit is available in four types: DeviceNet type, CC-Link type, PROFIBUS type, and RS485 SIO type. The ROBONET is treated as a slave station in a field network. RS485 SIO communication is implemented according to the Modbus-RTU protocol. The ROBONET extension unit can be used to implement a ROBONET system of multi-stage layout and connect non-ROBONET controllers (SCON, PCON-CF, ERC2) (via external SIO link).

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Part 1 Specification

1.2 Features

(1) Fiv e Types of Component Units

The five types of units specified below can be combined in a desired fashion to build a ROBONET system. The maximum number of component axes is 16. [1] GateWayR unit

Four types—DeviceNet type, CC-Link type, PROFIBUS type, and RS485 SIO communication type—are available. [2] RACON unit --- RCA/RCA2/RCL control ler [3] RPCON unit --- RCP2/RCP3 controller [4] Simple absolute R unit [5] ROBONET extension unit

(2) Ultra-compact Size

Each unit has an ultra-compact design with external dimensions of 34 mm in width, 100 mm in height, and 73 mm in depth. Accordingly, you can reduce the control panel size for your ROBONET system.

(3) Wire-saving

Units are interconnected by dedicated power-supply connection plates and communication connection circuit boards, which substantially reduces the hassle of wiring.

(4) Easy Installation

All units are installed on a DIN rail (35 mm), so installation to a control panel or equipment is easy. Units can also be installed side by side with other components.

(5) Simple Absolute System

The axis-drive unit is either a RPCON unit for 24-V pulse motor actuators or RACON unit for 24-V servo motor actuators. Although both use an incremental encoder, they can be used as an absolute axis when a simple absolute R unit is connected.

(6) Four Types of GateWayR units

To support various field networks, the GateWayR unit (gateway function) is available in the following four types, each supporting a different field network.

• DeviceNet type • CC-Link type • PROFIBUS type

• RS485 SIO communication type

GateWayR unit

RACON unit

Simple absolute R unit

RPCON unit

ROBONET communication connection circuit boards

Power-supply connection plates

(Interconnections of ROBONET units)

Terminal resistor circuit board

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Part 1 Specification

(7) Six ROBONET operation modes

The ROBONET can operate ROBO Cylinders in one of the following six modes under the control of the GateWayR unit, regardless of the type of the host fieldbus. The following three modes under [1] to [3] can be combined together. Also, the three modes under [4] to [6] can be combined. However, [1] to [3] and [4] to [6] cannot be combined with each other, i.e. combination of [1] and [4] is not possible.

[1] Positioner mode (Number of positions: 768 points)

In this mode, the actuator is operated by specifying a position number. The position data, speed,

acceleration/deceleration and other data are input in the position table beforehand. Up to 768 points can be

registered as positions for each axis.

The various status signals of t he controller uni t can be monitored, and so can the current actuator position, but the

alarm codes, speed and electrical current cannot be monitored. If an alarm occurs, however, a corresponding simple

alarm code will be output to the completed position number area, so you can monitor simple alarm codes in this area. [2] Simple direct mode (Number of positions: 768 points)

In this mode, the actuator is operated by specifying only the position data directly as a numerical value, and

specifying all other data including the speed, acceleration/deceleration, positioning band and push-current limiting

value using a position number. Up to 768 points can be registered as positions.

The various status signals of t he controller uni t can be monitored, and so can the current actuator position, but the

alarm codes, speed and electrical current cannot be monitored. If an alarm occurs, however, a corresponding simple

alarm code will be output to the completed position number area, so you can monitor simple alarm codes in this area. [3] Direct numerical specification mode

In this mode, the actuator is operated by specifying the position data, speed, acceleration/deceleration, positioning

band and push-current limiting value directly as numerical values. The various status signals of the controller unit,

current actuator position, alarm codes and speed/electrical current can be monitored at all times. [4] Positioner 2 mode (Number of positions: 768 points)

This mode is the same as the positioner 1 mode. It cannot be combined with the positioner 1 mode, simple direct mode or direct numerical specification mode. The positioner 2 mode, Solenoid valve mode 1 and Solenoid valve mode 2 can be combined. This mode is supported by Gateway Firmware Version 000B or later.

[5] Solenoid valve mode 1 (Number of positions: 7 points)

It is a mode of which the operation is simplified with the positioning numbers controlled to 7 points. Operation can be performed only by indicating the target position number. (no start signal is required.) Therefore, PLC ladder sequence circuit is easily created.

[6] Solenoid valve mode 2 (Number of positions: 3 points)

It is a mode with an easy operation like Solenoid valve mode 1. Operation can be performed with the same control as the solenoid valve.

In the positioner mode or simple direct mode, position table data can be read, written or otherwise manipulated using

dedicated commands.

Even in the AUTO mode, the various information of each axis (alarm codes, speed, electrical current, etc.) can be

monitored on the touch panel display (RCM-PM-01) connected to the TP connector.

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Part 1 Specification

List of ROBONET Operation Functions

Operation mode

Item

Positioner 1

mode

Simple direct

mode

Direct numerical

specification

mode

Positioner 2

mode

Solenoid valve

mode 1

Solenoid valve

mode 2

Axis area (Both input and output)

4 words 8 words 2 words 2 words

Fixed area (Both input and output)

8 words

(The command area can be used.)

8 words (The command area cannot be

used.)

8 words

(The command

area can be

used.)

8 words

(The command area can be used.)

Number of registrable positions

768 points/axis 768 points/axis - 768 points/axis 7 points/axis 3 points/axis

Operation by position number specification

{ {

Direct position data specification

X (Position table)

{ {

X (Position table) X (Position table)

Direct speed & acceleration/deceleratio n specification

X (Position table) X (Position table) { *3 X (Position table) X (Position table)

Direct positioning band specification

X (Position table) X (Position table)

{

X (Position table) X (Position table)

Push operation { (Position table) { (Position table){(Direct specification)

{ (Position table) { (Position table)

Completed position number monitor

{ {

Zone output monitor

{ { { { {

Position zone output monitor

{ {

Teaching operation

{

X X

{

Jogging operation

{ { { {

Inching operation

{ { { {

Various status signal monitor *1

{ { { {

Current position monitor

{ { { {

Alarm code monitor *1

{ { { {

Speed/electrical current monitor *1

X X

{

X X

Axis monitor function in AUTO mode *2

{ { { { {

Handshake

{ {

Position table data read/write

{ {

Current position read

X X X X X

Command

Broadcast

{

X X

{ {

Maximum specifiable position data value

9999.99 mm (When a

command

is used)

9999.99 mm 9999.99 mm

9999.99 mm (When a

command

is used)

9999.99 mm

(When a command is used)

Number of connectable axes

16 16 8 16 16

*1 Various status signals, current position, alarm codes and speed/electrical current can be monitored by accessing each

address of the gateway unit from the PLC.

*2 Before, axis monitor was not possible in the AUTO mode. This has become possible with the ROBONET, even when the

MODE switch is set to AUTO, by connecting a dedicated touch panel to the TP connector.

*3 Separate values cannot be set for acceleration and deceleration. The acceleration and deceleration are always the same.

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Part 1 Specification

(8) Easy Setting Using the ROBONET Gateway Parameter Setting Tool

With this tool, you can set the station number, baud rate, and operation mode of each axis, and also check the occupied areas.

Also, reserved axes can be set in consideration of expansion of axis configuration in the future. [1] Station number setting ------------------------- Set the station number (node address) in the field network. [2] Baud rate setting -------------------------------- Set the baud rate over the field network. The setting must be the same as

the baud rate set on the master side. [3] Operation mode setting for each axis [4] Setting of reserved axes [5] Checking of occupied area information --- The ROBONET-occupied area information set on the master side can be

checked. [6] Operation of parameter files

Setting of the positioner 2 mode, setting of reserved axes and operation of parameter files are supported when the version of the parameter setting tool is 1.0.3.0 or l ater and the firmware version of the GateWayR unit is 000B or later. Settings of the Solenoid valve mode 1, Solenoid valve mode 2 and special parameters are supported when the version of the Parameter Setting Tool is 1.0.4.0 or later and the firmware version of the GateWayR unit is 000E or later.

(9) Multi-stage layout

The extension unit can be used to implement a ROBONET system of multi-stage layout.

(10) External SIO link

The extension unit can be used to connect non-ROBONET controllers (SCON, PCON-CF, ERC2).

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Part 1 Specification

Chapter 2 System Configuration and General Specifications

2.1 System Configuration

A ROBONET system is comprised of one GateWayR unit and up to 16 axes of controller units. The GateWayR unit is available in four types—DeviceNet specification, CC-Link specification, PROFIBUS specification, and RS485 SIO specification—to support various field networks. The controller unit may be a RPCON unit for 24-V pulse motor actuators or RACON unit for 24-V servo motor actuators. When a simple absolute R unit is connected to the controller unit, the controller can be used as an absolute axis. Also, the ROBONET extension unit can be used to implement a ROBONET system of multiple-row layout (multi-stage layout) and connect non-ROBONET controller units (SCON, PCON-CF, ERC2) to a ROBONET system (via external SIO link). A ROBONET system configuration is shown on the next page.

2.2 List of Component Units

The units comprising a ROBONET system are listed below.

Product name Model

DeviceNet specification RGW-DV CC-Link specification RGW-CC PROFIBUS specification RGW-PR

GateWayR unit

RS485SIO specification RGW-SIO RACON (for RCA□, RCL actuators)

RACON-10I/20S/30 *

Controller unit

RPCON (for RCP□ actuators)

RACON-20P/28P/28SP/42P/56P *

Simple absolute R unit Common to the RACON and RPCON RABU ROBONET extension (Optional) REXT

* If a simple absolute R unit is connected, “-ABU” is appended at the end of the model name.

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Part 1 Specification

Field network (DeviceNet, CC-Link, PROFIBUS) RS485 SIO

Axis 0 Axis 1 Axis 2 Axis 3 Axis 14 Axis 15

GateWay

R unit

RACON

unit

RPCON

unit

RAON

unit

Simple

absolute

R unit

RPCON

unit

Simple

absolute

R unit

Simple absolute connection circuit board

Terminal resistor circuit board

ROBONET communication connection circuit board

Power-supply connection plates

RACON

unit

RPCON

unit

Emergency

stop circuit

RCA□, RCL

actuators

RCP□

actuator

RCA□, RCL

actuators

RCP□

actuator

RCA□, RCL

actuators

RCP□

actuator

ROBONET Configuration (1) (Basic)

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Part 1 Specification

Gateway

R unit

RACON

unit

RPCON

unit

RAON

unit

Simple

absolute

R unit

Extension

unit

Simple absolute connection circuit board

ROBONET communication connection circuit boa

Power-supply connection plates

Extension

unit

RACON

unit

RPCON

unit

Extension

unit

Unit link cable

<Multi-stage layout>

Controller connection cable

4-way junction 4-way junction

Terminal resistor

Axis 0

Axis 1

Axis 2

Axis 3

Axis 4

Axis 5 Axis 6

Axis 7

Field network (DeviceNet, CC-Link, PROFIBUS) RS485 SIO

ROBONET Configuration (2) (Multi-stage layout and external SIO link)

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Part 1 Specification

2.3 General Specifications

The general specifications of a ROBONET system are listed below.

Item Specification

Power-supply voltage

24 VDC ± 10 % Power-supply current Varies depending on the system configuration. Maximum number of connectable axes 16 axes (Controller units can be combined freely.) Supported field networks CC-Link, DeviceNet, PROFIBUS, RS485 SIO

(slave station) ROBONET communication protocol Modbus protocol Component units GateWayR unit, controller unit, simple absolute R unit

ROBONET extension

(Refer to 2.2 for details.) Emergency stop/enable operation The entire system is stopped by the emergency stop input from the GateWayR

unit. Each controller unit has a built-in drive-source cutoff relay. Surrounding air temperature

0 to 40°C Surrounding humidity 95% RH max. (non-condensing) Protection degree IP20 External dimensions of each unit 34 W x 105 H x 73.3 D [mm]

All units have the same dimensions. Interconnection of units Power-supply connection plate

Unit link cable or controller connection cable when the ROBONET communication

connection circuit board, simple absolute connection circuit board or ROBONET

extension unit is used (multi-stage layout or external SIO link) Installation method Installation on a DIN rail (35 mm)

(However, controllers corresponding to external SIO link axes are excluded.)

2.4 24-V Power Current Consumption of Each Unit

Current consumption GateWayR unit 600 mA max. (Common to all four types)

Standard specification, high

acceleration/deceleration type

Energy-saving type

Actuator

Rating Max. *1 Rating Max. *1 SA3 (10) 1.3 A 4.0 A 1.3 A 2.2 A SA4ySA5yRA4 (20) 1.3 A 4.4 A 1.3 A 2.5 A SA6yRA4 (30) 1.3 A 4.0 A 1.3 A 2.2 A

RACON unit

RA3 (20S) 1.7 A 5.1 A 1.7 A 3.4 A Actuator Rating Max. *2 20P, 28P, 28SP motors 0.4 A 2.0 A

RPCON unit

42P, 56P motors 1.2 A 2.0 A

Simple absolute R unit 300 mA max. ROBONET extension 100 mA max. *1 The current becomes the maximum during the excited-phase detection of the servo motor performed when the servo is

turned on for the first time following the power on. (Normal: Approx. 1 to 2 seconds, Maximum: 10 seconds)

*2 The current becomes the maximum during the excited-phase detection performed when the servo is turned on for the first

time following the power on. (Normal: 100 msec)

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Part 1 Specification

Gateway

R unit

ROBONET

RACON or RPCON

(up

to 16 axes)

Circuit

breaker

Power supply

<Selection of P ower-supply Ca pacity> The method to select an appropriate 24-VDC power supply to be used with your ROBONET system is explained below.

(1) Current consumption of controller units when the respective axes operate simultaneously

Rated RACON current x Number of RACON controllers operating simultaneously (≥ 1) + Rated RPCON current x Number of RPCON controllers operating simultaneously (≥ 1) --- [1]

(2) Current consumption of other units

= 0.6 A x Number of GateWayR units + 0.3 A x Number of simple absolute R units + 0.1 A x Number of extension units --- [2]

The current consumption is calculated by [1] + [2] in a steady state.

(3) Current consumption during excited-phase detection

Maximum RACON current x Number of RACON controllers performing excited-phase detection simultaneously (≥ 1) + Maximum RPCON current x Number of RPCON controllers performing excited-phase detection simultaneously (≥ 1)

--- [3] Normally a power supply whose rated current is equivalent to ([1] + [2]) x 1.3 or more is selected by considering 20 to 30% of allowance in addition to the above current consumption of [1] + [2]. However, make sure you select a power supply of “peak load accommodation” specification or having a sufficient allowance because the current of [3] will flow for a brief moment. Exercise special caution in the ca se that a remote sensing function is equipped.

(1) It is recommended that the ROBONET power be turned on/off on the AC power supply side (primary side of the 24-V

power supply). If the ROBONET power is turned on/off on the output side of the 24-V power supply, the large current will flow for a brief moment when the power is turned on, as explained in (2).

Turning on the power on the AC power supply side causes a rush current (*1) to flow where the size of this rush current is determined by the 24-V power supply used. Accordingly, select a circuit breaker that will not trip when this rush current flows. (Example) If the PS241 is used as the 24-V power supply, a rush current of approx. 50 t o 60 A will fl ow throu gh the

power supply for approx. 3 ms. (Measured value)

*1 The specific value varies depending on the model of the 24-V power supply and impedance of the power-supply line.

(2) The table below lists the measured ROBONET rush currents (*2) that generate when the ROBONET power is turned

on/off on the DC side (secondary side of the 24-V power supply). (These values assume parallel connection of three PS241s as 24-V power supplies.)

