IAI America PCON-CFA User Manual

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DeviceNet

Operation Manual,

ACON-C/CG PCON-C/CG/CA/CFA SCON-CA

Third Edition

Please Read Before Use

Thank you for purchasing our product.

This Operation 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 CD/DVD that comes with the product contains operation manuals for IAI products. When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying them on a PC.

After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary.

[Important]

x This Operation Manual is original. x The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall

assume no responsibility for the outcome of any operation not specified herein.

x Information contained in this Operation Manual is subject to change without notice for the purpose of product

improvement.

x If you have any question or comment regarding the content of this manual, please contact the IAI sales office

near you.

x Using or copying all or part of this Operation Manual without permission is prohibited. x The company names, names of products and trademarks of each company shown in the sentences are

registered trademarks.

Caution: The following functions are described in the separate operation manual.

Title of operation manual/Overview Control number

DeviceNet Operation Manual Refer to this operation manual if you are using an

XSEL, TT, ASEL, PSEL, SSEL, SCON-C, RCS-C E-Con controller(s).

ME0124

Safety Guide............................................................................................................................ 1

Overview ............................................................................................................................9

2. ACON-C/CG, PCON-C/CG ..............................................................................................10

2.1 Operation Modes and Functions.................................................................................................. 10

2.2 Model Numbers............................................................................................................................ 13

2.3 Interface Specifications................................................................................................................ 14

2.4 DeviceNet Interface ..................................................................................................................... 15

2.4.1 Name of Each Part.......................................................................................................... 15

2.4.2 Monitor LED Indicators.................................................................................................... 16

2.5 Selecting (Setting) the Operation Mode....................................................................................... 17

2.6 Setting the Node Address............................................................................................................ 17

2.7 Communicating with the Master Station ...................................................................................... 18

2.7.1 Operation Modes and Corresponding PLC I/O Areas .................................................... 18

2.7.2 Remote I/O Mode (Number of Occupied Channel: 1)..................................................... 20

2.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4).................................. 26

2.7.4 Half Direct Mode (Number of Occupied Channels: 8) .................................................... 31

2.7.5 Full Direct Mode (Number of Occupied Channels: 16)................................................... 38

2.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6)................................................ 47

2.7.7 I/O Signal Controls and Functions .................................................................................. 51

2.8 I/O Signal Timings........................................................................................................................ 67

2.9 Operation ..................................................................................................................................... 68

2.10 DeviceNet Parameters................................................................................................................. 76

2.11 Troubleshooting ........................................................................................................................... 81

2.12 CE Mark ....................................................................................................................................... 82

3. PCON-CA/CFA.................................................................................................................83

3.1 Operation Modes and Functions.................................................................................................. 83

3.2 Model Numbers............................................................................................................................ 86

3.3 Interface Specifications................................................................................................................ 87

3.4 DeviceNet Interface ..................................................................................................................... 88

3.4.1 Name of Each Part.......................................................................................................... 88

3.4.2 Monitor LED Indicators.................................................................................................... 89

3.5 Selecting (Setting) the Operation Mode....................................................................................... 90

3.6 Setting the Node Address............................................................................................................ 90

Communicating with the Master Station ...................................................................................... 91

3.7

3.7.1 Operation Modes and Corresponding PLC I/O Areas .................................................... 91

3.7.2 Remote I/O Mode (Number of Occupied Channel: 1)..................................................... 93

3.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4).................................. 97

3.7.4 Half Direct Mode (Number of Occupied Channels: 8) .................................................. 102

3.7.5 Full Direct Mode (Number of Occupied Channels: 16)................................................. 109

3.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6).............................................. 120

3.7.7 I/O Signal Controls and Functions ................................................................................ 124

3.8 I/O Signal Timings...................................................................................................................... 140

3.9 Operation ................................................................................................................................... 141

3.10 DeviceNet Parameters............................................................................................................... 149

3.11 Troubleshooting ......................................................................................................................... 154

3.12 CE Mark ..................................................................................................................................... 155

4. SCON-CA.......................................................................................................................156

4.1 Operation Modes and Functions................................................................................................ 156

4.2 Model Numbers.......................................................................................................................... 160

4.3 Interface Specifications.............................................................................................................. 161

4.4 DeviceNet Interface ................................................................................................................... 162

4.4.1 Name of Each Part........................................................................................................ 162

