Controller Applicable for MECHATROLINK-䜕
Instruction Manual Frist Edition
SCON-CA
Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual explains the handling methods, structure and maintenance of this product,
among others, providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained
herein to ensure safe use of the product.
The DVD that comes with the product contains Instruction manuals for IAI products.
When using the product, refer to the necessary portions of the applicable instruction manual by
printing them out or displaying them on a PC.
After reading the Instruction Manual, keep it in a convenient place so that whoever is handling this
product can reference it quickly when necessary.
[Important]
x This Instruction Manual is original.
x This product is not to be used for any other purpose from what is noted in this Instruction
Manual. IAI shall not be liable whatsoever for any loss or damage arising from the result of using
the product for any other purpose from what is noted in the manual.
x The information contained in this Instruction Manual is subject to change without notice for the
purpose of production improvement.
x If you have any question or finding regarding the information contained in this Instruction Manual,
contact our customer center or our sales office near you.
x Using or copying all or a part of this Instruction Manual without permission is prohibited.
x MECHATROLINK is a registered trademark for MECHATROLINK Members Association.
x The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.
Table of Contents
Safety Guide........................................................................................................... 1
1. Overview .......................................................................................................... 9
1.1 Interface Specifications ..................................................................................................... 10
2. SCON-CA........................................................................................................11
2.1 Operation Modes and Functions........................................................................................11
2.2 Operation Modes and Functions........................................................................................11
2.3 MECHATROLINK-䜕 Interface ......................................................................................... 12
2.3.1 Name of Each Part............................................................................................... 12
2.3.2 Status LED Indicators .......................................................................................... 12
2.4 Example of Wiring ............................................................................................................. 13
2.5 Setting ............................................................................................................................... 14
2.5.1 Node Address Setting .......................................................................................... 14
2.5.2 Data length Setting .............................................................................................. 14
2.5.3 Setting of Electronic Gear Ratio........................................................................... 14
2.5.4 Check for Direction of Pulse Count...................................................................... 14
3. Flow and Commands of Basic MECHATROLINK Communication ................. 15
3.1 State Transition.................................................................................................................. 15
3.2 Command Frame Construction and Number of Transmission Bytes................................ 16
3.3 Endian ............................................................................................................................... 16
3.4 System of Units ................................................................................................................. 16
4. Command Format........................................................................................... 17
4.1 Command / Response Frame........................................................................................... 18
4.1.1 Command Code / Command Code Response (CMD/RCMD)............................. 18
4.1.2 Watchdog Data (WDT/RWDT) ............................................................................. 19
4.1.3 Command Control / Command Status (CMD_CTRL/CMD_STAT)...................... 19
4.1.4 Command Data / Respons Data (CMD_DATA/RSP_DATA)................................ 21
4.1.5 Sub Command Code / Sub Command Code Response
(SUB_CMD/SUB_RCMD) .................................................................................. 22
4.1.6 Sub Command Control / Sub Command Status
(SUB_CTRL/SUB_STAT) ................................................................................... 23
4.1.7 Sub Command Data / Sub Response Data
(SUB_CMD_DATA/SUB_RSP_DATA) ............................................................... 24
5. Command....................................................................................................... 25
5.1 Main Command................................................................................................................. 25
5.1.1 Specifications of Common Commands................................................................ 25
5.1.1.1 Invalid (NOP Code: 00
H
) ......................................................................... 25
5.1.1.2 ID Reading (ID_RD Code: 03
H
).............................................................. 26
5.1.1.3 Device Setup Request (CONFIG Code: 04
H
) ......................................... 28
5.1.1.4 Alarm / Warning Readout (ALM_RD Code: 05
H
) .................................... 29
5.1.1.5 Alarm / Warning Clear (ALM_CLR Code: 06
H
) ....................................... 30
5.1.1.6 Synchronization Establishment Request (SYNC_SET Code: 0DH)........ 30
5.1.1.7 Connection Establishment Request (CONNECT Code: 0E
H
)................. 31
5.1.1.8 Connection Release Request (DISCONNECT Code: 0F
H
) .................... 32
5.1.2 Specifications of Standard Servo Profile Commands .......................................... 33
5.1.2.1 Servo Status Monitor (SMON Code: 30
H
)............................................... 33
5.1.2.2 Sensor-on Request (SENS_ON Code: 23H)........................................... 39
5.1.2.3 Sensor-off Request (SENS_OFF Code: 24
H
) ......................................... 40
5.1.2.4 Servo ON Request (SV_ON Code: 31
H
)................................................. 41
5.1.2.5 Servo ON Request (SV_OFF Code: 32
H