Number of axes

1 to 3 axes 4 to 8 axes 9 to 12 axes 13 to 16 axes

ROBONET rush

current

Approx. 50 to 60 A,

0.2 ms

Approx. 100 to 120 A,

0.2 to 0.5 ms

Approx. 120 to 130 A ,

0.6 to 0.8 ms

Approx. 130 A

1.0 to 1.5 ms

*2 The specific ROBONET rush current varies depending on the model of the 24-V power supply and impedance of the

power-supply line. The values in the above table are reference values only and not guaranteed.

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Part 1 Specification

2.5 Connection Diagram

Shown below is a connection diagram of a ROBONET system comprising of a RPCON and a RACON connected to a simple absolute R unit.

24-V power supply

Terminal block

Emergency stop circuit

RPCON encoder cable port

RACON encoder cable (CB-ACS-PA***)

GateWayR unit

Field network connector

PG (white)

Simple

absolute R unit

PG (red)

Motor cable (CB-RCP2-MA***)

RPCON encoder cable (CB-RCP2-PA***)

Motor cable (CB-ACS-MA***)

RACON encoder cable port (Simple absolute R unit not connected)

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Part 1 Specification

Chapter 3 GateWayR unit

3.1 Overview

The GateWayR unit is a slave station with gateway function for connecting ROBO Cylinders to a field network of a host PLC and operating the connected ROBO Cylinders. The GateWayR unit is available in four types to support field networks of CC-Link, DeviceNet, PROFIBUS and RS485 SIO communication types. A total of up to 16 axes can be connected by combining dedicated ROBONET controller units (RACON/RPCON) and non-ROBONET controller units (SCON, PCON-CF, ERC2), and each axis can be monitored in the AUTO mode (only when the touch panel display RCM-PM-01 is connected).

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Part 1 Specification

3.2 How to Read the Model Name

3.3 GateWayR unit and Accessories

The four types of units each come with a different set of accessories appropriate for the applicable field network.

CC-Link DeviceNet RS485 SIO communication PROFIBUS

Fig. [1] Fig. [2] Fig. [3] -

EMG connector

MC1.5/2-STF-3.81 (by Phoenix Contact)

Terminal resistor circuit board (model TN-1)

• CC-Link communication connector

MSTB2.5/5-ST-5.08ABGYAU

(by Phoenix Contact)

• DeviceNet communication connector

MSTB2.5/5-ST-5.08ABGYAU

(by Phoenix Contact)

• RS485 SIO communication connector

MC1.5/4-ST-3.5

(by Phoenix Contact)

None

• Terminal resistors

110 Ω, 130 Ω (1/2 W)

None None None

[1]

[2]

[3]

Main unit

EMG connector

Terminal resistor circuit board

Common accessories

Dedicated accessories for CC-Link type

Communication connector, terminal resistors

Dedicated accessory for DeviceNet type

Communication connector

Dedicated accessory for RS485 SIO communication type

Communication connector

Base model

Dedicated GateWayR unit for ROBONET

Supported field network

PROFIBUS

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Part 1 Specification

3.4 General Specifications

3.4.1 CC-Link

This product is a maximum 4-station remote device station supporting CC-Link Version 2.00. (Its specifications vary depending on the extended cyclic setting.) This product supports the following functions of CC-Link Version 2.00:

• Extended cyclic transmission

• Relaxed limitation on station link cable length

CC-Link Version 1.10 is also supported as long as the extended cyclic transmission setting of x1 (four stations occupied) can be used.

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Part 1 Specification

Item Specification

Power supply

24 VDC ± 10%

Current consumption 600 mA max.

Communication protocol CC-Link Version 2.00 (Version 1.10) Baud rate 10M/5M/2.5M/625k/156k [bps] (Set by a ROBONET gateway parameter) Communication method Broadcast polling method Synchronization method Frame synchronization method Encoding method NRZI Transmission path type Bus type (Conforming to EIA RS485) Transmission format Conforming to HDLC Error control method CRC (X16 + X

+ X5 + 1)

Number of occupiable stations Remote device stations: four x1 stations, two x4 stations or two x8 stations

Baud rate (bps) 10M 5M 2.5M 625k 156kCommunication cable length (*1) Total cable length (m) 100 160 400 900 1200

CC-Link specification

Communication ca b le Dedica ted CC-Link cable Transmission path configuration IAI’s dedicated multi-drop differential communication Communication method Half-duplex Synchronization method Asynchronous method Transmission path type 2-wire method corresponding to EIA RS485 Baud rate 230.4k [bps] Error control method CRC with no parity bit (*2) Communication cable ROBONET communication connection circuit board (supplied), ROBONET

extension cable (when an extension unit is used)

SIO communication

specification

Number of connectable units 16 axes max. Surrounding air temperature

0 to 40°C Surrounding humidity 95% RH max. (non-condensing) Surrounding environment Free from corrosive gases, flammable gases, oil mist or powder dust. Storage temperature

-25 to 70°C Storage humidity 95% RH max. (non-condensing) Vibration resistance XYZ directions:

10 to 57 Hz, half amplitude – 0.035 mm (continuous) / 0.075 mm (intermittent) 57 to 150 Hz – 4.9 m/s

(continuous) / 9.8 m/s2 (intermittent)

Environment

conditions

Impact resistance XYZ directions: 147 mm/s2, 11 ms, half-sine wave pulse

Protection degree IP20 Weight Approx. 140 g External dimensions 34 W x 105 H x 73.3 D [mm]

*1: For T-branching communication, refer to the operation manuals of the master unit and the PLC installed in the master unit. *2: CRC: Cyclic Redundancy Check

A data error detection method frequently used for synchronous transmission.

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Part 1 Specification

3.4.2 DeviceNet

Item Specification

Power supply

24 VDC ± 10%

Current consumption 600 mA max. (*1)

An interface module certified under DeviceNet 2.0 is used. Group 2 only server

Communication protocol

Network-powered insulated node

Bit strobe Polling

Communication specification Master-slave connection

Cyclic

Baud rate 500k/250k/125k [bps] (Set by a ROBONET gateway parameter)

Baud rate

Maximum network

length

Maximum branch

length

Total branch

length 500 kbps 100 m 39 m 250 kbps 250 m 78 m 125 kbps 500 m

6 m

156 m

Communication cable length (*1)

Note) When a thick DeviceNet cable is used.

Number of occupiable nodes 1 node

DeviceNet specification

Communication power supply Voltage: 24 VDC (Supplied from DeviceNet)

Current consumption: 60 mA Transmission path configuration IAI’s dedicated multi-drop differential communication Communication method Half-duplex Synchronization method Asynchronous method Transmission path type 2-wire method corresponding to EIA RS485 Baud rate 230.4k [bps] Error control method CRC with no parity bit (*2) Communication cable ROBONET communication connection circuit board (supplied), ROBONET

extension cable (when an extension unit is used)

SIO communication

specification

Number of connectable units 16 axes max. Surrounding air temperature

0 to 40°C Surrounding humidity 95% RH max. (non-condensing) Surrounding environment Free from corrosive gases, flammable gases, oil mist or powder dust. Storage temperature

-25 to 70°C Storage humidity 95% RH max. (non-condensing) Vibration resistance XYZ directions:

10 to 57 Hz, half amplitude – 0.035 mm (continuous) / 0.075 mm (intermittent) 57 to 150 Hz – 4.9 m/s

(continuous) / 9.8 m/s2 (intermittent)

Environment conditions

Impact resistance XYZ directions:

147 mm/s

, 11 ms, half-sine wave pulse Protection degree IP20 Weight Approx. 140 g External dimensions 34 W x 105 H x 73.3 D [mm]

*1: For T-branching communication, refer to the operation manuals of the master unit and the PLC installed in the master unit. *2: CRC: Cyclic Redundancy Check

A data error detection method frequently used for synchronous transmission.

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Part 1 Specification

3.4.3 PROFIBUS

Item Specification

Power supply

24 VDC ± 10%

Current consumption 600 mA max. (*1)

Group 2 only server Communication protocol Network-powered insulated node

Bit strobe Polling

Communication specification Master-slave connection

Cyclic

Baud rate 9.6 kbps to 12 Mbps

9.6 kbps 1500 m

500 kbps 400 m

1.5 Mbps 200 m 3 Mbps 200 m

PROFIBUS specification

Communication cable length (*1)

12 Mbps 100 m Transmission path configuration IAI’s dedicated multi-drop differential communication Communication method Half-duplex Synchronization method Asynchronous method Transmission path type 2-wire method corresponding to EIA RS485 Baud rate 230.4k [bps] Error control method CRC with no parity bit (*2) Communication cable ROBONET communication connection circuit board (supplied), ROBONET

extension cable (when an extension unit is used)

SIO communication

specification

Number of connectable units 16 axes max. Surrounding air temperature

0 to 40°C Surrounding humidity 95% RH max. (non-condensing) Surrounding environment Free from corrosive gases, flammable gases, oil mist or powder dust. Storage temperature

-25 to 70°C Storage humidity 95% RH max. (non-condensing) Vibration resistance XYZ directions:

10 to 57 Hz, half amplitude – 0.035 mm (continuous) / 0.075 mm (intermittent) 57 to 150 Hz – 4.9 m/s

(continuous) / 9.8 m/s2 (intermittent)

Environment conditions

Impact resistance XYZ directions:

147 mm/s

, 11 ms, half-sine wave pulse Protection degree IP20 Weight Approx. 140 g External dimensions 34 W x 105 H x 73.3 D [mm]

*1: For T-branching communication, refer to the operation manuals of the master unit and the PLC installed in the master unit. *2: CRC: Cyclic Redundancy Check

A data error detection method frequently used for synchronous transmission.

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Part 1 Specification

3.4.4 RS485 SIO

Two modes are available: the Modbus gateway mode in which the unit operates as a Modbus/RTU slave station, and the SIO through mode in which the unit operates by means of serial communication per the Modbus/RTU and ASCII protocols.

Specification

Item

Modbus gateway mode SIO through mode

Power supply

24 VDC ± 10%

Current consumption 600 mA max.

Communication format 1:1 communication connection

conforming to RS485

1:N (1≤ N ≤ 16) communication

connection conforming to RS485 Communication method Asynchronous half-duplex Communication mode Modbus/RTU Modbus/RTU, ASCII Baud rate [bps] *2

9600

19200 38400 57600 115200 230400

38400 57600 115200 230400

Frame delay time t3.5 Fixed to 1.75 ms t3.5 Fixed to 1.75 ms Slave address Fixed to 63 (3FH) Axis number + 1 (01H to 10H)

Master ⇒ ROBONET

F600H to F647H

ROBONET ⇒ Master

F700H to F747H

Arbitrary

Available func tion codes

Read Holding Register (03H) Preset Single Register (06H) Preset Multiple Register (10H)

01H to 07H

0FH, 10H, 11H, 17H Maximum send/receive buffer size 160 byte

Bit length 8 bits Start bit 1 bit Stop bit 1 bit Parity None

Host RS485 specifications

Cable length

100 m max. (master ⇐⇒ RGW-SIO)

Transmission path configuration IAI’s dedicated multi-drop differential communicat ion Communication method Half-duplex Synchronization method Start-stop method Transmission path format Conforming to EIA RS485, 2-wire type Baud rate 230.4 k [bps] Error control method No parity bit, CRC *2 Communication cable ROBONET communication connection circuit board (supplied), ROBONET

extension cable (when an extension unit is used)

SIO communication

specifications

Number of units that can be connected 16 axes max. Surrounding air temperature

0 to 40°C Surrounding humidity 95% RH max. (non-condensing) Surrounding environment Free from corrosive gases, flammable gases, oil mist or powder dust. Storage temperature

-25 to 70°C Storage humidity 95 % RH max. (non-condensing) Vibration resistance XYZ directions:

10 to 57 Hz, half amplitude – 0.035 mm (continuous) / 0.075 mm (intermittent) 57 to 150 Hz – 4.9 m/s

(continuous) / 9.8 m/s2 (intermittent)

Impact resistance XYZ directions:

147 mm/s

, 11 ms, half-sine wave pulse Protection degree IP20 Weight Approx. 140 g

Environment conditions

External dimensions [mm] 34 W x 105 H x 73.3 D [mm]

*1: The baud rate is set by the gateway parameter selection tool. *2: If the host is a PLC, the PLC must have a RS485 or RS232C interface. If a RS232C interface is used, a SIO converter

(RCB-TU-SIO-*) is required.

Page 39

Part 1 Specification

3.5 Name/Function of Each Part and External Dimensions

The four types of GateWayR units are exactly the same, except for the field network connector provided on top of the unit.

3.5.1 Name of Each Part

(Front cover open)

User setting switches

ROBONET communication connector

Power-supply input terminal block

MODE switch LED indicators

Field network connector

(Varies according to the network type)

EMG connector FG terminal

TP connector

Page 40

Part 1 Specification

3.5.2 LED Indicators

These LEDs are used to monitor the status of the gateway unit.

Symbol Indicator color Explanation

RUN/ALM Green/orange

Steady green: Operating normally. Steady orange: An error is pres ent.

EMG Red This LED is lit when an emergency stop is actuated.

ERROR T Orange

This LED is lit when a communication error is present between the controller and internal bus.

ERROR C Orange This LED is lit when a communication error is present over the field network. STATUS 1 Green/orange STATUS 0 Green/orange

The function of this LED varies according to the field network type. (Refer to the table below.)

AUTO Green This LED is lit in the AUTO (auto operation) mode.

STATUS 0 and 1 indicate the field network statuses. What these LEDs indicate vary according to the field network type, as shown in the table below.

(1) CC-Link

Name Indicator color Status Explanation

Steady

An error (CRC error, station number setting error or baud rate setting error) is present.

STATUS 1 Orange

Blinking

The station number or baud rate has changed from the set value due to a reset.

STATUS 0 Green Steady

A refresh & polling command has been received successfully, or a refresh command has been received successfully, after joining the network.

(2) DiviceNet

Name Indicator color Status Explanation

Steady Online.

Green

Blinking Online (Cnx not established).

Steady An error is present.

Orange

Blinking At least one Cnx has generated a timeout.

STATUS 1

Green/orange Alternate Self-diagnosis is in progress.

Steady Operating normally.

Green

Blinking

No configuration information is available or the configuration information is incomplete.

Steady Failed (unrecoverable).

Orange

Blinking Failed (recoverable).

STATUS 0

Green/orange Alternate Self-diagnosis is in progress.

Page 41

Part 1 Specification

(3) PROFIBUS

Name Indicator color Status Explanation

Steady Online.

Green

Blinking Online (clear command executed).

STATUS 1

Orange Blinking An error (parameter error or PROFIBUS configuration error) is present.

Steady Initialization has completed.

Green

Blinking Initialization has completed (diagnosis event has occurred).

STATUS 0

Orange Steady An error (exceptional error) is present.

(4) RS485SIO

Name Indicator color Status Explanation STATUS 1 Green Steady Sending data. STATUS 0 Green Steady Receiving data.

Page 42

Part 1 Specification

3.5.3 MODE Switch

This switch is used to set the operation mode of the controller.

Status Explanation MANU Manual operation: The ROBONET system can be operated using a teaching pendant or PC.

AUTO Auto operation: The ROBONET system is controlled via field network communication.

3.5.4 TP Connector

This connector is dedicated for a use of connecting a teaching pendant or a PC cable. Connector: TCS7587-0121077 (by Hosiden)

3.5.5 User Setting Switches

These switches are used to set the operation mode of the GateWayR unit. Normally SW3 and SW4 should remain OFF (they should be in the left positions). Do not change the settings of these switches.

Explanation

SW No.

CC-Link DeviceNet PROFIBUS RS485SIO

SW4 Always OFF SW3 Always OFF

SW2 Always OFF Endian *2

ON: SIO through mode OFF: Modbus gatewa y mode

SW1 When this switch is set to ON, the TP enable switch signal is effective.

*1 SW1 to SW4 are ON when set to the right side, and OFF when set to the left side. *2 Remote I/O endian

ON Little endian (LSB first) PLC by Mitsubishi, Omron, etc.

OFF Big endian (MSB first) PLC by Siemens

3.5.6 ROBONET Communication Connector

This connector is used to connect a Modbus communication line, emergency stop signal, etc., to the axis controller unit. Connection is made using the ROBONET communication connection circuit board supplied with the axis controller unit.