4.4.2 Monitor LED Indicators.................................................................................................. 163

4.5 Selecting (Setting) the Operation Mode..................................................................................... 164

4.6 Setting the Node Address.......................................................................................................... 164

4.7 Communicating with the Master Station .................................................................................... 165

4.7.1 Operation Modes and Corresponding PLC I/O Areas .................................................. 165

4.7.2 Remote I/O Mode (Number of Occupied Channel: 1)................................................... 169

4.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4)................................ 174

4.7.4 Half Direct Mode (Number of Occupied Channels: 8) .................................................. 179

4.7.5 Full Direct Mode (Number of Occupied Channels: 16)................................................. 186

4.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6).............................................. 197

4.7.7 Position/Simple Direct Mode 2 (Number of Occupied Channels: 4)............................. 201

4.7.8 Half Direct Mode (Number of Occupied Channels: 8) .................................................. 206

4.7.9 Remote I/O Mode 3 (Number of Occupied Channels: 6).............................................. 213

4.7.10 Half Direct Mode 3 (Number of Occupied Channels: 8) ............................................... 217

4.7.11 I/O Signal Controls and Functions ................................................................................ 224

4.8 I/O Signal Timings...................................................................................................................... 241

4.9 Operation ................................................................................................................................... 242

4.10 DeviceNet Parameters............................................................................................................... 250

4.11 Troubleshooting ......................................................................................................................... 255

5. Troubleshooting..............................................................................................................256

6. Change History...............................................................................................................257

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 before 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.

1 Model

Operation

Description

Selection

Description

 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.)

 Do not use the product outside the specifications. Failure to do so may

considerably shorten the life of the product.

 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

 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.

No.

Operation

Description

2 Transportation  When carrying a heavy object, do the work with two or more persons or

utilize equipment such as crane.

 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.

 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.

 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 operation manual for each model.  Do not step or sit on the package.  Do not put any heavy thing that can deform the package, on it.  When using a crane capable of 1t or more of weight, have an operator who

has qualifications for crane operation and sling work.  When using a crane or equivalent equipments, make sure not to hang a

load that weighs more than the equipment’s capability limit.  Use a hook that is suitable for the load. Consider the safety factor of the

hook in such factors as shear strength.  Do not get on the load that is hung on a crane.  Do not leave a load hung up with a crane.  Do not stand under the load that is hung up with a crane.

3 Storage and

Preservation

 The storage and preservation environment conforms to the installation

environment. However, especially give consideration to the prevention of

condensation.  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.  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.  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.  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

No.

4 Installation and

Operation

Description

Start

Description

(2) Cable Wiring  Use our company’s genuine cables for connecting between the actuator

and controller, and for the teaching tool.

 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.

 Perform the wiring for the product, after turning OFF the power to the unit,

so that there is no wiring error.

 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.

 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.

 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. (3) Grounding  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.  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

(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).

 Perform Class D Grounding (former Class 3 Grounding with ground

resistance 100: or below).

No.

4 Installation and

Operation

Description

Start

Description

(4) Safety Measures  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.

 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.

 Make sure to install the emergency stop circuit so that the unit can be

stopped immediately in an emergency during the unit operation.

 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.

 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.

 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.

 Take the measure so that the work part is not dropped in power failure or

emergency stop.

 Wear protection gloves, goggle or safety shoes, as necessary, to secure

safety.

 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.

 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  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.

 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.

 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.

 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.

 Place a sign “Under Operation” at the position easy to see.  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.

No.

Operation

Description

6 Trial Operation  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.

 After the teaching or programming operation, perform the check operation

one step by one step and then shift to the automatic operation.

 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.

 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.

 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

 Check before starting the automatic operation or rebooting after operation

stop that there is nobody in the safety protection fence.

 Before starting automatic operation, make sure that all peripheral

equipment is in an automatic-operation-ready state and there is no alarm indication.

 Make sure to operate automatic operation start from outside of the safety

protection fence.

 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.

 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.

No.

8 Maintenance

Operation

Description

and Inspection

Description

 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.

 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.

 When the work is to be performed inside the safety protection fence,

basically turn OFF the power switch.

 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.

 When the operation is to be performed inside the safety protection fence, in

 Place a sign “Under Operation” at the position easy to see.  For the grease for the guide or ball screw, use appropriate grease

according to the Operation Manual for each model.