).............................................. 42
5.1.2.6 Interpolation Feeding (INTERPOLATE Code: 34
H
) ................................ 43
5.1.2.7 Positioning (POSING Code: 35H)............................................................ 44
5.1.2.8 Constant Speed Feeding (FEED Code: 36H)......................................... 46
5.1.2.9 Servo Parameter Reading (SVPRM_RD Code: 40
H
) ............................. 48
5.1.2.10 Servo Parameter Writing (SVPRM_WR Code: 41H)............................. 49
5.2 Sub Command .................................................................................................................. 50
5.2.1 Combination of Main Command and Sub Command .......................................... 50
5.2.2 Specifications of Sub Commands ........................................................................ 51
5.2.2.1 Invalid (NOP Code: 00
H
) ......................................................................... 51
5.2.2.2 Alarm / Warning Readout (ALM_RD Code: 05
H
) .................................... 52
5.2.2.3 Servo Status Monitor (SMON Code: 30H)............................................... 53
5.3 Common Parameters and Device Parameters ................................................................. 54
5.3.1 Overview .............................................................................................................. 54
5.3.2 Common Parameter List...................................................................................... 55
5.3.3 Device Parameter List.......................................................................................... 59
6. Example for Operation Sequence................................................................... 60
6.1 Cautions in Actuator Operation ......................................................................................... 61
6.1.1 Home Retern........................................................................................................ 61
6.1.2 Soft Limit .............................................................................................................. 62
6.1.3 Positioning Complete Band, Positioning Vicinity Band and Home Position
Detection Band..................................................................................................... 63
7. Parameters for Controller (SCON).................................................................. 64
7.1 Parameter List................................................................................................................... 65
7.2 Detail of Parameters Related to MECHATROLINK-Υ Settings....................................... 68
8. Troubleshooting .............................................................................................. 69
8.1 Action to Be Taken upon Occurrence of Problem............................................................. 69
8.2 Alarm Level ....................................................................................................................... 70
8.3 Alarm List .......................................................................................................................... 71
9. Change History............................................................................................... 80
1
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it 1before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
Operation
Description
Description
1 Model
Selection
Ɣ This product has not been planned and designed for the application
where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect human
life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
Ɣ Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Ɣ Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other large
heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Ɣ For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving
part may drop when the power is turned OFF and may cause an accident
such as an injury or damage on the work piece.
2
No.
Operation
Description
Description
2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
Ɣ Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the instructions
in the Instruction manual for each model.
Ɣ Do not step or sit on the package.
Ɣ Do not put any heavy thing that can deform the package, on it.
Ɣ When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
Ɣ When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Ɣ Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Ɣ Do not get on the load that is hung on a crane.
Ɣ Do not leave a load hung up with a crane.
Ɣ Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
Ɣ The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of
condensation.
Ɣ Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
Ɣ Make sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
Ɣ Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
Ɣ When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
3
No.
Operation
Description
Description
(2) Cable Wiring
Ɣ Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
Ɣ Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
Ɣ When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection direction
is not correct, it might cause a fire, product breakdown or malfunction.
Ɣ Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
Ɣ Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
4 Installation
and Start
(3) Grounding
Ɣ The grounding operation should be performed to prevent an electric
shock or electrostatic charge, enhance the noise-resistance ability and
control the unnecessary electromagnetic radiation.
Ɣ For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair
cable with wire thickness 0.5mm
2
(AWG20 or equivalent) or more for
grounding work. For security grounding, it is necessary to select an
appropriate wire thickness suitable for the load. Perform wiring that
satisfies the specifications (electrical equipment technical standards).
Ɣ Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100: or below).
4
No.
Operation
Description
Description
4 Installation
and Start
(4) Safety Measures
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection fence)
so that nobody can enter the area within the robot’s movable range.
When the robot under operation is touched, it may result in death or
serious injury.
Ɣ Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Ɣ Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
Ɣ Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
Ɣ When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!”
etc. Sudden power input may cause an electric shock or injury.
Ɣ Take the measure so that the work part is not dropped in power failure or
emergency stop.
Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Ɣ Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or fire.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ Perform the teaching operation from outside the safety protection fence,
if possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
Ɣ When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so
that the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection fence,
the movable range should be indicated.
5
No.
Operation
Description
Description
6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic operation.
Ɣ When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Ɣ Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
Ɣ Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
Ɣ Check before starting the automatic operation or rebooting after
operation stop that there is nobody in the safety protection fence.
Ɣ Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no alarm
indication.
Ɣ Make sure to operate automatic operation start from outside of the safety
protection fence.
Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn
OFF the power switch. Failure to do so may result in a fire or damage to
the product.
Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of
the product in the recovery operation from the power failure.
6
No.
Operation
Description
Description
8 Maintenance
and Inspection
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
Ɣ When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
Ɣ When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so
that the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ For the grease for the guide or ball screw, use appropriate grease
according to the Instruction Manual for each model.
Ɣ Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
Ɣ The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
Ɣ Pay attention not to lose the cover or untightened screws, and make sure
to put the product back to the original condition after maintenance and
inspection works.
Use in incomplete condition may cause damage to the product or an
injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
Ɣ Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
Ɣ When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
Ɣ Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other Ɣ Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing
so may affect the performance of your medical device.
Ɣ See Overseas Specifications Compliance Manual to check whether
complies if necessary.
Ɣ For the handling of actuators and controllers, follow the dedicated
Instruction manual of each unit to ensure the safety.
7
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to
the warning level, as follows, and described in the Instruction Manual for each model.
Level Degree of Danger and Damage Symbol
Danger
This indicates an imminently hazardous situation which, if the product
is not handled correctly, will result in death or serious injury.
Danger
Warning
This indicates a potentially hazardous situation which, if the product is
not handled correctly, could result in death or serious injury.
Warning
Caution
This indicates a potentially hazardous situation which, if the product is
not handled correctly, may result in minor injury or property damage.
Caution
Notice
This indicates lower possibility for the injury, but should be kept to use
this product properly.
Notice
8
1. Overview
9
1. Overview
MECHATROLINK is an open field network for communication of both control and data signals of
the machine/line control level.
A wire-saving system can be built by connecting SCON-CA controllers (hereinafter collectively and
individually referred to as “Controller”) to a MECHATROLINK.
Supported servo profile is standard servo profile. It is not applied for the standard I/O profile.
* For details on MECHATROLINK and the command specifications of the servo profile, refer to the
operation manual for the programmable controller (hereinafter referred to as “PLC”) in which the
master unit is installed and documents offered by MECHATROLINK Members Association.
This instruction manual should be used in conjunction with the operation manual for each
controller.
You should also assume that any usage not specifically permitted in this instruction manual is
prohibited.
Example of a system configuration
PLC
(MECHATROLINK-䜕
Master unit)
Slave unit Slave unit
SCON SCON
1. Overview
10
1.1 Interface Specifications
Item Specification
Physical Layer Ethernet
Transmission Speed 100Mbps
Maximum transmission speed
(Between Stations)
100m
Minimum distance between stations 0.2m
Connection Format
Cascading form / Star form / Point-to-point
form
Number of connectable stations
(Max. Number of Slaves)
62 stations
Transmission cycle 0.5 to 32ms
Data length
32 (Sub commands unavailable to use), 48
bytes
Station address 03H to EF
H
Cable
Cable exclusively for MECHATROLINK-䜕
Connector Controller-side Industrial Mini I/O Connector
2. SCON-CA
11
2. SCON-CA
2.1 Operation Modes and Functions
SCON-CA applicable for MECHATROLINK-䜕 is applied for the standard servo profile.
(Note) It is not applied for the standard I/O profile.
2.2 Operation Modes and Functions
The model names of SCON-CA controller supporting MECHATROLINK-䜕 are indicated as follows,
respectively.
z SCON-CA--ML3-
2. SCON-CA
12
2.3 MECHATROLINK-䜕 Interface
2.3.1 Name of Each Part
The name of each part relating to MECHATROLINK-䜕 is shown.䎃
2.3.2 Status LED Indicators
The operation condition of the communication board, as well as the network condition, can be
checked using the two LEDs provided on the front side of the board.