3.5.7 Power-supply Input Terminal Block

24-VDC power is input to this terminal block. To supply power, connect the +24-V side and 0-V side to the power-supply input terminal block of the adjoining axis controller unit using the power-supply connection plate supplied with the controller.

11. M3 screw

M3 screw

Page 43

Part 1 Specification

The photographs show the parts supplied with the axis controller unit or simple absolute R unit.

3.5.8 FG Terminal (Frame Ground)

This terminal is used to connect the GateWayR unit to ground. The thread size is M3.

3.5.9 EMG Connector (Emergency Stop)

This connector is used to connect an emergency stop circuit. It turns ON/OFF the drive sources of all axes simultaneously. Gateway-end connector: MC1.5/2-GF-3.81 (by Phoenix Contact) Cable-end connector: MC1.5/2-ST F-3.81 (by Phoenix Contact) = Standard accessory

Signal name Explanation

EMG+ Emergency stop switch+

EMG- Emergency stop switch-

RACON unit

Simple absolute R unit

RPCON unit

ROBONET communication connection circuit boards

Power-supply connection plates

(Interconnections of ROBONET units)

Terminal resistor circuit board

ROBONET communication connection circuit boards (Model JB-1)

Power-supply conn ec tio n pl at e s (Model PP-1)

Page 44

Part 1 Specification

Recommended Emergency Stop Circuit

Shown below is an example of an emergency stop circuit of a ROBONET system. The built-in drive-source cutoff relays of all axis controller units are turned ON/OFF simultaneously using the emergency stop switch of the emergency stop circuit or teaching pendant connected to the GateWayR unit.

Caution

If an emergency stop is actuated with the emergency stop button, the emergency stop can be reset using the emergency stop reset switch. If an emergency stop is actuated with a teaching pendant, however, the emergency switch will be reset when the same emergency switch is turned and reset.

EMG connector

TP connector

Teaching pendant

GateWayR unit Axis controller unit Axis controller unit

ROBONET Communication Connector

TP connection detection circuit

Drive-source cutoff signal

(CPU control signal)

Motor drive source Motor drive source

Drive-source cutoff relay Drive-source cutoff relay

Power-supply input terminal block

Internal power supply common GND

Emergency stop reset

Emergency stop

Page 45

Part 1 Specification

3.5.10 Field Network Connector

This connector is used to connect the master unit of each field network. The connector varies according to the field network type.

(1) CC-Link (RGW-CC)

RGW-CC-end connector: MSTBA2.5/5-G-5.08AU (by Phoenix Contact) Cable-end connector: MSTB2.5/5-ST-5.08ABGYAU (by Phoenix Contact) = Standard accessory

CC-Link communication connector

Signal name Explanation

DA Communication line A DB Communication line B DG Digital ground

SLD

Connect the shield of the shielded cable. This signal is internally connected to “FG” and the enclosure.

Frame ground This signal is internally connected to “SLD” and the enclosure.

* T he cable-end connector, “terminal resistor 110 Ω, 1/2 W” and “terminal resistor 130 Ω, 1/2 W” are supplied.

A terminal resistor must be connected to the units at both ends of the CC-Link system. If the RGW-CC is a terminal unit of the CC-Link system, connect the supplied terminal resistor between the DA and DB pins of the connector. The applicable terminal resistor varies according to the type of the CC-Link cable used, as shown below. Use the terminal resistor appropriate for the cable. For details, refer to the operation manual of the master unit.

Cable name Terminal resistor

Dedicated CC-Link cable (Version 1.00, Version 1.10)

110 Ω, 1/2 W

Dedicated high-performance CC-Link cable (Version 1.00)

130 Ω, 1/2 W

RGW-CC end

Page 46

Part 1 Specification

(1) DeviceNet (RGW-DV)

RGW-DV-end connector: MSTBA2.5/5-G-5.08ABGYAU (by Phoenix Contact) Cable-end connector: MSTB2.5/5-ST-5.08ABGYAU (by Phoenix Contact) = Standard accessory

DeviceNet communication connector

Pin color Explanation

Black Power-supply cable- *

Blue Communication data low

- Shield

White Communication data high

Red Power-supply cable+ *

* Current consumption of bus power supply = 60 mA

Applicable Wire for Cable-end Connector

Item Description

Applicable wire size Stranded wire: AWG24 to 12 (0.2 to 2.5 mm2)

Cable stripping length 7 mm (stripping length of cable sheath)

* Although the RGW-DV does not come with terminal resistors, a terminal resistor must be connected to both ends of

the main DeviceNet line. Use a T-branch tap with terminal resistor (121 Ω ± 1%, 1/4 W) or terminal-block type terminal resistor (121 Ω ± 1%, 1/4 W) at both ends of the main line. Alternatively, connect a resistor of the same specification directly between the blue and white pins of the connector. For details, refer to the operation manual of the master unit.

RGW-DV end

Black Blue White Red

Page 47

Part 1 Specification

(3) PROFIBUS (RGW-PR)

RGW-PR connector: D-Sub, 9-pin connector (female)

PROFIBUS communication connector

Pin number Signal name Explanation

1 NC Not connected 2 NC Not connected 3 B-Line Communication line B (RS485) 4 RTS Send request 5 GND Signal ground (insulated) 6 +5 V +5-V output (insulated) 7 NC Not connected 8 A-Line Communication line A (RS485) 9 NC Not connected

Housing

Shield Cable shield

This signal is connected to the enclosure.

Caution

(1) T he mating (cable-end) connector (D-sub, 9-pin connector) is not supplied. (2) The RGW-PR does not have terminal resistor setting switches. If the RGW-PR is connected at the end of a network,

connect a terminal resistor to the network connector or use a connector with terminal resistor, as specif ied below.

z Connecting a terminal resistor

z PROFIBUS connector (with terminal resistor)

(Example) SUBCON-PLUS-PROFIB/AX/SC (Phoenix Contact) For details, refer to the operation manual of the master unit.

Female connector on RGW-PR end

Male connector on network end (view from the side opposite the insertion side)

Network wiring

Page 48

Part 1 Specification

(4) RS485SIO (RGW-SIO)

RGW-SIO connector: MC1.5/4-G-3.5 (by Phoenix Contact) Cable-end connector: MC1.5/4-ST-3.5 (by Phoenix Contact) = Standard accessory

SIO communication connector

Signal name Explanation

SA Communication line A (+) SB

Communication line B (-)

Built-in terminal resistor (220 Ω) conforming to RS485

SG Signal ground FG

Frame ground This signal is connected to the enclosure.

Applicable Wire for Cable-end Connector

Item Description

Applicable wire size Stranded wire: AWG28 to 16 (0.14 to 1.5 mm2)

Cable stripping length 7 mm

Page 49

Part 1 Specification

3.5.1 1 External Dimensions

* Installable on a

35-mm DIN rail

(50 from DIN rail center)

(69.3 from DIN rail surface)

Page 50

Part 1 Specification

3.6 Operation Function List

RACON/RPCON Function List

Positioner 1, 2 mode Solenoid valve mode 1 and 2

Home return operation O

O Solenoid valve mode 1

X Solenoid valve mode 2 (Not required)

Positioning operation U Specify a position table number. U Specify a position table number.

Speed setting U Set in the position table. U Set in the position table.

Acceleration/deceleration setting

U Set acceleration and deceleration in

the position table separately.

U Set acceleration and deceleration in

the position table separately.

Operation at different acceleration and

deceleration

U Set acceleration and deceleration in

the position table separately.

U Set acceleration and deceleration in

the position table separately.

Push operation U Set in the position table. U Set in the position table.

Speed change during movement

U Combine two or more position

numbers.

U Combine two or more position

numbers.

Pause {

O Solenoid valve mode 1 X Solenoid valve mode 2

Zone signal

{ Set using the position table and user

parameters. Outputs: PZONE, ZONE1, ZONE2

{ Set using the position table and user

parameters. Outputs are as follows;

•Solenoid valve mode 1: ZONE1, ZONE2

•Solenoid valve mode 2: PZONE, ZONE1

Teaching operation { X

Jogging operation {

O Solenoid valve mode 1 X Solenoid valve mode 2

Inching operation {

O Solenoid valve mode 1 X Solenoid valve mode 2

Power-saving mode

With the RPCON, set parameter No. 53

to “4” to implement full servo control.

{

Position table Required Required

Page 51

Part 1 Specification

{: Direct control U: Indirect control X: Not available

Simple direct mode Numerical specification mode

{ {

{ Specify position data

(32-bit signed integer).

{ Specify position data

(32-bit signed integer).

U Set in the position table. { Specify speed data (16-bit integer).

U Set acceleration and deceleration in the position table

separately.

{ Specify acceleration/deceleration data (16-bit integer).

U Set acceleration and deceleration in the position table

separately.

{ Since the acceleration/deceleration data is accepted

when the positioning is started, change the acceleration/deceleration data while the actuator is moving and restart the operation in order to decelerate the actuator at a value different from the acceleration.

U Set in the position table.

{ Specify the push-current limiting value (8-bit integer) and

also specify the push direction (DIR) and push mode (PUSH).

U Combine two or more position numbers.

{ Since the speed data is accepted when the positioning is

started, change the speed data while the actuator is moving and restart the operation.

{ {

{ Set using the position table and user parameters.

Outputs: PZONE, ZONE1, ZONE2

{ Set using user parameters.

Outputs: ZONE1, ZONE2

X X

{ {

With the RPCON, set parameter No. 53 to “4” to implement full servo control.

Required Not required

Page 52

Part 1 Specification

3.7 Address Configuration

ROBONET addresses are configured in the same manner with all four types of gateway units regardless of the type of field network. The addresses occupied by the network consist of a fixed 8-word area and a data area that changes according to the operation mode and number of axes. The operation modes and occupied data areas are shown below. The positioner 1 mode, simple direct mode and direct numerical specification mode can be combined, and a desired mode can be selected for each axis. Note that the positioner 2 mode, Solenoid valve mode 1 and Solenoid valve mode 2 cannot be combined with the positioner 1 mode, simple direct mode or direct mumerical specification mode.

(1) Configuration of Fixed Area

PLC output ⇒ ROBONET

ROBONET ⇒ PLC input

Upper byte Lower byte

Number

of words

Upper byte Lower byte

Number

of words

Gateway control signal 0 Gateway status signal 0 Gateway control

area

Gateway control signal 1

Gateway status signal 1

Request command Response command

Data 0 Data 0 Data 1 Data 1 Data 2 Data 2 Data 3 Data 3

Command area

Cannot be used.

* In the direct numerical specification mode, the command area cannot be used, but this area is occupied as part of the data

area.

(2) Data Area Configuration in the Positioner Mode and Simple Direct Mode

PLC output ⇒ Axis input Axis output ⇒ PLC input

Upper

byte

Lower

byte

Number

of words

Positioner

mode

Simple

direct mode

Upper

byte

Lower

byte

Number of words

Positioner

mode

Simple

direct

mode Position data specification (L)

Current position data (L)

Position data specification area

Position data specification (H)

2 X

{

Current position data

{ {

Position specification area

Command position number

{ {

Completed position number

{ {

Control signal area Control signal 1

{ {

Status signal 1

{ {

* In the positioner mode, the position data specification area (PLC ⇒ Axis input) is not used, but this area is occupied as part

of the data area.

Fixed area (8

words

) Fixed area (8

words

)

Positioner 1

mode

(4 words)

Positioner 2

mode

(2 words)

Simple direct

mode

(4 words)

Direct

mumerical

specification

mode

(8 words)

Solenoid value

mode 1,

Solenoid value

mode 2

words

)

Number of axes Number of axes Number of axes Number of axes Number of axes

Data area Data area

Page 53

Part 1 Specification

(3) Data Area Configuration in the Direct Numerical Specification Mode

PLC output ⇒ Axis input

Axis output ⇒ PLC input

Upper byte Lower byte

Number

of words

Upper byte Lower byte

Number

of words

Position data specification (L)* Current position data (L)*

Position data specification (H)*

Current position data (H)*

Positioning band specification (L)* Current electrical current (L)* Positioning band specification (H)*

Current electrical current (H)*

Speed specification 1 Current speed data 1

Acceleration/deceleration specification 1 Cannot be used. 1

Direct numerical specification area

Push-current limiting value 1 Alarm code 1

Control signal a rea Control signa l 1 Status signal 1 * (L) indicates the lower word of 2-word data, while (H) indicates the upper word of 2-word data. (4) Data Area Configuration in the Position 2 Mode, Solenoid valve mode 1 And Solenoid Valve 2 Mode

Upper byte Lower byte

Number

of words

Upper byte Lower byte

Number of

words

Position

specification area

Command position number

Completed position number

Control signal area Control signal 1 Status signal 1

3.7.1 Examples of Overall Address Configuration

Overall address configurations are shown based on a system where 12 4-word mode axes (positioner 1/simple direct mode) and two 8-word mode axes (direct numerical specification mode) are connected. For your information, the CC-Link and DeviceNet types use word addressing, while the PROFIBUS and RS485 SIO types use byte addressing.

(1) CC-Link

A configuration example using the CC-Link type is shown on the next page. The eight words in the fixed area are assigned to bit registers (RX/RY), while the area of each axis is assigned to word registers (RWr/RWw).

Page 54

Part 1 Specification

 Example of Overall CC-Link Address Configuration

(Positioner 1 mode/simple direct mode + Direct numerical specification mode) An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the direct numerical specification mode is shown.

PLC output ⇒ ROBONET ROBONET⇒ PLC input

Output

Upper byte Lower byte

Input

Upper byte Lower byte

RY0F to 00 Gateway control signal 0 RX0F to 00 Gateway status signal 0 RY1F to 10 Gateway control signal 1 RX1F to 10 Gateway status signal 1 RY2F to 20 Request command RX2F to 20 Response command RY3F to 30 Data 0 RX3F to 30 Data 0 RY4F to 40 Data 1 RX4F to 40 Data 1 RY5F to 50 Data 2 RX5F to 50 Data 2 RY6F to 60 Data 3 RX6F to 60 Data 3 RY7F to 70 (Cannot be used) RX7F to 70 (Cannot be used)

8-word fixed area

Output register Input register

PLC master expanded cyclic setting

RWw 00H

(Axis 0) Position data specification (L)

RWr 00H

(Axis 0) Current position data (L)

RWw 01H

(Axis 0) Position data specification (H)

RWr 01H

(Axis 0) Current position data (H)

RWw 02H

(Axis 0) Command position number

RWr 02H

(Axis 0) Completed position number

RWw 03H

(Axis 0) Control signal

RWr 03H

(Axis 0) Status signal

4 words Positioner/ simple direct mode

RWw 04H

(Axis 1) Position data specification (L)

RWr 04H

(Axis 1) Current position data (L)

RWw 05H

(Axis 1) Position data specification (H)

RWr 05H

(Axis 1) Current position data (H)

RWw 06H

(Axis 1) Command position number

RWr 06H

(Axis 1) Completed position number

RWw 07H

(Axis 1) Control signal

RWr 07H

(Axis 1) Status signal

4 words

RWw 08H

(Axis 2) Position data specification (L)

RWr 08H

(Axis 2) Current position data (L)

RWw 09H

(Axis 2) Position data specification (H)

RWr 09H

(Axis 2) Current position data (H)

RWw 0AH

(Axis 2) Command position number

RWr 0AH

(Axis 2) Completed position number

RWw 0BH

(Axis 2) Control signal

RWr 0BH

(Axis 2) Status signal

4 words

RWw 0CH

(Axis 3) Position data specification (L)

RWr 0CH

(Axis 3) Current position data (L)

RWw 0DH

(Axis 3) Position data specification (H)

RWr 0DH

(Axis 3) Current position data (H)

RWw 0EH

(Axis 3) Command position number

RWr 0EH

(Axis 3) Completed position number

16 words

x1 setting,

4 stations

RWw 0FH

(Axis 3) Control signal

RWr 0FH

(Axis 3) Status signal

4 words

           

32 words

x4 setting,

2 stations

RWw 1FH

(Axis 7) Control signal

RWr 1FH

(Axis 7) Status signal

           

RWw 2FH

(Axis 11) Control signal

RWr 2FH

(Axis 11) Status signal

4 words

RWw 30H (Axis 12) Position data specification (L)

RWr 30H

(Axis 12) Current position data (L)

RWw 31H (Axis 12) Position data specification (H)

RWr 31H

(Axis 12) Current position data (H)

RWw 32H

(Axis 12) Positioning band specification (L)

RWr 32H

(Axis 12) Current electrical current (L)

RWw 33H

(Axis 12) Positioning band specification (H)

RWr 33H

(Axis 12) Current electrical current (H)

RWw 34H (Axis 12) Speed specification

RWr 34H

(Axis 12) Current speed data

RWw 35H

(Axis 12) Acceleration/deceleration specification

RWr 35H

(Cannot be used)

RWw 36H (Axis 12) Push-current limiting value

RWr 36H

(Axis 12) Alarm code

RWw 37H (Axis12) Control signal

RWr 37H

(Axis 12) Status signal

8 words Direct numerical specification mode

RWw 38H (Axis 13) Position data specification (L)

RWr 38H

(Axis 13) Current position data (L)

RWw 39H (Axis 13) Position data specification (H)

RWr 39H

(Axis 13) Current position data (H)

RWw 3AH

(Axis 13) Positioning band specification (L)

RWr 3AH

(Axis 13) Current electrical current (L)

RWw 3BH

(Axis 13) Positioning band specification (H)

RWr 3BH

(Axis 13) Current electrical current (H)

RWw 3CH (Axis 13) Speed specification

RWr 3CH

(Axis 13) Current speed data

RWw 3DH

(Axis 13) Acceleration/deceleration specification

RWr 3DH

(Cannot be used)

RWw 3EH (Axis 13) Push-current limiting value

RWr 3EH

(Axis 13) Alarm code

64 words

x8 setting,

2 stations

RWw 3FH (Axis13) Control signal

RWr 3FH

(Axis 13) Status signal

8 words

*1 The extended cyclic setting is based on the occupied area information displayed using the gateway parameter setting tool. *2 CC-Link Version 1.10 is also supplied as long as the expanded cyclic setting of x1 (four stations occupied) can be used.