 Do not perform the dielectric strength test. Failure to do so may result in a

damage to the product.

 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.

 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.

 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

 Do not modify, disassemble, assemble or use of maintenance parts not

specified based at your own discretion.

10 Disposal  When the product becomes no longer usable or necessary, dispose of it

properly as an industrial waste.

 When removing the actuator for disposal, pay attention to drop of

components when detaching screws.

 Do not put the product in a fire when disposing of it.

The product may burst or generate toxic gases.

11 Other  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.

 See Overseas Specifications Compliance Manual to check whether

complies if necessary.

 For the handling of actuators and controllers, follow the dedicated

operation manual of each unit to ensure the safety.

Alert Indication

The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model.

Level Degree of Danger and Damage Symbol

Danger

Warning

Caution

Notice

This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.

This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.

This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.

This indicates lower possibility for the injury, but should be kept to use this product properly.

Danger

Warning

Caution

Notice

1. Overview

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

Each controller is treated as a slave station in DeviceNet and can be used to exchange I/O data. This Operation Manual covers the ACON, PCON, PCON-CA/CFA and SCON-CA series.

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

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

System configuration example

1. Overview

/8













/8

97

/8 /8

/ '+'

/8

/8 /8 /8

2. ACON-C/CG, PCON-C/CG

2.1 Operation Modes and Functions

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

Operation Modes and Key Functions

Number of occupied

Operation by position data specification

2. ACON-C/CG, PCON-C/CG

Direct speed/acceleration specification

Push-motion operation

Current position read x Current speed read x x Operation by position

number specification Completed position

number read Maximum position

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

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

Key function

bytes

PLC

PIO connection

Remote I/O

mode

Position/simple

direct mode

1CH 4CH 8CH 16CH CH

x { (*1)

x x

{ { { { {

{ { { {

{ {

512 768 Not used Not used 512

Number of occupied bytes: 1CH

CON/PCON not

supporting

Flat cable

DeviceNet

Half direct mode Full direct mode

{ {

x x

CON/PCON supporting

DeviceNet

PLC

Communication cable

DeviceNet connection

Remote I/O

mode 2

{

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

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

PLC

䎃

Target position: 100.00 mm

Position No. 0

Speed

cceleration

Deceleration

Push

CON/PCON supporting

DeviceNet

ctuato

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

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

PLC

䎃

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

cceleration/deceleration:

0.30 G Push current: 50%

CON/PCON supporting

DeviceNet

ctuato

2. ACON-C/CG, PCON-C/CG

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

2. ACON-C/CG, PCON-C/CG

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

PLC

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

Target position: 100.00 mm Positioning band: 0.10 mm Speed specification:

100.0 mm/sec cceleration: 0.30 G

Deceleration: 0.30 G Push current: 50%

䎳䎯䎦䎃

Load current threshold: 0 Zone+: 50.00 mm Zone-: 30.00 mm

CON/PCON supporting

DeviceNet

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

CON/PCON not

supporting DeviceNet

Flat cable

PIO connection

PLC

DeviceNet connection

ctuato

CON/PCON supporting

DeviceNet

Communication cable

2.2 Model Numbers

The model numbers of ACON and PCON controller supporting DeviceNet are indicated as follows, respectively:

z ACON-C/CG--DV- z PCON-C/CG--DV-

Printed series name

z ACON z PCON

Front panel color

z ACON: Dark blue z PCON: Dark green

2. ACON-C/CG, PCON-C/CG

2.3 Interface Specifications

Communication protocol

Baud rate Automatically set to the same value as the band rate set in the master Communication cable length

2. ACON-C/CG, PCON-C/CG

Communication power supply 24 VDC (supplied from DeviceNet) Consumption current of

communication power supply Number of occupied nodes 1 node Connector MSTBA2.5/5-G-5.08AU M (*1) by Phoenix Contact

(*1) The cable-end connector is a standard accessory.

Item Specification

DeviceNet 2.0 Group 2 only server Network-powered isolation node

Baud rate Maximum network length Maximum branch

500 kbps 100 m 39 m 250 kbps 250 m 78 m 125 kbps 500 m Note) When a large-size DeviceNet cable is used.

60 mA

SMSTB2.5/5-ST-5.08AU by Phoenix Contact

Bit strobe Communication specification Master-slave connection Polling

line length

6 m

Total branch line length

156 m

2.4 DeviceNet Interface

2.4.1 Name of Each Part

The name of each part relating to DeviceNet is shown.