LED Color
Indicator
condition
Description
Green Illuminating CONNECT received (Connected to the master)
CON
- OFF The board is not connected to the master unit
Orange Illuminating
Turns on when communication alarm or command alarm is
generated (warning excepted)
Turns off when alarm condition is cleard
ERR
- OFF In normal condition (alarm not generated)
LK1
(Link 1)
Green Illuminating
LK2
(Link 2)
Green OFF
Turns on when physically connected to another device
applicable for MECHATROLINK-䜕 (for purpose of error
check such as wire damage)
Status LED
Upstream Side Connector
LK1 (Link 1) LED
Downstream Side Connector
LK2 (Link 2) LED
CON
ERR
2. SCON-CA
13
2.4 Example of Wiring
PLC
(MECHATROLINK-䜕
Master unit)
Slave unit
SCON-CA-ML3
Cable exclusively for
MECHATROLINK-䜕
SCON-CA-ML3
Cable exclusively for
MECHATROLINK-䜕
2. SCON-CA
14
2.5 Setting
2.5.1 Node Address Setting
Set the node address using a parameter.
Set parameter No. 85, “NADR; Fieldbus node address” using the RC PC software.
(Refer to “MECHATROLINK-䜕 Parameters.”)
Settable range: 3 to 239 (The factory setting is 3.)
(Note) Pay attention to duplicate node address settings.
For more details, refer to the operation manual for the master unit or the PLC that is
installed.
2.5.2 Data length Setting
Set a desired data length using a parameter.
Establish the setting considering the data length which uses Parameter No. 86 “FBRS; Fieldbus
Communication Speed” in the RC PC software.
(Refer to “MECHATROLINK-䜕 Parameters.”)
Set value Data length Baud rate
0 32bytes
1
(factory setting)
48bytes
100Mbps
* If a greater value is entered, an parameter error will occur.
2.5.3 Setting of Electronic Gear Ratio
The electronic gear ratio is set with parameters.
Set the values in Parameter No. 65 “CNUM; Electronic Gear Numerator” and No. 66 “CDEN;
Electronic Gear Denominator” in the RC PC software. (Refer to “MECHATROLINK-䜕
Parameters.”)
The value set in these parameters controls the actuator by doing multiplication to the command
from the master.
Therefore, it is necessary to establish the setting that matches to the unit of master commands. In
case the unit of commands is unclear, change the value little by little from the initial. Also, it is
recommended, if there is a function to convert the unit or set up the gear ratio on the master, to
have the parameters set to 1/1 and make an adjustment on the master side.
Make sure the conditions stated below can be satisfied, and establish the setting.
Electronic gear
Stroke [mm] denominator
Ball screw lead length [mm] Electronic gear
numerator
2.5.4 Check for Direction of Pulse Count
The direction of pulse count can be set in parameters.
Check that the setting value in Parameter No. 62 “FPIO; Pulse count direction” is the same as that
in Parameter No. 5 “ORG; Home-return Direction” in the RC PC software, and make it the same in
case the different setting is made. (Refer to “MECHATROLINK-䜕 Parameters.”)
×
Encoder pulse number [pulse] ×
2
31
3. Flow and Commands of Basic MECHATROLINK Communication
15
3. Flow and Commands of Basic MECHATROLINK
Communication
3.1 State Transition
Shown below is the state transition diagram.
Start
ω
Power Supply
ω
P1: Awaiting for connection
establishment
ω
ω
P2: Non-synchronous
communication condition
ω
ω
P3: Synchronous communication
condition
* P1 to P3: Communication Phase
* For details, refer to the operation manual for the MECHATROLINK master unit.
Master Sending
DISCONNECT Command from
master to RC controller
Master Sending CONNECT
Command from master to RC controller
(P2: Transition to non-synchronous
communication condition)
Master Sending
DISCONNECT Command from
master to RC controller
Communication
error
Master Sending SYNC_SET
Command from master to RC controller
(P3: Transition to synchronous
communication condition)
3. Flow and Commands of Basic MECHATROLINK Communication
16
3.2 Command Frame Construction and Number of Transmission
Bytes
The command frame consists of the combination of the main command and the sub command.
Match the number of the transmission bytes to the setting on the host (master) side.
32-byte Mode is available only in the main command.
48-byte Mode is available not only in the main command, but also in the sub command. Also, it is
available not to have the sub command used with 48-byte Mode.
Byte 0 31 32 47
3.3 Endian
If there is the setting of endian on the master side, set to little endian on the master side.
3.4 System of Units
Shown below is the system of units for the data used in the standard servo profile command.