Page 55

Part 1 Specification

 Example of Overall CC-Link Address Configuration (Positioner 2 mode and Solenoid valve mode)

An example of connecting 16 axes operating in the positioner 2 mode, Solenoid valve mode 1 or 2 is shown.

PLC output ⇒ ROBONET ROBONET⇒ PLC input

Output

Upper byte Lower byte

Input

Upper byte Lower byte

8-word fixed area

Output register Input register

PLC master expanded cyclic setting

RWw 00H

(Axis 0) Command position number

RWr 00H

(Axis 0) Completed position number

RWw 01H

(Axis 0) Control signal

RWr 01H

(Axis 0) Status signal RWw 02H (Axis 1) Command position number RWr 02H (Axis 1) Completed position number RWw 03H

(Axis 1) Control signal

RWr 03H

(Axis 1) Status signal

2 words

RWw 04H

(Axis 2) Command position number

RWr 04H

(Axis 2) Completed position number

RWw 05H

(Axis 2) Control signal

RWr 05H

(Axis 2) Status signal RWw 06H

(Axis 3) Command position number

RWr 06H

(Axis 3) Completed position number

RWw 07H

(Axis 3) Control signal

RWr 07H

(Axis 3) Status signal RWw 08H

(Axis 4) Command position number

RWr 08H

(Axis 4) Completed position number

RWw 09H

(Axis 4) Control signal

RWr 09H

(Axis 4) Status signal RWw 0AH

(Axis 5) Command position number

RWr 0AH

(Axis 5) Completed position number

RWw 0BH

(Axis 5) Control signal

RWr 0BH

(Axis 5) Status signal RWw 0CH

(Axis 6) Command position number

RWr 0CH

(Axis 6) Completed position number

RWw 0DH

(Axis 6) Control signal

RWr 0DH

(Axis 6) Status signal RWw 0EH

(Axis 7) Command position number

RWr 0EH

(Axis 7) Completed position number

16 words

x1 setting,

4 stations

RWw 0FH

(Axis 7) Control signal

RWr 0FH

(Axis 7) Status signal RWw 10H (Axis 8) Command position numb er

RWr 10H

(Axis 8) Completed position number

RWw 11H (Axis 8) Control signal

RWr 11H

(Axis 8) Status signal RWw 12H (Axis 9) Command position numb er

RWr 12H

(Axis 9) Completed position number

RWw 13H (Axis 9) Control signal

RWr 13H

(Axis 9) Status signal RWw 14H (Axis 10) Command position number

RWr 14H

(Axis 10) Completed position number

RWw 15H (Axis 10) Control signal

RWr 15H

(Axis 10) Status signal

RWw 16H (Axis 11) Command position number

RWr 16H

(Axis 11) Completed position number

RWw 17H (Axis 11) Control signal

RWr 17H

(Axis 11) Status signal

RWw 18H (Axis 12) Command position number

RWr 18H

(Axis 12) Completed position number

RWw 19H (Axis 12) Control signal

RWr 19H

(Axis 12) Status signal

RWw 1AH (Axis 13) Command position number

RWr 1AH

(Axis 13) Completed position number

RWw 1BH (Axis 13) Control signal

RWr 1BH

(Axis 13) Status signal

RWw 1CH (Axis 14) Command position number

RWr 1CH

(Axis 14) Completed position number

RWw 1DH (Axis 14) Control signal

RWr 1DH

(Axis 14) Status signal

RWw 1EH (Axis 15) Command position number

RWr 1EH

(Axis 15) Completed position number

32 words

x4 setting,

2 stations

RWw 1FH (Axis 15) Control signal

RWr 1FH

(Axis 15) Status signal

Page 56

Part 1 Specification

(2) DeviceNet

 Example of Overall DeviceNet Address Configuration

PLC output ⇒ ROBONET ROBONET⇒ PLC input

Relative

channel*

Upper byte Lower byte Upper byte Lower byte

0 Gateway control signal 0 Gateway status signal 0 1 Gateway control signal 1 Gateway status signal 1 2 Request command Response command 3 Data 0 Data 0 4 Data 1 Data 1 5 Data 2 Data 2 6 Data 3 Data 3 7 (Cannot be used) (Cannot be used)

8-word fixed area

8 (Axis 0) Position data specification (L) (Axis 0) Current position data (L)

9 (Axis 0) Position data specification (H) (Axis 0) Current position data (H) 10 (Axis 0) Command position number (Axis 0) Completed position number 11 (Axis 0) Control signal (Axis 0) Status signal

4 words Positioner/ simple direct mode

12 (Axis 1) Position data specification (L) (Axis 1) Current position data (L) 13 (Axis 1) Position data specification (H) (Axis 1) Current position data (H) 14 (Axis 1) Command position number (Axis 1) Completed position number 15 (Axis 1) Control signal (Axis 1) Status signal

4 words

16 (Axis 2) Position data specification (L) (Axis 2) Current position data (L) 17 (Axis 2) Position data specification (H) (Axis 2) Current position data (H) 18 (Axis 2) Command position number (Axis 2) Completed position number 19 (Axis 2) Control signal (Axis 2) Status signal

4 words

20 (Axis 3) Position data specification (L) (Axis 3) Current position data (L) 21 (Axis 3) Position data specification (H) (Axis 3) Current position data (H) 22 (Axis 3) Command position number (Axis 3) Completed position number 23 (Axis 3) Control signal (Axis 3) Status signal

4 words

        

39 (Axis 7) Control signal (Axis 7) Status signal

        

55 (Axis 11) Control signal (Axis 11) Status signal

4 words

56 (Axis 12) Position data specification (L) (Axis 12) Current position data (L) 57 (Axis 12) Position data specification (H) (Axis 12) Current position data (H) 58 (Axis 12) Positioning band specification (L) (Axis 12) Current electrical current (L) 59 (Axis 12) Positioning band specification (H) (Axis 12) Current electrical current (H) 60 (Axis 12) Speed specification (Axis 12) Current speed data 61 (Axis 12) Acceleration/deceleration specification (Cannot be used) 62 (Axis 12) Push-current limiting value (Axis 12) Alarm code 63 (Axis12) Control signal (Axis 12) Status signal

8 words Direct numerical specification mode

64 (Axis 13) Position data specification (L) (Axis 13) Current position data (L) 65 (Axis 13) Position data specification (H) (Axis 13) Current position data (H) 66 (Axis 13) Positioning band specification (L) (Axis 13) Current electrical current (L) 67 (Axis 13) Positioning band specification (H) (Axis 13) Current electrical current (H) 68 (Axis 13) Speed specification (Axis 13) Current speed data 69 (Axis 13) Acceleration/deceleration specification (Cannot be used) 70 (Axis 13) Push-current limiting value (Axis 13) Alarm code 71

(Axis13) Control signal (Axis 13) Status signal

8 words

* The relative channel indicates the relative channel number from the first gateway channel.

Page 57

Part 1 Specification

 Example of Overall DeviceNet Address Configuration (Positioner 2 mode and Solenoid valve mode))

An example of connecting 16 axes operating in the positioner 2 mode, Solenoid valve mode 1 or 2 is shown.

PLC output ⇒ ROBONET ROBONET⇒ PLC input

Relative

channel*

Upper byte Lower byte Upper byte Lower byte

0 Gateway control signal 0 Gateway status signal 0

1 Gateway control signal 1 Gateway status signal 1

2 Request command Response command

3 Data 0 Data 0

4 Data 1 Data 1

5 Data 2 Data 2

6 Data 3 Data 3

7 (Cannot be used) (Cannot be used)

8-word fixed area

8 (Axis 0) Command position number (Axis 0) Completed position number

9 (Axis 0) Control signal (Axis 0) Status signal 10 (Axis 1) Command position number (Axis 1) Completed position number 11 (Axis 1) Control signal (Axis 1) Status signal

2 words

12 (Axis 2) Command position number (Axis 2) Completed position number 13 (Axis 2) Control signal (Axis 2) Status signal 14 (Axis 3) Command position number (Axis 3) Completed position number 15 (Axis 3) Control signal (Axis 3) Status signal 16 (Axis 4) Command position number (Axis 4) Completed position number 17 (Axis 4) Control signal (Axis 4) Status signal 18 (Axis 5) Command position number (Axis 5) Completed position number 19 (Axis 5) Control signal (Axis 5) Status signal 20 (Axis 6) Command position number (Axis 6) Completed position number 21 (Axis 6) Control signal (Axis 6) Status signal 22 (Axis 7) Command position number (Axis 7) Completed position number 23 (Axis 7) Control signal (Axis 7) Status signal 24 (Axis 8) Command position number (Axis 8) Completed position number 25 (Axis 8) Control signal (Axis 8) Status signal 26 (Axis 9) Command position number (Axis 9) Completed position number 27 (Axis 9) Control signal (Axis 9) Status signal 28 (Axis 10) Command position number (Axis 10) Completed position number 29 (Axis 10) Control signal (Axis 10) Status signal 30 (Axis 11) Command position number (Axis 11) Completed position number 31 (Axis 11) Control signal (Axis 11) Status signal 32 (Axis 12) Command position number (Axis 12) Completed position number 33 (Axis 12) Control signal (Axis 12) Status signal 34 (Axis 13) Command position number (Axis 13) Completed position number 35 (Axis 13) Control signal (Axis 13) Status signal 36 (Axis 14) Command position number (Axis 14) Completed position number 37 (Axis 14) Control signal (Axis 14) Status signal 38 (Axis 15) Command position number (Axis 15) Completed position number 39

(Axis 15) Control signal (Axis 15) Status signal

* The relative channel indicates the relative channel number from the first gateway channel.

Page 58

Part 1 Specification

(3) PROFIBUS

 Example of Overall PROFIBUS Address Configuration

PLC output ⇒ ROBONET ROBONET⇒ PLC input

Relative

byte*

Upper byte Lower byte Upper byte Lower byte

0 Gateway control signal 0 Gateway status signal 0

2 Gateway control signal 1 Gateway status signal 1

4 Request command Response command

6 Data 0 Data 0

8 Data 1 Data 1 10 Data 2 Data 2 12 Data 3 Data 3 14 (Cannot be used) (Cannot be used)

8-word fixed area

16 (Axis 0) Position data specification (L) (Axis 0) Current position data (L) 18 (Axis 0) Position data specification (H) (Axis 0) Current position data (H) 20 (Axis 0) Command position number (Axis 0) Completed position number 22 (Axis 0) Control signal (Axis 0) Status signal

4 words Positioner/ simple direct mode

24 (Axis 1) Position data specification (L) (Axis 1) Current position data (L) 26 (Axis 1) Position data specification (H) (Axis 1) Current position data (H) 28 (Axis 1) Command position number (Axis 1) Completed position number 30 (Axis 1) Control signal (Axis 1) Status signal

4 words

31 (Axis 2) Position data specification (L) (Axis 2) Current position data (L) 34 (Axis 2) Position data specification (H) (Axis 2) Current position data (H) 36 (Axis 2) Command position number (Axis 2) Completed position number 38 (Axis 2) Control signal (Axis 2) Status signal

4 words

40 (Axis 3) Position data specification (L) (Axis 3) Current position data (L) 42 (Axis 3) Position data specification (H) (Axis 3) Current position data (H) 44 (Axis 3) Command position number (Axis 3) Completed position number 46 (Axis 3) Control signal (Axis 3) Status signal

4 words

        

78 (Axis 7) Control signal (Axis 7) Status signal

        

110 (Axis 11) Control signal (Axis 11) Status signal

4 words

112 (Axis 12) Position data specification (L) (Axis 12) Current position data (L) 114 (Axis 12) Position data specification (H) (Axis 12) Current position data (H) 116 (Axis 12) Positioning band specification (L) (Axis 12) Current electrical current (L) 118 (Axis 12) Positioning band specification (H) (Axis 12) Current electrical current (H) 120 (Axis 12) Speed specification (Axis 12) Current speed data 122 (Axis 12) Acceleration/deceleration specification (Cannot be used) 124 (Axis 12) Push-current limiting value (Axis 12) Alarm code 126 (Axis12) Control signal (Axis 12) Status signal

8 words Direct numerical specification mode

128 (Axis 13) Position data specification (L) (Axis 13) Current position data (L) 130 (Axis 13) Position data specification (H) (Axis 13) Current position data (H) 132 (Axis 13) Positioning band specification (L) (Axis 13) Current electrical current (L) 134 (Axis 13) Positioning band specification (H) (Axis 13) Current electrical current (H) 136 (Axis 13) Speed specification (Axis 13) Current speed data 138 (Axis 13) Acceleration/deceleration specification (Cannot be used) 140 (Axis 13) Push-current limiting value (Axis 13) Alarm code 142

(Axis13) Control signal (Axis 13) Status signal

8 words

* The relative byte indicates the relative byte address from the beginning of the gateway.

Page 59

Part 1 Specification

 Example of Overall PROFIBUS Address Configuration (Positioner 2 mode and Solenoid valve mode))

An example of connecting 16 axes operating in the positioner 2 mode, Solenoid valve mode 1 or 2 is shown.