Status LEDs

Monitor LEDs

Red

White

Light blue

Black

DeviceNet communication connector

PCB side : MSTBA2.5/5-G-5.08AUM

Cable side : SMSTB2.5/5-ST-5.08AU

2. ACON-C/CG, PCON-C/CG

(PHOENIX CONTACT)

2.4.2 Monitor LED Indicators

The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (controller) condition and network condition. The LEDs illuminate in two colors (orange and green), and you can monitor the conditions listed in the table below based on the illumination status and color of each LED.

MS (Module Status) LED: Condition of the node (controller) NS (Network Status) LED: Condition of the network

LED Color

2. ACON-C/CG, PCON-C/CG

{ : Steady light, X : Off, ڏ : Blinking

Illumination

status

{

Green

Orange

- X DeviceNet is initializing or the power is not supplied.

Green

Orange

- X

Self test is performed when the power is turned on. During the test, the monitor LEDs cycle in the following sequence:

[1] NS turns off. [2] MS illuminates in steady green (approx. 0.25 second). [3] MS illuminates in steady orange (approx. 0.25 second). [4] MS illuminates in steady green. [5] NS illuminates in steady green (approx. 0.25 second). [6] NS illuminates in steady orange (approx. 0.25 second).

[7] NS turns off. When the self test is finished and the board starts communicating normally, both the MS and NS LEDs change to steady green.

{

The board is operating normally. A hardware error occurred. The error may be reset by

reconnecting the power. A hardware error occurred. The board must be replaced. A user setting error, configuration error or other minor error is

present. These errors can be reset by setting the applicable item again, etc.

Network connection has been established and the board is communicating normally.

The board is online, but network connection is not yet established. Communication is stopped. (The network is normal.)

Node address duplication or bus-off state was detected. Communication is not possible.

A communication error occurred (communication time-out occurred).

The board is not online. DeviceNet power is not supplied.

Description (meaning)

2.5 Selecting (Setting) the Operation Mode

The operation mode is set using a parameter. Set the mode selector switch on the front panel of the controller to the MANU position, and set parameter No. 84, “FMOD: Fieldbus operation mode” using the RC PC software (V6.00.05.00 or later). (Refer to 2.10, “DeviceNet Parameters.”)

Set value Operation mode

0 (Factory setting) Remote I/O mode 1CH

1 Position/simple direct mode 4CH 2 Half direct mode 8CH 3 Full direct mode 16CH 4 Remote I/O mode 2 6CH

* If any other value is entered, an excessive input error will occur.

Number of occupied

stations

2.6 Setting the Node Address

The node address is set using a parameter. Set parameter No. 85, “NADR: Fieldbus node address” using the RC PC software. (Refer to 2.10, “DeviceNet Parameters.”)

Allowable setting range: 0 to 63 (The parameter has been set to “63” at the factory.)

(Note) Exercise caution to avoid node address duplication.

The nodes (controllers) are assigned in the order of their node address in the remote I/O address areas of

the PLC. (This is when the mount assignment mode is selected. A different rule applies when a

configurator is used.)

For details, refer to the operation manuals of the master unit and PLC installed in the master unit.

(Note) The baud rate is automatically set to the same value as the baud rate set in the master. Accordingly, you

need not set the baud rate.

(Note) After you have set the parameter, reconnect the controller power and return the mode selector switch on

the front panel of the controller to the AUTO position. If the switch remains in the MANU position,

operation by the PLC cannot be performed.

2. ACON-C/CG, PCON-C/CG

2.7 Communicating with the Master Station

2.7.1 Operation Modes and Corresponding PLC I/O Areas

The channel assignments in each mode are shown below. x PLC output o ACON or PCON input (* n indicates the node address of each axis.)

PLC output area

2. ACON-C/CG, PCON-C/CG

(Note) The areas denoted by “occupied area” are occupied according to the operation mode setting.