Data Available Unit
Speed Command unit/s × 10
0
Position Command unit × 10
0
Acceleration•Deceleration Command unit/s
2
× 10
0
Torque
Rated torque in % × 10
0
Main command (32 bytes) Sub command (16 bytes)
4. Command Format
17
4. Command Format
The command frame consists of the combination of main command (32 bytes) and the sub
command (16 bytes). The sub command is to be used when adding another command to the main
command.
When using the sub command, set to 48 bytes for the number of the transmission bytes on the
master side.
Command byte Response byte
Command Code
(CMD)
0
Command Code Response
(RCMD)
0
Watchdog Data
(WDT)
1
Watchdog Status
(RWDT)
1
2 2
Command Control
(CMD_CTRL)
3
Command Status
(CMD_STAT)
3
4 4
5 5
6 6
7 7
8 8
9 9
1 0 1 0
11 11
1 2 1 2
1 3 1 3
1 4 1 4
1 5 1 5
1 6 1 6
1 7 1 7
1 8 1 8
1 9 1 9
2 0 2 0
2 1 2 1
2 2 2 2
2 3 2 3
2 4 2 4
2 5 2 5
2 6 2 6
2 7 2 7
2 8 2 8
2 9 2 9
3 0 3 0
Main
Command
Command Data
(CMD_DATA)
3 1
Response Data
(RSP_DATA)
3 1
Sub Command Code
(SUB_CMD)
3 2
Sub Command Code
Response
(SUB_RCMD)
3 2
3 3 3 3
3 4 3 4
Sub Command Control
(SUB_CTRL)
3 5
Sub Command Status
(SUB_STAT)
3 5
3 6 3 6
3 7 3 7
3 8 3 8
3 9 3 9
4 0 4 0
4 1 4 1
4 2 4 2
4 3 4 3
4 4 4 4
4 5 4 5
4 6 4 6
Sub
Command
Sub Command Data
(SUB_CMD_DATA)
4 7
Sub Response Data
(SUB_RSP_DATA)
4 7
4. Command Format
18
4.1 Command / Response Frame
4.1.1 Command Code / Command Code Response (CMD/RCMD)
Select a command available to conduct from the table below by following the communication flow.
Command Format 0th Byte
Command Response
1 byte = 8 bits 1 byte = 8 bits
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
CMD
Select and set a code from table
below
RCMD Same value as CMD is to be replied
Example) For SV_ON Code 31
H
ψ Set value 0011 0001
b
{: Available to conduct, U: Ignored, u: Unavailable to conduct
Communication Phase
*1
Code Command Functions
P1 P2 P3
Common Commands
00H NOP Invalid
{ { {
03H ID_RD ID Reading
u
{ {
04H CONFIG Device Setup Request
u
{ {
05H ALM_RD Alarm / Warning Reading
u
{ {
06H ALM_CLR Alarm / Warning Cleared
u
{ {
0DH SYNC_SET Synchronization Establishment Request
u
{
U
0EH CONNECT Connection Establishment Request
{
U U
0FH DISCONNECT Connection Release Request
{ { {
Standard Servo Profile Commands
23H SENS_ON Sensor-on Request
u
{ {
24H SENS_OFF Sensor-off Request
u
{ {
30H SMON Servo Status Monitor
u
{ {
31H SV_ON Servo ON
u
{ {
32H SV_OFF Servo OFF
u
{ {
34H INTERPOLATE Interpolation Feeding
u u
{
35H POSING Positioning
u
{ {
36H FEED Constant Speed Feeding
u
{ {
40H SVPRM_RD Servo Parameter Reading
u
{ {
41H SVPRM_WR Servo Parameter Writing
u
{ {
*1 Communication Phase: this shows the current status of communication. There are three
types of status, P1 to P3.
[Refer to 3.1, “State Transition”]
Note 1 The unit is not applicable for the commands except for those listed in the table above.
It will generate an alarm [CMD_ALM = 8] when a command other than those listed in
the table above is received.
Note 2 Even a command listed in the table above may generate an alarm [CMD_ALM = C] if it
is received in a communication phase that the command cannot be used (where
marked with “u”).
4. Command Format
19
4.1.2 Watchdog Data (WDT/RWDT)
Set the timer to monitor the communication is conducted periodically.
Monitoring starts after the communication phase P3 is established.