PLC output ⇒ ROBONET ROBONET⇒ PLC input

Relative

channel*

Upper byte Lower byte Upper byte Lower byte

0 Gateway control signal 0 Gateway status signal 0

2 Gateway control signal 1 Gateway status signal 1

4 Request command Response command

6 Data 0 Data 0

8 Data 1 Data 1 10 Data 2 Data 2 12 Data 3 Data 3 14 (Cannot be used) (Cannot be used)

8-word fixed area

16 (Axis 0) Command position number (Axis 0) Completed position number 18 (Axis 0) Control signal (Axis 0) Status signal 20 (Axis 1) Command position number (Axis 1) Completed position number 22 (Axis 1) Control signal (Axis 1) Status signal

2 words

24 (Axis 2) Command position number (Axis 2) Completed position number 26 (Axis 2) Control signal (Axis 2) Status signal 28 (Axis 3) Command position number (Axis 3) Completed position number 30 (Axis 3) Control signal (Axis 3) Status signal 32 (Axis 4) Command position number (Axis 4) Completed position number 34 (Axis 4) Control signal (Axis 4) Status signal 36 (Axis 5) Command position number (Axis 5) Completed position number 38 (Axis 5) Control signal (Axis 5) Status signal 40 (Axis 6) Command position number (Axis 6) Completed position number 42 (Axis 6) Control signal (Axis 6) Status signal 44 (Axis 7) Command position number (Axis 7) Completed position number 46 (Axis 7) Control signal (Axis 7) Status signal 48 (Axis 8) Command position number (Axis 8) Completed position number 50 (Axis 8) Control signal (Axis 8) Status signal 52 (Axis 9) Command position number (Axis 9) Completed position number 54 (Axis 9) Control signal (Axis 9) Status signal 56 (Axis 10) Command position number (Axis 10) Completed position number 58 (Axis 10) Control signal (Axis 10) Status signal 60 (Axis 11) Command position number (Axis 11) Completed position number 62 (Axis 11) Control signal (Axis 11) Status signal 64 (Axis 12) Command position number (Axis 12) Completed position number 66 (Axis 12) Control signal (Axis 12) Status signal 68 (Axis 13) Command position number (Axis 13) Completed position number 70 (Axis 13) Control signal (Axis 13) Status signal 72 (Axis 14) Command position number (Axis 14) Completed position number 74 (Axis 14) Control signal (Axis 14) Status signal 76 (Axis 15) Command position number (Axis 15) Completed position number 78

(Axis 15) Control signal (Axis 15) Status signal

* The relative byte indicates the relative byte address from the beginning of the gateway.

Page 60

Part 1 Specification

(4) RS485SIO

 Example of Overall RS485 SIO (Modbus Gateway Mode) Address Configuration

PLC output ⇒ ROBONET

ROBONET⇒ PLC input Register address

Upper byte Lower byte

Relative

byte

Upper byte Lower byte

address

F600* Gateway control signal 0 0 Gateway status signal 0 F700*

              

F627 (Axis 7) Control signal 78 (Axis 7) Status signal F727

              

F637 (Axis 11) Control signal 110 (Axis 11) Status signal F737 F638 (Axis 12) Position data specification (L) 112 (Axis 12) Current position data (L) F738 F639 (Axis 12) Position data specification (H) 114 (Axis 12) Current position data (H) F739 F63A (Axis 12) Positioning band specification (L) 116 (Axis 12) Current electrical current (L) F73A F63B (Axis 12) Positioning band specification (H) 118 (Axis 12) Current electrical current (H) F73B F63C (Axis 12) Speed specification 120 (Axis 12) Current speed data F73C F63D (Axis 12) Acceleration/deceleration specification 122 (Reserved) F73D F63E (Axis 12) Push-current limiting value 124 (Axis 12) Alarm code F73E F63F (Axis12) Control signal 126 (Axis 12) Status signal F73F F640 (Axis 13) Position data specification (L) 128 (Axis 13) Current position data (L) F740 F641 (Axis 13) Position data specification (H) 130 (Axis 13) Current position data (H) F741 F642 (Axis 13) Positioning band specification (L) 132 (Axis 13) Current electrical current (L) F742 F643 (Axis 13) Positioning band specification (H) 134 (Axis 13) Current electrical current (H) F743 F644 (Axis 13) Speed specification 136 (Axis 13) Current speed data F744 F645 (Axis 13) Acceleration/deceleration specification 138 (Reserved) F745 F646 (Axis 13) Push-current limiting value 140 (Axis 13) Alarm F746 F647 (Axis13) Control signal 142 (Axis 13) Status signal F747

* With the RS485 SIO type, the initial address is F600H (PLC ⇒ ROBONET) or F700H (ROBONET ⇒ PLC).

Page 61

Part 1 Specification

 Example of Overall RS485 SIO (Modbus Gateway Mode) Address Configuration (Positioner 2 mode and Solenoid valve

mode))

An example of connecting 16 axes operating in the positioner 2 mode, Solenoid valve mode 1 or 2 is shown.

PLC output ⇒ ROBONET

ROBONET⇒ PLC input Register address

Upper byte Lower byte

Relative

byte

Upper byte Lower byte

address

F600* Gateway control signal 0 0 Gateway status signal 0 F700*

F601 Gateway control signal 1 2 Gateway status signal 1 F701 F602 Request command 4 Response command F702 F603 Data 0 6 Data 0 F703 F604 Data 1 8 Data 1 F704 F605 Data 2 10 Data 2 F705 F606 Data 3 12 Data 3 F706 F607 (Reserved) 14 (Reserved) F707 F608 (Axis 0) Command position number 16 (Axis 0) Completed position number F708 F609 (Axis 0) Control signal 18 (Axis 0) Status signal F709 F60A (Axis 1) Command position number 20 (Axis 1) Completed position number F70A F60B (Axis 1) Control signal 22 (Axis 1) Status signal F70B F60C (Axis 2) Command position number 24 (Axis 2) Completed position number F70C F60D (Axis 2) Control signal 26 (Axis 2) Status signal F70D F60E (Axis 3) Command position number 28 (Axis 3) Completed position number F70E F60F (Axis 3) Control signal 30 (Axis 3) Status signal F70F F610 (Axis 4) Command position number 32 (Axis 4) Completed position number F710 F611 (Axis 4) Control signal 34 (Axis 4) Status signal F711 F612 (Axis 5) Command position number 36 (Axis 5) Completed position number F712 F613 (Axis 5) Control signal 38 (Axis 5) Status signal F713 F614 (Axis 6) Command position number 40 (Axis 6) Completed position number F714 F615 (Axis 6) Control signal 42 (Axis 6) Status signal F715 F616 (Axis 7) Command position number 44 (Axis 7) Completed position number F716 F617 (Axis 7) Control signal 46 (Axis 7) Status signal F717 F618 (Axis 8) Command position number 48 (Axis 8) Completed position number F718 F619 (Axis 8) Control signal 50 (Axis 8) Status signal F719 F61A (Axis 9) Command position number 52 (Axis 9) Completed position number F71A F61B (Axis 9) Control signal 54 (Axis 9) Status signal F71B F61C (Axis 10) Command position number 56 (Axis 10) Completed position number F71C F61D (Axis 10) Control signal 58 (Axis 10) Status signal F71D F61E (Axis 11) Command position number 60 (Axis 11) Completed position number F71E F61F (Axis 11) Control signal 62 (Axis 11) Status signal F71F F620 (Axis 12) Command position number 64 (Axis 12) Completed position number F720 F621 (Axis 12) Control signal 66 (Axis 12) Status signal F721 F622 (Axis 13) Command position number 68 (Axis 13) Completed position number F722 F623 (Axis 13) Control signal 70 (Axis 13) Status signal F723 F624 (Axis 14) Command position number 72 (Axis 14) Completed position number F724 F625 (Axis 14) Control signal 74 (Axis 14) Status signal F725 F626 (Axis 15) Command position number 76 (Axis 15) Completed position number F726 F627 (Axis 15) Control signal 78 (Axis 15) Status signal F727

* With the RS485 SIO type, the initial address is F600H (PLC ⇒ ROBONET) or F700H (ROBONET ⇒ PLC).

Page 62

Part 1 Specification

3.7.2 Gateway Control/Status Signals

In the address configuration of the GateWayR unit, the first two input words and output words are used to control the GateWayR unit. These signals can be used to perform ON/OFF control of ROBONET communication (SIO control) and monitor the communication status as well as the status of the GateWayR unit.

* Each address is a relative address from the beginning of the gateway.

Word addresses are used by the CC-Link and DeviceNet types, while byte addresses are used by the PROFIBUS and RS485 SIO types. With the CC-Link type, the asterisk (*) in bit register addresses is a value between 0 and F. With the CC-Link type, b10 to b15 are indicated as bA to b7 (due to hexadecimal notation). With the PROFIBUS and RS485 SIO types, b8 to b15 are indicated as b0 to b7 (due to use of byte addresses).

PLC output

Address*

Gateway

control

signal 0

Gateway

control

signal 1

Rel a ti v e c h a nn e l Relative byte

RTE

PROFIBUS

RS485SIO

Address*

Rel a ti v e c h a nn e l Relative byte

Gateway

status

signal 0

Gateway

status

signal 1

PLC input

PROFIBUS

LERC

W4B16

RS485SIO

Page 63

Part 1 Specification

I/O Signal List

Signal type Bit Signal name Description

15 MON

When this signal is ON (“1”), control outputs from the PLC are effective (outputs from the PLC are reflected in the controller unit). When the signal is OFF (“0”), the outputs are ineffective.

14 - Cannot be used. Always keep this signal OFF (0). 13 RTE

When ERR-T or ERR-C is occurred, it can be cancelled by setting this bit to 1 (level input) from the current condition.

Control signal 0

12-0 - Cannot be used. Always keep this signal OFF (0).

PLC output

Control signal 1 15-0 - Cannot be used.

15 RUN

Gateway unit operation normal output

This signal is ON while the gateway unit is operating normally. The signal is synchronized with the LED (RUN) on the front panel of the unit.

14 LERC -

If ERR-C occurs, the current condition is maintained.

13 ERRT

ROBONET communication error output

This signal turns ON upon detection of a ROBONET communication (SIO communication) error. The signal is synchronized with the ERROR-T LED on the front panel of the unit.

12 MOD MODE switch output

This signal is ON when the MODE switch on the front panel of the unit is set to MANU.

11-10 - - Cannot be used.

9 W8B16 8 W8B8 7 W8B4 6 W8B2 5 W8B1

Number-of-axes setting in direct numerical specification mode

The number of axes in the direct numerical specification mode is output as a 5-bit binary code.

4 W4B16 3 W4B8 2 W4B4 1 W4B2

Status signal 0

0 W4B1

Positioner mode or simple direct mode

The number of axes in the positioner mode or simple direct mode is output as a 5-bit binary code.

15 LNK15 Linked axis No. 15 14 LNK14 14 13 LNK13 13 12 LNK12 12 11 LNK11 11 10 LNK10 10

9 LNK9 9 8 LNK8 8 7 LNK7 7 6 LNK6 6 5 LNK5 5 4 LNK4 4 3 LNK3 3 2 LNK2 2 1 LNK1 1

PLC input

Status signal 1

0 LNK0 0

The signal of each linked axis turns ON (“1”).

Page 64

Part 1 Specification

3.7.3 Command Area

The eight input words and eight output words from the initial address of the gateway unit are fixed areas. With both output and input, six words in this fixed area are assigned as a command area where various commands can be used to read/write the position table, among others. Note that commands cannot be used in the direct numerical specification mode.

(1) Address Configuration

The request command area and response command area consist of six input words and six output words, respectively. [1] CC-Link

PLC output ⇒ Gateway ⇒ Axis input Axis output ⇒ Gateway ⇒ PLC input

*1 b15 Upper byte b8 b7 Lower byte b0 b15 Upper byte b8 b7 Lower byte b0 *1 RY 2F to 20 Request command Response command RX 2F to 20 RY 3F to 30 Data 0 Data 0 RX 3F to 30 RY 4F to 40 Data 1 Data 1 *2 (error code) RX 4F to 40 RY 5F to 50 Data 2 Data 2 RX 5F to 50 RY 6F to 60 Data 3 Data 3 RX 6F to 60 RY 7F to 70 Cannot be used. Cannot be used. RX 7F to 70

*1) Bit register address *2) If a command error occurs, the most significant bit (b15) of the response command will turn ON and an error code

will be set in response data 1.

[1] DeviceNet, PROFIBUS, RS485SIO

Address

PLC output ⇒ Gateway ⇒ Axis input

Axis output ⇒ Gateway ⇒ PLC input

Word Byte b15 Upper byte b8 b7 Lower byte b0 b15 Upper byte b8 b7 Lower byte b0

+2 +4/+5 Request command Response command +3 +6/+7 Data 0 Data 0 +4 +8/+9 Data 1 Data 1 *2 (error code) +5 +10/+11 Data 2 Data 2 +6 +12/+13 Data 3 Data 3 +7 +13/+14 Cannot be used. Cannot be used.

*1 Each address is a relative address from the beginning of the gateway, and word addresses are used by the

DeviceNet type. With the PROFIBUS and RS485 SIO types, byte addresses are used and b8 to b15 comprising the upper word are indicated as b0 to b7.

*2 If a command error occurs, the most significant bit (b15) of the response command will turn ON and an error code

will be set in response data 1.

Page 65

Part 1 Specification

(2) Command List

The available command and command codes are listed below.

Function classification

Code Explanation

Positioner

1 mode

Simple

direct mode

Direct

numerical

specification

mode

Positioner

2 mode

Solenoid

valve mode

1 and 2

Handshake 0000H Clear request command

{ {

{ { 1000H Write target position 1001H Write positioning band 1002H Write speed 1003H Write individual zone boundary+ 1004H Write individual zone boundary1005H Write acceleration 1006H Write deceleration 1007H Write push-current limiting value

Position table data write *1

1008H Write load current threshold

{ {

1040H Read target position 1041H Read positioning band 1042H Read speed 1043H Read individual zone boundary+ 1044H Read individual zone boundary1045H Read acceleration 1046H Read deceleration 1047H Read push-current-limiting value

Position table data read

1048H Read load current threshold

{ {

Group-specific broadcast operation

0D03H

Simultaneous start to same POS number position

{

X X

{ {

{: Available X: Not available

Note

The rewrite life of the position table memory is approx. 100,000 times. Accordingly, do not rewrite the position table constantly. Pay due attention to the write sequence processing.

Page 66

Part 1 Specification

(3) Commands and Data Formats

The rewrite life of the position table memory is approx. 100,000 times. Accordingly, do not rewrite the position table constantly.

[1] P osition table data write commands

Relative address from beginning

Command name

CC-Link*8 DeviceNet

PROFIBUS

RS485SIO *1

PLC output (request) PLC input (response)

RY 2*/RX 2* +2 +4/+5 1000H RY 3*/RX 3* +3 +6/+7 Position number RY 4*/RX 4* +4 +8/+9 RY 5*/RX 5* +5 +10/+11

Position data *2

RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH *3

Write target position

RY 7*/RX 7* +7 +14/+15 Cannot be used. RY 2*/RX 2* +2 +4/+5 1001H RY 3*/RX 3* +3 +6/+7 Position number RY 4*/RX 4* +4 +8/+9 RY 5*/RX 5* +5 +10/+11

Positioning band dat a *4

RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Write positioning band

RY 7*/RX 7* +7 +14/+15 Cannot be used. RY 2*/RX 2* +2 +4/+5 1002H RY 3*/RX 3* +3 +6/+7 Position number RY 4*/RX 4* +4 +8/+9 RY 5*/RX 5* +5 +10/+11

Speed data *5

RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Write speed

RY 7*/RX 7* +7 +14/+15 Cannot be used. RY 2*/RX 2* +2 +4/+5 1003H RY 3*/RX 3* +3 +6/+7 Position number RY 4*/RX 4* +4 +8/+9 RY 5*/RX 5* +5 +10/+11

Position data *2

RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Write individual zone boundary+

RY 7*/RX 7* +7 +14/+15 Cannot be used. RY 2*/RX 2* +2 +4/+5 1004H RY 3*/RX 3* +3 +6/+7 Position number RY 4*/RX 4* +4 +8/+9 RY 5*/RX 5* +5 +10/+11

Position data *2

RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Write individual zone boundary-

RY 7*/RX 7* +7 +14/+15 Cannot be used. RY 2*/RX 2* +2 +4/+5 1005H RY 3*/RX 3* +3 +6/+7 Position number RY 4*/RX 4* +4 +8/+9 Acceleration data *6 RY 5*/RX 5* +5 +10/+11 0 RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Write acceleration

RY 7*/RX 7* +7 +14/+15 Cannot be used.