ACON,PCON DI and input data register

Remote I/O mode

(channel)

n n+1 n+2 n+3 Control signal

n+4 Speed n+5

n+6 n+7 Control signal

n+8 n+9

n+10 Acceleration n+11 Deceleration

n+12

ACON

n+13 PCON

n+14 Control signal 1 n+15

Number of

occupied

channels: 1CH

Port number 0 to

Position/simple

direct mode

Number of

occupied

channels: 4CH

Target position Target position Target position

Specified position

number

Half direct mode Full direct mode

Number of

occupied

channels: 8CH

Positioning band Positioning band

Acceleration/

deceleration

Push-motion

current-limiting value

Number of

occupied

channels: 16CH

Speed

specification

Zone boundary+

Zone boundary-

Push-motion

current-limiting value

Occupied

area

Load

current

threshold

Control signal 2

Remote I/O mode

Number of

occupied

channels: 6CH

Port number 0 to

Occupied area

These areas cannot be used for any other purpose. Also exercise caution to avoid node address duplication.

x ACON or PCON output o PLC input side (* n indicates the node address of each axis.)

ACON or PCON DO and output data register

PLC input area

(channel)

n n+1

n+2 n+3 n+4 Status signal

n+5 n+6 n+7 Alarm code Alarm code n+8 Status signal n+9

n+10 n+11 n+12 n+13 n+14 n+15

Remote I/O mode

Number of

occupied

channels: 1CH

Port number 0 to

Position/simple

direct mode

Number of

occupied

channels: 4CH

Current position Current position Current position

Completed

position number

(simple alarm ID)

Half direct mode Full direct mode

Number of

occupied

channels: 8CH

Command current Command current Current position

Current speed Current speed Command current

Number of

occupied

channels: 16CH

Occupied area

Status signal

Remote I/O mode

Number of

occupied

channels: 6CH

Port number 0 to

Occupied area

(Note) The areas denoted by “occupied area” are occupied according to the operation mode setting.

These areas cannot be used for any other purpose. Also exercise caution to avoid node address duplication.

2. ACON-C/CG, PCON-C/CG

2.7.2 Remote I/O Mode (Number of Occupied Channel: 1)

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

parameter No. 25

2. ACON-C/CG, PCON-C/CG

The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.

Home-return operation Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Operation at different acceleration and deceleration Pause Zone signal output PIO pattern selection (set by a parameter)

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

Value set in

0 Positioning mode 64 positioning points and two zone output points are available. 1 Teaching mode 64 positioning points and one zone output point is available.

2 256-point mode 256 positioning points and one zone output point is available. 3 512-point mode 512 positioning points are available. There are no zone outputs. 4 Solenoid mode 1 7 positioning points and two zone output points are available.

5 Solenoid mode 2 3 positioning points and two zone output points are available.

ROBO Cylinder function

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

Operation mode I/O specification

Positioning operation and jog operation are supported. The current position can be written to a specified position.

A direct operation command can be issued for each position number. A position complete signal is output for each position number.

The actuator is operated by specifying forward, backward and intermediate position commands. A position complete signal is output separately for the front end, rear end and intermediate position.

{: Supported / X: Not supported

PIO patterns 0: Positioning mode

{ { { { { { { { { { {

{ { { { { { { { { { { {

{ { { { { { { { { { {

{ { { { { { { { {

1: Teaching mode

2: 256-point mode

3: 512-point mode

4: Solenoid mode 1

{ {

5: Solenoid mode 2

{ (*1)

(1) PLC channel configuration (* n indicates the node address of each axis.)

Parameter No.

ACON or PCON DI

(port number)

PLC output channel

ACON or PCON DO

(port number)

PLC input channel

0 0~15 n+0 0~15 n+0

(Note) Exercise caution to avoid node address duplication.

(2) I/O signal assignments for each axis

The I/O signals of each axis consist of one input word (channel) and one output word (channel) in the I/O areas. z Each channel is controlled by ON/OFF bit signals.

PLC output Channel (* n indicates the node address of each axis.)

Controller input port number

PLC input Channel (* n indicates the node address of each axis.)

Controller output port number

1 word (channel) = 16 bits

2. ACON-C/CG, PCON-C/CG

(3) I/O signal assignments

The signals assigned to the controller’s I/O ports vary depending on the setting of parameter No. 25. (For details, refer to the operation manual for the controller.)

ACON

IAI America PCON-CFA User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Table of Contents

Safety Guide

1. Overview

2.1 Operation Modes and Functions

2. ACON-C/CG, PCON-C/CG

2.2 Model Numbers

2.3 Interface Specifications

2.4 DeviceNet Interface

2.5 Selecting (Setting) the Operation Mode

2.6 Setting the Node Address

2.7 Communicating with the Master Station