Command Format 1st Byte
Command Response
1 byte = 8 bits 1 byte = 8 bits
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
WDT
Copy the values
in Bit 7 to 4 in
RWDT
Add 1 for every
communication
frequency.
RWDT
1 is added for every
communication
frequency
Values in Bit 3 to
0 in WDT are to
be replied
4.1.3 Command Control / Command Status (CMD_CTRL/CMD_STAT)
Clearing of alarm / warning is commanded, and the current status of the controller is monitored.
(1) Command Control
Command Format 2nd and 3rd Bytes
Command format 3rd byte
Command format 2nd byte
1 byte = 8 bits
1 byte = 8 bits
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
CMD_CTRL Reserved
CMD
_ID
(Not
used)
Reserved
ALM
_CLR
Reserved
z ALM_CLR (Alarm and Warning Clear) :
Generates an alarm when startup edge is detected, or clearing of warning is commanded.
If the operation mode on the controller is set to AUTO, command to clear the alarm / warning
occurred to the controller including the communication. For MANU, the command is subject to clear
the alarm / warning related only to the communication.
4. Command Format
20
(2) Command Status
Command Format 2nd and 3rd Bytes
Command format 3rd byte Command format 2nd byte
1 byte = 8 bits㩷 1 byte = 8 bits
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
CMD_STAT COMM_ALM CMD_ALM
CMD_ID
(Not
used)
Reserved
ALM
_CLR
CMP
CMD
RDY D_WAR D_ALM
Bits Abbreviations Names Contents
0 D_ALM Device Alarm
It shows the controller is in alarm condition.
The servo is off when this bit is 1.
1 D_WAR Device Warning
It shows the controller is in warning condition.
The servo control is available even when this bit is 1.
2 CMDRDY
Command
Ready
When 0, it shows the command process is being executed.
All the command inputs are ignored except for DISCONNECT
Command.
The master can issue a new command only after confirmed this
bit is 1.
3
ALM
_CLR
_CMP
Alarm / Warning
Clearing
Completed
This shows the execution of ALM_CLR in CMD_CTRL is
completed.
It shows the process is completed when this bit is 1. However, it
does not show if the alarm is actually cleard.
Check in D_ALM (Bit 0), D_WAR (Bit 1) or COMM_ALM (Bit 12
to 15) to see if the alarm is actually cleared.
4, 5 - Reserved
6, 7 CMD_ID Not used
It shows an abnormality in a command.
It is cleared automatically once a normal command is received.
Code
(bit 8 to
11)
Condition Contents Remarks
0
H
In normal
condition
In normal
condition
1H Warning
Out of data
range
Notifies a warning, and
have an operation with the
command value replaced
to the maximum value that
is available for operation.
8
H
Unsupported
command
received
9
H
Out of data
range
A
H
Command
execution
condition error
B
H
Sub command
combination
error
It notifies an alarm. No
command is to be
executed.
8 to 11
CMD
_ALM
Command
Alarm
C
H
Alarm
Phase error
4. Command Format
21
Bits Abbreviations Names Contents
It shows an abnormality in communication.
It can be cleared with ALM_CLR Bit or ALM_CLR Command in
CMD_CTRL.
Code
(bit 8
to 11)
Condition Contents Remarks
0
H
In normal
condition
In normal
condition
1H FCS error
2
H
Command
data not
received
3
H
Warning
Synchronizing
frame not
received
It occurs when a
communication error in
spot is detected.
Communication phase and
servo status are continued.
8H FCS error
9
H
Command
data not
received
A
H
Synchronizing
frame not
received
B
H
Synchronizing
frequency
error
12 to
15
COMM
_ALM
Communication
Alarm
C
H
Alarm
WDT error
It occurs when
communication error is
detected for the indicated
times in a row.
It will be transited to
Communication Phase P2
if it is Communication
Phase P3.
An alarm is generated
when the warning of 1 to 3
above is detected for two
times in a row for Alarm
Code 8 to A.
An alarm is generated with
one time of detection for
Alarm Code B and C.
When the controller is in
AUTO Mode, the brake is
activated with the servo
being turned off.
4.1.4 Command Data / Respons Data (CMD_DATA/RSP_DATA)
Establish the necessary command settings considering the operation. [Refer to 5.1, “Main
Command”]
(1) Command Data
Command format 4th to 31st bytes
(2) Response Data
Command format 4th to 31st bytes
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