If the command has been successful, the same value set in the request is returned as a response. For error responses, refer to (4), “Error Responses.”

Page 67

Part 1 Specification

Relative address from beginning

Command name

CC-Link DeviceNet

PROFIBUS

RS485SIO *1

PLC output (request) PLC input (response)

RY 2*/RX 2* +2 +4/+5 1006H RY 3*/RX 3* +3 +6/+7 Position number RY 4*/RX 4* +4 +8/+9 Deceleration data *6 RY 5*/RX 5* +5 +10/+11 0 RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Write deceleration

RY 7*/RX 7* +7 +14/+15 Cannot be used. RY 2*/RX 2* +2 +4/+5 1007H RY 3*/RX 3* +3 +6/+7 Position number RY 4*/RX 4* +4 +8/+9 0000 to 00FFH

(00FFH, maximum current) RY 5*/RX 5* +5 +10/+11 0 RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Write push-current limiting value *7

RY 7*/RX 7* +7 +14/+15 Cannot be used. RY 2*/RX 2* +2 +4/+5 1008H RY 3*/RX 3* +3 +6/+7 Position number RY 4*/RX 4* +4 +8/+9 0000 to 00FFH

(00FFH, maximum current) RY 5*/RX 5* +5 +10/+11 0 RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Write load current threshold

RY 7*/RX 7* +7 +14/+15 Cannot be used.

If the command has been successful, the same value set in the request is returned as a response. For error responses, refer to (4), “Error Responses.”

*1 In byte address specification, the smaller byte address on the left corresponds to the upper byte of 1-word data, while the

larger byte address on the right corresponds to the lower byte of 1-word data.

*2 • Set as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm).

Example) To set +25.4 mm, specify “0009ECH” (decimal number: 2540).

• The maximum settable value is +9999.99 mm = 999999 (decimal number) = 0F423FH (hexadecimal number).

• Since a negative value is indicated as a 2’s complement, the most significant bit becomes “1.”

• Set position data within the soft stroke range.

*3 Axis numbers (0) to (15) correspond to data 00 to 0FH. *4 • Set as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm).

Example) To set +25.4 mm, specify “000009ECH” (decimal number: 2540).

• Set within the soft stroke range.

*5 • Set as a hexadecimal number using a 32-bit integer (unit: 0.01 mm/sec).

Example) To set 200 mm/sec, specify “000000C8H” (decimal number: 200).

*6 • Set as a hexadecimal number using a 16-bit integer (unit: 0.01 G).

Example) To set 0.2 G, specify “0014H” (decimal number: 20).

• The maximum settable value is 2G, specifying “00C8H” (decimal number: 200)

*7 If push-current limiting value is not set in the position table before the write command is executed, the data will not be

rewritten.

*8 The asterisk (*) in CC-Link addresses is a value between 0 and F.

Page 68

Part 1 Specification

[2] P osition table data read commands

Relative address from beginning

Command name

CC-Link*6 DeviceNet

PROFIBUS

RS485SIO *1

PLC output (request) PLC input (response)

RY 2*/RX 2* +2 +4/+5 1040H RY 3*/RX 3* +3 +6/+7 Position number

If the command has been successful, the value returned in the response is the same as the value set in the request.

RY 4*/RX 4* +4 +8/+9 0 RY 5*/RX 5* +5 +10/+11 0

Target position data *2

RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH *1

Read target position

RY 7*/RX 7* +7 +14/+15 Cannot be used.

If the command has been successful, the value returned in the response is the same as the value set in the request.

RY 2*/RX 2* +2 +4/+5 1041H RY 3*/RX 3* +3 +6/+7 Position number

If the command has been successful, the value returned in the response is the same as the value set in the request.

RY 4*/RX 4* +4 +8/+9 0 RY 5*/RX 5* +5 +10/+11 0

Positioning band data *3

RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Read positioning band

RY 7*/RX 7* +7 +14/+15 Cannot be used.

If the command has been successful, the value returned in the response is the same as the value set in the request.

RY 2*/RX 2* +2 +4/+5 1042H RY 3*/RX 3* +3 +6/+7 Position number

If the command has been successful, the value returned in the response is the same as the value set in the request.

RY 4*/RX 4* +4 +8/+9 0 RY 5*/RX 5* +5 +10/+11 0

Speed data *4

RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Read speed

RY 7*/RX 7* +7 +14/+15 Cannot be used.

If the command has been successful, the value returned in the response is the same as the value set in the request.

RY 2*/RX 2* +2 +4/+5 1043H RY 3*/RX 3* +3 +6/+7 Position number

If the command has been successful, the value returned in the response is the same as the value set in the request.

RY 4*/RX 4* +4 +8/+9 0 RY 5*/RX 5* +5 +10/+11 0

Individual zone boundary+ data *2

RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Read individual zone boundary+

RY 7*/RX 7* +7 +14/+15 Cannot be used.

If the command has been successful, the value returned in the response is the same as the value set in the request.

RY 2*/RX 2* +2 +4/+5 1044H RY 3*/RX 3* +3 +6/+7 Position number

If the command has been successful, the value returned in the response is the same as the value set in the request.

RY 4*/RX 4* +4 +8/+9 0 RY 5*/RX 5* +5 +10/+11 0

Individual zone boundarydata *2

RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Read individual zone boundary-

RY 7*/RX 7* +7 +14/+15 Cannot be used.

If the command has been successful, the value returned in the response is the same as the value set in the request.

RY 2*/RX 2* +2 +4/+5 1045H RY 3*/RX 3* +3 +6/+7 Position number

If the command has been successful, the value returned in the response is the same as the value set in the request.

RY 4*/RX 4* +4 +8/+9 0 Acceleration data *5 RY 5*/RX 5* +5 +10/+11 0 RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Read acceleration

RY 7*/RX 7* +7 +14/+15 Cannot be used.

If the command has been successful, the value returned in the response is the same as the value set in the request.

Page 69

Part 1 Specification

Relative address from beginning

Command name

CC-Link*6 DeviceNet

PROFIBUS

RS485SIO *1

PLC output (request) PLC input (response)

RY 2*/RX 2* +2 +4/+5 1046H RY 3*/RX 3* +3 +6/+7 Deceleration read

POS number

If the command has been

successful, the value returned

in the response is the same as

the value set in the request.

RY 4*/RX 4* +4 +8/+9 0 Deceleration data *5 RY 5*/RX 5* +5 +10/+11 0 RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Read deceleration

RY 7*/RX 7* +7 +14/+15 Cannot be used.

If the command has been

successful, the value returned

in the response is the same as

the value set in the request.

RY 2*/RX 2* +2 +4/+5 1047H RY 3*/RX 3* +3 +6/+7 Position number

If the command has been

successful, the value returned

in the response is the same as

the value set in the request.

RY 4*/RX 4* +4 +8/+9 0 0000 to 00FFH

(00FFH, maximum current) RY 5*/RX 5* +5 +10/+11 0 RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Read push-current-limiting value

RY 7*/RX 7* +7 +14/+15 Cannot be used.

If the command has been

successful, the value returned

in the response is the same as

the value set in the request.

RY 2*/RX 2* +2 +4/+5 1048H RY 3*/RX 3* +3 +6/+7 Position number

If the command has been

successful, the value returned

in the response is the same as

the value set in the request.

RY 4*/RX 4* +4 +8/+9 0 0000 to 00FFH

(00FFH, maximum current) RY 5*/RX 5* +5 +10/+11 0

RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH

Read load current threshold

RY 7*/RX 7* +7 +14/+15 Cannot be used.

If the command has been

successful, the value returned

in the response is the same as

the value set in the request.

*1 Axis numbers (0) to (15) correspond to data 00 to 0FH. *2 32-bit signed integer data. The details are the same as described in *2 under [1]. *3 32-bit integer data. The details are the same as described in *4 under [1]. *4 32-bit integer data. The details are the same as described in *5 under [1]. *5 16-bit integer data. The details are the same as described in *6 under [1]. *6 The asterisk (*) in addresses is a value between 0 and F.

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Part 1 Specification

[3] Group-specific broadcast operation commands

These operations can be used in the positioner mode. The axes specified by the group number are started simultaneously to the position specified by the POS number. Since these commands implement broadcast communication between the gateway and controllers, no response is returned from the controllers. The response result indicated by the PLC input means that the command has been successfully sent to the controllers; it does not indicate the status of each controller. position complete, etc., based on the status signal of each axis.

Relative address from beginning

CC-Link*3 DeviceNet

PROFIBUS

RS485SIO *1

PLC output (request) PLC input (response)

RY 2*/RX 2* +2 +4/+5 0D03H RY 3*/RX 3* +3 +6/+7 Target POS number RY 4*/RX 4* +4 +8/+9 Group ID number *1 RY 5*/RX 5* +5 +10/+11 0 RY 6*/RX 6* +6 +12/+13 0 RY 7*/RX 7* +7 +14/+15 Cannot be used.

If the command has been successful, the value returned in the response is the same as the value set in the request.

*1 If this value is “0,” all linked axes will move regardless of the group specification.

The group number is set using a system parameter in the PC software.

*2 If a move command is issued using an axis-specific control word while any axis is currently moving by this command, the

movement by the original command will be cancelled and the axis specified by the latest move command will operate according to the command. In other words, each axis has two interfaces for move commands. Provide an interlock to prevent two commands from being issued simultaneously.

*3 The asterisk (*) in addresses is a value between 0 and F.

Caution

Take note that even if the bit of the gateway control signal CFG is turned OFF to cancel the link, the controller will constantly receive and execute this command once a link has been established.

Page 71

Part 1 Specification

(4) Error Responses

If a command error occurs, the most significant bit (b15) of the response command will turn ON and an error code will be set in response data 1.

Code Explanation 0101H Invalid axis number *1 0102H Invalid position number *1 0103H Invalid request command *1 0201H Communication failed 0202H Controller could not execute the command

*1 If an error is found in the data from the PLC as a result of check, the data will not be sent to the controller, but an

error code will be set in the response data instead.

*2 If no link is established yet, nothing will be shown in the response command.

(5) How to Use Commands

To use various commands, process the data in command areas according to the flow shown below. In this flow, only one command is processed.

Use a command

Clear the request command area and data areas 0 to 3.

esponse command

area 0?

Write the command code in the request command area

Write the necessary data in data areas 0 to 3

Response command =

Request command?

Clear the request command area

Clear data areas 0 to 3

Page 72

Part 1 Specification

3.7.4 Position Table

RACON and RPCON controllers can be operated in one of six modes—positioner mode 1and 2, simple direct mode, direct numerical specification mode and Solenoid valve mode 1 and 2—using one of four types of GateWayR units. To perform positioning operation in the positioner mode or simple direct mode, a position table must be created beforehand using a teaching tool. For details on how to set a position table, refer to “PC Software RCM-101-** Operation Manual” or “CON-T Teaching Pendant Operation Manual.” As explained in the previous section, the position table can also be read or written from the host PLC using various commands. Take note, however, that the position table can be written only 100,000 times or so.

Page 73

Part 1 Specification

Position

The position table is explained using the screen of the PC software as an example. (The display is different on the teaching pendant.)

(1) No. • A position data number is indicated. (2) Position • Input the target position to which to move the actuator [mm].

Absolute coordination specification: Input the distance from the actuator home. Relative coordination specification: Constant pitch feed is assumed. The specified value

represents a relative distance from the current position.

Absolute coordination specification: The target position is 5 mm from the home. Relative coordination specification: The target position is 10 mm plus the current position. Relative coordination specification: The target position is 10 mm minus the current position.

* On the teaching pendant (RCM-T), this sign indicates that the position is specified in relative coordinates.

(3) Speed • Input the speed at which to move the actuator [mm/sec].

The default varies according to the actuator type.

Position Speed Acceleration Deceleration Push Threshold

Positioning band

Zone+ Zone-

Acceleration

/deceleration

mode

Incremental

Command

mode

Stop

mode

Comment

: Absolute coordination specification (ABS)

I : Indicates the relative coordination specification (INC)

Position number

Axis number being edited

On the teaching pendant (CON-T), this sign indicates that the position is specified in relative coordinates.

Page 74

Part 1 Specification

(4) Acceleration/Deceleration • Input the acceleration/deceleration at which to move the actuator (unit: [G]). Input a value

within the rated range. (Refer to Appendix, “Specification List of Supported Actuators.”) Exercise caution when setting the acceleration/deceleration, because the input range is greater than the rated range in the catalog. If the load vibrates during acceleration/deceleration to cause problems, decrease the set value.

Increasing the value will make the acceleration/deceleration curve sharper, while decreasing the value will make the curve more gradual.

Caution

Refer to Appendix, “Specification List of Supported Actuators” and input appropriate values for speed and acceleration/deceleration by considering the installation conditions and the shape of the load, so that the actuator will not receive excessive impact or vibration. Take note that increasing this value will significantly affect the allowable load capacity, or may even cause a system failure.

(5) Push • Select “positioning operation” or “push operation.”

The factory setting is “0.” 0: Normal positioning operation Other than 0: The set value indicates a current-limiting value. The push operation mode is

selected when a current-limiting value is set.

(6) Threshold • This field is not used with this controller.

The factory setting is “0.”

(7) Positioning Band • How the set value is handled varies between “positioning operation” and “push operation.”

“Positioning operation”

This field defines how much before the target position the position complete signal is turned ON. Even after the position complete signal turns ON, the actuator will continue to move toward the target position. Increasing the positioning band will quicken the start of the next sequence, which helps reduce the tact time. Set an optimal value by considering the balance of the entire system.

Speed

Acceleration

0.3 G

Deceleration

0.2 G

Start position Target position

Time

The position complete signal turns ON.

Positioning band

Target position

Page 75

Part 1 Specification

“Push operation”

This field defines the maximum distance traveled from the target position in push operation. Consider the mechanical variation of the load and set an appropriate positioning band so that the positioning will not complete before the actuator contacts the load.

(8) Zone+/- • These fields define the zone within which the zone output signal turns ON.

A separate zone can be set for each target position. Only the zone setting for the currently executed position number becomes effective, and the zone settings for all other position numbers remain ineffective.

[For Index Mode of Rotary Actuators]

Speed

When the load is contacted, push operation is deemed complete and the position complete signal turns ON.

Push

speed

Target position

Positioning band (Maximum distance traveled in push operation)

Areas that the zone signal is ON

Set Valve Zone setting + : 70° Zone setting – : 315°

Set Valve Zone setting + : 315° Zone setting – : 70°

Page 76

Part 1 Specification

[For Straight Slide Actuators]

Caution

Zone functions differ depending on the application version.

• For application version V0015 or earlier, zone output is not performed for the setting below; Zone setting + ≤ zone setting –

• For application version V0016 or earlier, zone output is not performed for the setting below; Zone setting + = zone setting –

Set value

Zone signal output

Current Position

Zone setting + : 70mm Zone setting

: 30mm

Zone setting + : 30mm Zone setting

: 70mm

Page 77

Part 1 Specification

(9) Acceleration/Deceleration Mode • This field defines the acceleration/deceleration pattern characteristics.

The factory setting is “0.” 0: Trapezoid pattern 1: S-motion 2: Primary delay filter

The acceleration and deceleration are set in the “Acceleration” and “Deceleration” fields of the position table, respectively.

The actuator accelerates over a curve that increases gradually at first and then rises sharply in the middle. Use this pattern if you want to set the acceleration/de celeration h igh to me et the tact time requirement, but still want the actuator to accelerate and decelerate gradually immediately after starting and before stopping.

The S-motion level is set in parameter No. 56, “S-motion ratio setting.” The setting unit is %, and the setting range is 0 to 100. (The above graph assumes a ratio of 100%.) When this parameter is set to “0,” the S-motion mode will be disabled. Note, however, that the parameter will not be reflected in jogging or inching feed operated from a PC or teaching pendant. Although the acceleration/deceleration time does not change, the value of acceleration/deceleration becomes greater than the acceleration/deceleration set in the position table (by up to twice), as shown in the above graph.

Trapezoid Pattern

Speed

cceleration Deceleration

Time

S-motion

Speed

Time

Page 78

Part 1 Specification

The actuator accelerates/decelerates over a curve that is more gradual than in linear acceleration/deceleration (trapezoid pattern). Use this pattern if you don’t want the load to receive micro-vibration during acceleration/deceleration.

The primary delay level is set in parameter No. 55, “Position-command primary filter time constant.” The setting unit is msec, and a desired value can be set in a range of 0.0 to 100.0 in 0.1-msec steps. If this parameter is set to “0,” the primary delay filter will be disabled. Note, however, that the parameter will not be reflected in jogging or inching feed operated from a PC or teaching pendant.

(10) Incremental • This field defines either absolute coordinate specification or relative coordinate

specification.

The factory setting is “0.” 0: Absolute coordinate specification 1: Relative coordinate specification

(11) Command Mode • This field is not used with this controller.

The factory setting is “0.”

(12) Stop mode • This field is invalid with RACON cont rollers.

• With RPCON controllers, define the power-saving method to be applied during the standby period after completion of positioning to the target position set in the “Position” field of the position number table. 0: Disable the power-saving mode 4: Full-servo control method

Full-servo control method

The holding current can be reduced by servo-controlling the pulse motor. Although the degree of reduction varies depending on the actuator model, load condition, etc., the holding current will drop to approx. 1/2 to 1/4. Under this method, the servo remains on and therefore position deviation will not occur. The actual holding current can be checked on the current monitor screen of the PC software.

Primary Delay Filter

Speed

Time

Page 79

Part 1 Specification

PROFIBUS

Position data specification(Signed integer)

PLC output = Axis control signal

Position data specification(Signed integer)

Command position Number

Control signal

BKRL

MODE

PWRT

JOG+

JOG

PC512

PC256

PC128

PC64

PC32

PC16

PC8

PC4

PC2

PC1

JVEL

JISL

SON

RES

STP

HOME

CSTR

1 word = 18 bits

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Address*

(Upper byte)

(Lower byte)

RS485SIO

CC-Link DeviceNet

RWw (m+0) n+0

RWw (m+1) n+1

RWw (m+2) n+2

RWw (m+3) n+3

n+0 n+1

n+2 n+3

n+4 n+5

n+6 n+7

PROFIBUS

Current position data(Signed integer)

PLC input = Axis status signal

Completed position Number

Status signal

EMGS

CRDY

ZONE2

ZONE1

PZONE

MODES

WEND

PM512

PM256

PM128

PM64

PM32

PM16

PM8

PM4

PM2

PM1

PSFL

ALM

MOVE

HEND

PEND

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Address*

(Upper byte)

(Lower byte)

RS485SIO

CC-Link DeviceNet

RWw (m+0) n+0

RWw (m+1) n+1

RWw (m+2) n+2

RWw (m+3) n+3

n+0 n+1

n+2 n+3

n+4 n+5

n+6 n+7

3.7.5 Assignments in the Positioner 1 Mode or Simple Direct Mode

Assignments in the positioner 1 mode or simple direct mode are shown below.

* m indicates the initial register address of each axis.

n indicates the relative address at the beginning of each address. The CC-Link and DeviceNet types use word addresses, while the PROFIBUS and RS485 SIO types use byte addresses.

Page 80

Part 1 Specification

I/O Signal List

Signal type Bit Signal name Description Positioner

Simple

direct

Details

Position data

specification

32-bit

data

- Set as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm) Example) To set +25.4 mm, specify

“0009EC” (decimal number: 2540).

z The maximum settable value is +9999.99

mm = 999999 (decimal number) = 0F423FH (hexadecimal number).

z Since a negative value is specified as a 2’s

complement.

{

3.8.3 (4)

Set the command position number as a binary number.

{

3.8.2 (11)

Command

position number

b9-b0 PC***

Move data other than the specified position data is set in the position table. Specify the position number as a binary number.

{

3.8.3 (3)

b15 BKRL Forced brake release

{ {

3.8.2 (19)

b10 MODE Teaching mode command

{

3.8.2 (17)

b9 PWRT Position data load command

{

3.8.2 (18)

b8 JOG+ Jog+ command

{ {

3.8.2 (14)

b7 JOG- Jog- command

{ {

b6 JVEL Jogging speed/inching distance switching

{ {

3.8.2 (15)

b5 JISL Jogging/inching switching

{ {

3.8.2 (16)

b4 SON Servo ON command

{ {

3.8.2 (5)

b3 RES Reset command

{ {

3.8.2 (4)

b2 STP Pause command

{ {

3.8.2 (10)

3.8.4 (2)

b1 HOME Home return command

{ {

3.8.2 (6)

PLC output

Control signal

b0 CSTR Start command

{ {

3.8.2 (7)

{: Available X: Not available

Page 81

Part 1 Specification

I/O Signal List

Signal type Bit Signal name Description Positioner

Simple

direct

Details

Current position

data

32-bit

data

- Output as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm). Example) To set +25.4 mm, specify

“0009EC” (decimal number: 2540).

z The maximum settable value is +9999.99

mm = 999999 (decimal number) = 0F423FH (hexadecimal number).

z Since a negative value is indicated as a 2’s

complement, the most significant bit becomes “1.”

{ {

3.8.3 (4)

3.8.2 (12)

Completed

position number

b9-b0 PM***

The completed position number is read as a binary number. A simple alarm code is output while an alarm is present.

{ {

3.8.3 (3)

b15 EMGS Emergency stop status

{ {

3.8.2 (2)

b14 CRDY Controller ready

{ {

3.8.2 (1)

b13 ZONE2 Zone output monitor 1

{ {

3.8.2 (13)

b12 ZONE1 Zone output monitor 2

{ {

b11 PZONE Position zone output monitor

{

b10 MODES Teaching mode status

{

3.8.2 (18)

b9 WEND Position data load command status

{

3.8.2 (18)

b8-b6 - Cannot be used. - -

b5 PSFL Missed load in push operation

{ {

3.8.4 (1)

b4 SV Ready (servo ON)

{ {

3.8.2 (5)

b3 ALM Alarm present

{ {

3.8.2 (3)

b2 MOVE Moving

{ {

3.8.2 (8)

b1 HEND Home return complete

{ {

3.8.2 (6)

PLC input

Control signal

b0 PEND Position complete

{ {

3.8.2 (9)

{: Available X: Not available

Page 82

Part 1 Specification

[Alarm List] Listed below are simple alarm codes that will be output when the respective alarms generate. For details, refer to Part 3, “Maintenance.” Simple alarm codes and alarm codes are given as hexadecimal numbers. * Simple alarm codes are indicated by the STATUS0 to 3 LEDs on the controller unit.

z: ON X: OFF {: Available X: Not available

PM 512

256

128

PM 8PM 4 PM 2 PM

Simple*

alarm

code

Alarm

code

Alarm name

RPCON RACON

90 Software reset command with servo ON

{ {

91 Position number error during teaching

{ {

92 PWRT signal detection during movement

{ {

X X X X X X X X z X 2

93 PWRT signal detection before home return

{ {

80 Move command with servo OFF

{ {

82 Position command before home return

{ {

Absolute position move command before home return

{ {

84 Move command during home return

{ {

85 Position number error during movement

{ {

X X X X X X X X

z z

A7 Command deceleration error

{ {

X X X X X X X z X X 4 F4 PCB mismatch error

{ {

A1 Parameter data error

{ {

A2 Position data error

{ {

X X X X X X X

z z

X 6

A3 Position command information data error

{ {

B6 Phase-Z detection timeout X

{

B7 Indeterminable magnetic pole X

{

B8 Excited phase detection error

{

BA Home sensor not detected

{ {

X X X X X X X

z z z

BE Home return timeout

{ {

X X X X X X z X X X 8 C0 Excessive actual speed

{ {

C8 Overcurrent X

{

C9 Overvoltage

{ {

CA Overheat

{ {

CB Current sensor offset adjustment error X

{

CC Control power-supply voltage error

{ {

X X X X X X z X X

CE Control power-supply voltage low

{ {

D8 Deviation overflow

{ {

D9 Software stroke limit over error

{ {

DC Push operation range over error

{ {

X X X X X X z X

z z

A4 Command counter overflow

{ {

C1 Servo error

{

D2 Motor power-supply overvoltage X

{

E0 Overload X

{

X X X X X X

z z

X X C

F0 Driver logic error X

{

E5 Encoder receive error

{ {

E8 Phase A/B open

{ {

E9 Phase A open

{

EA Phase B open

{

ED Absolute encoder error detection 1

{ {

EE Absolute encoder error detection 2

{ {

X X X X X X

z z

EF Absolute encoder error detection 3

{ {

FA CPU error

{ {

X X X X X X

z z z

X E

FC Logic error

{ {

F5 Nonvolatile memory write verification error

{ {

F6 Nonvolatile memory write timeout

{ {

X X X X X X

z z z z

F8 Nonvolatile memory data damage

{ {

Page 83

Part 1 Specification

3.7.6 Assignments in the Direct Numerical Specification Mode

Assignments in the direct numerical specification mode are shown below. Set the push-current limiting value, acceleration/deceleration and speed within the ranges specified for the applicable actuator, and set the target position data within the soft stroke range.

Setting units: Current-limiting value = 1%, Acceleration/deceleration = 0.01 G, or Speed = 0.1 mm/sec

Position data/positioning band = 1/100 mm,

* m indicates the initial register address of each axis.

n indicates the relative address at the beginning of each address.

The CC-Link and DeviceNet types use word addresses, while the PROFIBUS and RS485 SIO types use byte addresses.

PROFIBUS

256

Page 84

Part 1 Specification

* m indicates the initial register address of each axis.

n indicates the relative address at the beginning of each address. The CC-Link and DeviceNet types use word addresses, while the PROFIBUS and RS485 SIO types use byte addresses.

PLC input = Axis status signal

Address*

1 word = 16 bits

(Upper byte)

(Lower byte)

Current position data (Signed integer)

Actual motor current (Signed integer)

Current speed

(Cannot be used.)

Alarm code

Status signal

PROFIBUS

Page 85

Part 1 Specification

I/O Signal List

Signal type Bit Signal name Description Details

Position data

specification

32-bit

data

Set as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm) Example) To set +25.4 mm, specify “0009ECH”

(decimal number: 2540).

z The maximum settable value is +9999.99 mm = 999999

(decimal number) = 0F423FH (hexadecimal number).

z Since a negative value is specified as a 2’s complement, the

most significant bit becomes “1.”

z Set the position data within the soft stroke range.

3.8.3 (5)

Positioning band

32-bit

data

Set as a hexadecimal number using a 32-bit integer (unit: 0.01 mm). Example) To set +25.4 mm, specify “0009ECH”

(decimal number: 2540).

z Set the position data within the soft stroke range

z Set the direction of push operation using the DIR. z Take note that if positioning band specification data is not set,

the setting of parameter No. 10, “Default positioning band” will not be applied.

3.8.3 (5)

Speed

16-bit

data

Set as a hexadecimal number using a 16-bit integer (unit: 1.0 mm/sec or 0.1mm/Sec). Example) T o set 200 mm/sec, specify “00C8H”

(decimal number: 200).

z If speed is not set, or the set speed is “0,” the actuator will

remain stopped and no alarm will generat e. If the speed setting is changed to “0” while the actuator is moving, the actuator will decelerate to a stop. Switching of setting unit is available in the Special Parameter Setting Window of ROBONET Gateway Parameter Setting Tool (Ver.1.0.4.0 or later). (The factory setting is 1.0 mm/sec.)

3.8.3 (5)

PLC output

Acceleration/

deceleration

16-bit

data

Set as a hexadecimal nu mber using a 16-bit inte ge r (uni t: 0 . 01 G). Example) To set 0. 2 G, specify “0014H” (d e cimal number: 20). The maximum value is 2 G, corresponding to “00C8H” (decimal number: 200). z Take note that if acceleration/deceleration is not set, the

setting of parameter No. 9, “Default acceleration/deceleration” will not be applied.

z Separate values cannot be set for acceleration and

deceleration. The acceleration and deceleration are always the same.

3.8.3 (5)

Page 86

Part 1 Specification

I/O Signal List

Signal type Bit Signal name Description Details

Push-current

limiting value

8-bit data

Set the push-current limiting value as a hexadecimal number (unit: %) to set the push force. Settable range is 00H to 1FFH, FFH = 100% and 1FFH = 200% Example) To set 50%, specify FFH x 50% = 255 x 50% = 127

(decimal number) = “7FH.”

3.8.3 (5)

b15 BKRL Forced brake release 3.8.2 (19) b14 - Cannot be used. b13 DIR Push direction specification

(0 = Home return direction, 1 = Opposite home return direction)

b12 PUSH Push operation mode specification

3.8.3 (5)

3.8.4 (1)

b11 - Cannot be used. b10 - Cannot be used. -

b9 - Cannot be used. b8 JOG+ Jog+ command b7 JOG- Jog- command

3.8.2 (14)

b6 JVEL Jogging speed/inching distance switching 3.8.2 (15) b5 JISL Jogging/inching switching 3.8.2 (16) b4 SON Servo ON command 3.8.2 (5) b3 RES Reset command 3.8.2 (4)

b2 STP Pause command

3.8.2 (10)

3.8.4 (2)

b1 HOME Home return command 3.8.2 (6)

PLC output

Control signal

b0 CSTR Start command 3.8.2 (7)

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Part 1 Specification

I/O Signal List

Signal type Bit Signal name Description Details

Current position

data

32-bit

data

The current position data is output as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm). Example) If the data is +25.4 mm, “000009ECH”

(decimal number: 2540) is output.

z Since a negative value is indicated as a 2’s complement, the

most significant bit becomes “1.”

3.8.3 (5)

Actual motor

current

32-bit

data

The actual motor current data is output as a hexadecimal number using a 32-bit signed integer (unit: mA). Example) If the data is +1 A (1000 mA), “000003EH8

(decimal number: 1000) is output.

z Since a negative value is indicated as a 2’s complement, the

most significant bit becomes “1.”

3.8.3 (5)

Current speed

16-bit

data

Output as a hexadecimal number using a 16-bit integer (unit: 1.0 mm/sec). Example) If the data is 200 mm/sec, “00C8H”

(decimal number: 200) is output.

3.8.3 (5)

Alarm code

16-bit

data

The present alarm code is output. (The ALM is turned ON.) Refer to the list in 3.7.5 for the alarm details. Take note that these are not simple alarm codes.

3.7.5

b15 EMGS Emergency stop mode 3.8.2 (2) b14 CRDY Controller ready 3.8.2 (1) b13 ZONE2 Zone output monitor 2 b12 ZONE1 Zone output monitor 1

3.8.2 (13)

b11 - Cannot be used. b10 - Cannot be used. -

b9-b7 - Cannot be used. -

b6 - Cannot be used. b5 PSFL Missed load in push operation

3.8.3 (5)

3.8.4 (1) b4 SV Ready (servo ON) 3.8.2 (5) b3 ALM Alarm present 3.8.2 (3) b2 MOVE Moving 3.8.2 (8) b1 HEND Home return complete 3.8.2 (6)

PLC input

Status signa l

b0 PEND Position complete 3.8.2 (9)

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Part 1 Specification

3.7.7 Assignment in Positioner 2 Mode

Assignment in the positioner 2 mode is explained below. PLC output = Axis control signal

PLC input = Axis status signal

* m indicates the initial register address of each axis.

n indicates the relative address at the beginning of each address. The CC-Link and DeviceNet types use word addresses, while the PROFIBUS and RS485 SIO types use byte addresses. The I/O signal list and alarm list are the same as those of the positioner 1 mode. Refer to 3.7.5.

1 word = 16 bits

Address*

(Upper byte)

(Lower byte)

Command position Number

Control signal

PROFIBUS

Address*

(Upper byte)

(Lower byte)

Completed position Number

Status signal

PROFIBUS

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Part 1 Specification

3.7.8 Assignment in Solenoid Valve Mode 1

Assignment in the solenoid valve mode 1 is explained below. PLC output = Axis control signal

PLC input = Axis status signal

* m indicates the initial register address of each axis.

n indicates the relative address at the beginning of each address. The CC-Link and DeviceNet types use word addresses, while the PROFIBUS and RS485 SIO types use byte addresses.

Address*

1 word = 16 bits

(Upper byte)

(Lower byte)

Command position Number

Control signal

Address*

(Upper byte)

(Lower byte)

Completed position Number

Status signal

Page 90

Part 1 Specification

I/O Signal List

Signal type Bit Symbol Description Details

b15-b7 - Cannot be used. -

b6 ST6 Start position command 6 b5 ST5 Start position command 5 b4 ST4 Start position command 4 b3 ST3 Start position command 3 b2 ST2 Start position command 2 b1 ST1 Start position command 1

Command

position number

b0 ST0 Start position command 0

3.8.2 (20)

b15 BKRL Forced brake release 3.8.2 (19)

b14-b5 - Cannot be used. -

b4 SON Servo ON command 3.8.2 (5) b3 RES Reset command 3.8.2 (4)

b2 STP

Pause command 3.8.2 (2)

3.8.2 (10)

b1 HOME Home return command 3.8.2 (6)

PLC output

Control signal

b0 - Cannot be used. -

b15-b7 - Cannot be used. -

b6 PE6 Current position number signal 6 b5 PE5 Current position number signal 5 b4 PE4 Current position number signal 4 b3 PE3 Current position number signal 3 b2 PE2 Current position number signal 2 b1 PE1 Current position number signal 1

Completed

position number

b0 PE0 Current position number signal 0

3.8.2 (22)

b15 EMGS Emergency stop mode 3.8.2 (2)

b14-b13 - Cannot be used. -

b12 ZONE1 Zone output 1 monitor 3.8.2 (13) b11 PZONE Position zone output monitor 3.8.2 (13)

b10-b5 - Cannot be used. -

b4 SV Ready (serv o ON) 3.8 .2 (5) b3 ALM Alarm present 3.8.2 (3) b2 - Cannot be used. b1 HEND Home return complete 3.8.2 (6)

PLC Input

Status signal

b0 PEND P os ition complete 3.8.2 (9)

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Part 1 Specification

3.7.9 Assignment in Solenoid Valve Mode 2

Assignment in the solenoid valve mode 2 is explained below. PLC output = Axis control signal

PLC input = Axis status signal

* m indicates the initial register address of each axis.

n indicates the relative address at the beginning of each address. The CC-Link and DeviceNet types use word addresses, while the PROFIBUS and RS485 SIO types use byte addresses.

(Upper byte)

(Lower byte)

1 word = 16 bits

Command position Number

Control signal

Address*

(Upper byte)

(Lower byte)

Completed position Number

Status signal

Address*

Page 92

Part 1 Specification

I/O Signal List

Signal type Bit Symbol Description Details

b15-b3 - Cannot be used. -

b2 ST2 Intermediate point move command b1 ST1 Front end move command

Command

position number

b0 ST0 Rear end move command

3.8.2 (21)

b15 BKRL Forced brake release 3.8.2 (19)

b14-b5 - Cannot be used. -

b4 SON Servo ON command 3.8.2 (5) b3 RES Reset command 3.8.2 (4)

PLC output

Control signal

b2-0 - Cannot be used. -

b15-b3 - Cannot be used. -

b2 LS2 Intermediate position detecting b1 LS1 Front end position detecting

Completed

position number

b0 LS0 Rear end position detecting

b15 EMGS Emergency stop mode 3.8.2 (23)

b14-b13 - Cannot be used. -

b12 ZONE1 Zone output 1 monitor 3.8.2 (13) b11 PZONE Position zone output monitor 3.8.2 (13)

b10-b5 - Cannot be used. -

b4 SV Ready (serv o ON) 3.8 .2 (5) b3 ALM Alarm present 3.8.2 (3) b2 - Cannot be used. b1 HEND Home return complete 3.8.2 (6)

PLC Input

Status signal

b0 - Cannot be used. -

Page 93

Part 1 Specification

3.8 I/O Signals

3.8.1 I/O Signal Timings

To operate the ROBO Cylinder using the PLC’s sequence program, a given control signal is turned ON. The maximum response time after the signal turns ON until the response (status) signal is returned to the PLC is calculated by the formula below:

Maximum response time (msec) = Yt + Xt + 2 x Mt + Command processing time (operation time, etc.)

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

For the master station → remote I/O station tr a nsmi ssio n delay ti me (Y t) and rem ote I/O s ta tion → master sta tion transmission delay time (Xt), refer to the operation manuals of the CC-Link master unit and the PLC installed in the master unit.

(Note) If a communication error occurred due to a problem along the transmission path, etc., communication will be retried

(by up to three times) and consequently the SIO link cycle time (Mt) may become longer than normal.

Field network transmission delay time

PLC sequence program

Control signal

Status signal

Master station → remote I/O station transmission delay time (Yt)

Remote I/O station → master station transmission delay time (Xt)

Gateway

Control signal

Status signal

SIO link cycle time

Controlle

Control signal

Status signal

SIO link cycle time

Command

processing time

Page 94

Part 1 Specification

3.8.2 I/O Signal Functions

(1) Controller Ready (CRDY) PLC Input Signal

This signal turns “1” (ON) when the controller has become ready to perform control after the power is turned ON.  Function

This signal turns “1” (ON) when the controller has been successfully initialized and become ready to perform control after the power is turned ON, regardless of the alarm status, servo status, etc. Even when an alarm is present, this signal is always “1” (ON) whenever the controller is ready.

(2) Emergency Stop (EMGS) PLC Input Signal

This signal turns “1” (ON) when the controller has actuated an emergency stop.  Function

This signal turns “1” (ON) when the controller generates an alarm or actuates an emergency stop (= the motor driver power is cut off). It will turn “0” (OFF) once the emergenc y stop is cancelled. The applicable alarms are operation-cancellation alarms and cold-start alarms.

(3) Alarm (ALM) PLC Input Signal

This signal turns “1” (ON) when the controller’s protective circuit (function) has detected an alarm.  Function

This signal turns “1” (ON) when a protective circuit (function) is activated due to detection of an error. When the cause of the alarm is removed and the reset (RES) signal is turned “1” (ON), the sig nal will t urn “0” (OFF). (With cold-start alarms, the power must be reconnected.) When an alarm is detected, the ALM LED (red) on the front panel of the controller illuminates. This LED remains unlit in a normal condition.

(4) Reset (RES) PLC Output Signal

This signal has two functions. It can be used to reset controller alarms or to cancel the remaining travel distance during a pause.

 Function

[1] While an alarm is present, remove the cause of the alarm and change this signal from “0” (OFF) to “1” (ON), and

the alarm signal will be reset. (With cold-start alarms, the power must be reconnected.)

[2] Change this signal from “0” (OFF) to “1” (ON) while the actuator is paused, and the remaining travel distance will

be cancelled.

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Part 1 Specification

(5) Servo ON Command (SON) PLC Output Signal

Ready (SV) PLC Input Signal

Turn the SON signal “1” (ON), and the servo will turn on. When the servo is turned ON, the SV LED (green) on the front panel of the controller will illuminate. The SV signal is synchronized with this LED indicator.

■ Function The SON signal can be used to turn ON/OFF the controller servo. The controller servo remains on and thus the controller can be operated while the SV signal is “1” (ON). The relationship of SON and SV signals is shown below.

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Part 1 Specification

(6) Home Return Command (HOME) PLC Output Signal

Home Return Complete (HEND) PLC Input Signal

Home return operation will start at the “0” (OFF) Æ “1” (ON) leading edge of the HOME signal. When home return is complete, the HEND (home return complete) signal will turn “1” (ON). Turn the HOME signal “0” (OFF) after the HEND signal has turned “1” (ON). Once it turns “1,” the HEND signal will not turn “0” (OFF) until the power is turned OFF or the HOME signal is input again. After home return has been completed once, home return can be performed as many times as desired using the HOME signal. An absolute reset must be performed for each axis (controller unit) connected to a simple absolute R unit, when the system is started. To perform an absolute reset from the host PLC, output the home return signal (HOME). For details, refer to the section on starting up the simple absolute R unit in Part 2, “Startup.”

Caution

1. If a positioning command is issued in the positioner mode immediately after the power has been turned ON, without performing home return, home return will be performed automatically, but only if no home return has been performed after the power ON, and then the positioning will be executed.

2. Take note that in any other mode, an alarm “Error 83: ALARM HOME ABS (absolute position move command before home return)” will generate.

Actuator operation

Mechanical end

Stops at the home position

Page 97

Part 1 Specification

(7) Positioning Start (CSTR) PLC Output Signal

Upon detection of the “0” (OFF) → “1” (ON) leading edge of this signal, the controller will read the target position number consisting of a 10-bit binary code from PC1 to PC512, and perform positioning to the target position specified by the corresponding position data. The same procedure is followed when the target position is specified directly as a numerical value in the position data specification area. Before executing a start command, the operation data such as target position and speed must be set in the position table using a PC/teaching pendant. If this command is issued when no home return has been performed after the power ON (= when the HEND output signal is “0” (OFF)), home return will be performed autom atically and then the positioning will be execut ed. Turn this signal “0” (OFF) after confirming that the PEND signal has turned “0” (OFF).

(8) Moving (MOVE)

This signal is “1” (ON) while the actuator is moving with the servo turned ON (and also during home return, push operation and jogging operation). Use the MOVE signal together with the PEND signal for status judgment on the PLC side. This signal will turn “0” (OFF) once the actuator completes positioning, home return or push operation, or is paused.

(9) Position complete (PEND) PLC Input Signal

This signal turns “1” (ON) when the actuator has moved to the target position and entered the positioning band, or push operation has completed (the load has not been missed). When the servo status changes from OFF to ON, the applicable position is set as the target position and accordingly this signal turns “1” (ON). When positioning operation is subsequently started via the HOME signal or CSTR signal, this signal will turn “0” (OFF).

Caution

If the servo turns OFF or an emergency stop is actuated while the actuator is stopped at the target position, the PEND will turn “0” (OFF). If the current position is within the positioning band when the servo turns ON again, the signal will return to “1” (ON). If the CSTR remains “1” (ON), the PEND will not turn “1” (ON) even when the current position is within the position ing band. It will turn “1” (ON) only after the CSTR signal has turned “0” (OFF).

The position complete signal turns ON.

Speed

Target position

Travel distance

Positioning band

Time

Page 98

Part 1 Specification

(10) Pause (STP) PLC Output Signal

Turn this signal “1” (ON), and the axis movement will pause (the axis will decelerate to a stop). Turn the signal “0” (OFF), and the axis movement will resume.

(11) Command Position Number (PC1 to PC512) PLC Output Signal

The command position number is read as a 10-bit binary number. Upon detecting the “0” (OFF) → “1” (ON) edge of the CSTR signal, the controller will read the 10-bit binary number consisting of PC1 to PC512 signals as the command position number.

(12) Completed Position Number (PM1 to PM512) PLC Input Signal

The position complete number is output as a 10-bit binary number. When the power is turned ON or while the actuator is moving, all of PM1 to PM512 signals are “0” (OFF). All signals will turn “0” (OFF) once the servo turns OFF or an emergency stop is actuated. The signals will return to “1” (ON) if the current position is within the positioning band (INP) with respect to the target position when the servo turns ON again. If the positioning band (INP) is exceeded, the signals will remain “0” (OFF). These signals also turn “1” (ON) when push operation has completed or the load has been missed.

(13) Zone (PZONE, ZONE1, ZONE2) PLC Input Signal

These signals remain “1” (ON) while the current actuator position is inside the specified zone. Zones are set using the position table or user parameters. This signal becomes effective after completion of home return. It will remain effective, even while the servo is turned off, once home return has completed.

Setting Zone signal

Positioner mode,

simple direct

mode

Direct numerical

specification

mode

Solenoid valve

mode 1 and 2

Individual zone boundaries in the position table

Position zone

output

PZONE

{

User parameters for zone boundary 1 (Parameter No. 1 = + side, No. 2 = - side)

Zone output 1

ZONE1

{ { {

User parameters for zone boundary 2 (Parameter No. 23 = + side, No. 24 = - side)

Zone output 2

ZONE2

{ {

Page 99

Part 1 Specification

An example is shown below. [For Index Mode of Rotary Actuators]

[For Straight Slide Actuators]

Caution

Zone functions differ depending on the application version.

• For application version V0015 or earlier, zone output is not performed for the setting below;

Zone setting + ≤ zone setting -

• For application version V0016 or earlier, zone output is not performed for the setting below;

Zone setting + ≤ zone setting -

Areas that the zone signal is ON

Set Valve Zone setting + : 70° Zone setting – : 315°

Set Valve Zone setting + : 315° Zone setting – : 70°

Set value

Zone signal output

Current Position

Zone setting + : 70mm Zone setting

: 30mm

Zone setting + : 30mm Zone setting

: 70mm

Page 100

Part 1 Specification

(14) Jog+ Command/Jog- Command (JOG+/JOG-) PLC Output Signal

These signals function as start commands for jogging operation or inching operation. The + command starts operation in the direction opposite home, while the – command starts operation in the home direction. Jogging operation or inching operation is specified by a combination of this signal and the JISL signal (jogging/inching switching signal) and JVEL signal (jogging/inching speed and inching distance parameter switching signal).

[1] Jogging operation

The actuator can be jogged when the jogging/inching switching signal (JISL) is “0” (OFF). The actuator will operate in the direction opposite home while the JOG+ is “1” (ON), and decelerate to a stop when the signal turns “0” (OFF). The actuator will operate in the direction of h ome while the JOG- is “1” (ON), and decelerate to a stop when the signal turns “0” (OFF). The operation is set by the following parameters:

• Speed: Jogging speed in the parameter specified by the jogging speed/inching distance switching (JVEL) signal JVEL signal = “0” (OFF)→ Parameter No. 26 (PIO jogging speed) JVEL signal = “1” (ON)→ Parameter No. 47 (PIO jogging speed 2)

• Acceleration/deceleration: Rated acceleration/deceleration (The specific value varies depending on the actuator.)

To stop the jogging operation (cause the actuator to decelerate to a stop), change the active JOG signal from “1” (ON) to “0” (OFF) or turn both the JOG+ and JOG- “1” (ON).

[2] Inching operation

The actuator can be inched when the jogging/inching switching signal (JISL) is “1” (ON). The actuator moves by the inching distance every time the JOG signal changes from “0” (OFF) to “1” (ON). The JOG+ signal causes the actuator to inch in the direction opposite home, while the JOG- signal causes the actuator to inch in the direction of home. The operation is set by the following parameters:

• Speed: Jogging speed set in the parameter specified by the JVEL signal JVEL signal = “0” (OFF)→ Parameter No. 26 (PIO jogging speed) JVEL signal = “1” (ON)→ Parameter No. 47 (PIO jogging speed 2)

• Travel distance: Travel distance set in the parameter specified by the JVEL signal JVEL signal = “0” (OFF)→ Parameter No. 48 (PIO inching distance) JVEL signal = “1” (ON)→ Parameter No. 49 (PIO inching distance 2)

• Acceleration/deceleration: Rated acceleration/deceleration (The specific value varies depending on the actuator.)

Normally while the actuator is operating, the actuator will continue to operate even when the JOG+ or JOG- signal is

turned “1” (ON) (= the JOG signal will be ignored). Also while the actuator is paused, turning the JOG+ or JOG- signal “1” (ON) will not cause the actuator to operate (= the JOG signal will be ignored).

Caution

Exercise caution that until home return is completed, the software stroke limits are ineffective and therefore the actuator may collide with a mechanical end.