IAI America RCM-GW-DV User Manual

DeviceNet
DeviceNet Gateway Unit RCM-GW-DV
Operation Manual, Fifth Edition
DeviceNet
Note on DeviceNet Products
Take note that the IAI products listed below cannot be connected to Omron’s PLCs via DeviceNet.
[IAI products subject to this limitation]
Controller All X-SEL models Tabletop actuator TT series Gateway unit RCM-GW-DV
* Units shipped on or after July 30, 2008
[Omron products subject to this limitation]
DeviceNet master unit C200HW-DRM21-V1
CVM1-DRM21-V1
* Units manufactured in or before September 2008
Master units manufactured in or after October 2008 can be connected to the aforementioned IAI products via DeviceNet.
[Cause]
Communication disharmony
[Action]
Use a PLC of a different type not subject to the above limitation. If you wish to use the DeviceNet master unit C200HW-DRM21-V1 or CVM1-DRM21-V1, select a unit manufactured in or after October
2008. If changing the PLC is difficult, contact the IAI sales office near you or our customer center “EIGHT.”
CAUTION
Note on Connecting PC or Teaching Pendant to Gateway Unit
Grounded by Positive Terminal of 24-V Power Supply
If the positive terminal of the gateway unit’s 24-V power supply is grounded, use a SIO converter, as shown below, to connect a teaching pendant or PC to the gateway unit. In this case, do not connect the FG on the SIO converter.
Teaching pendant PC, etc.
Do not connect the FG.
Controller link cable Model: CB-RCB-CTL002
24-V
power supply
Make sure the FG on the PC is not connected to ground. If the FG 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 controller link cable comes with one
e-CON connector, one junction and one terminal resistor.
e-CON connector (3-1473562-4 by AMP) Junction (5-1473574-4 by AMP)
Terminal resistor R = 220 Ω
Gateway unit
CAUTION
If the positive terminal of the gateway unit’s 24-V power supply is grounded, a teaching pendant or PC cannot be connected directly to the gateway unit. If a teaching pendant or PC is connected directly to the gateway unit in this condition, the power circuit may be shorted and the PC or teaching pendant may be damaged.
PC
A teaching pendant
cannot be used this way.
Cannot be connected directly.
Gateway unit
24-V
power supply
y
DeviceNet Gatewa
Table of Contents
1. Overview................................................................................................................... 1
1.1 DeviceNet Gateway Unit................................................................................................... 1
1.2 What Is DeviceNet?........................................................................................................... 2
1.3 Application Example of Gateway Unit............................................................................... 3
1.4 Features and Key Functions ............................................................................................. 4
1.4.1 Features............................................................................................................. 4
1.4.2 Key Functions.................................................................................................... 4
1.5 Description of Model Name............................................................................................... 7
1.6 Accessories....................................................................................................................... 7
2. Specifications and Name of Each Part...................................................................... 8
2.1 General Specifications ...................................................................................................... 8
2.2 External Dimensions ......................................................................................................... 9
2.3 Name and Function of Each Part.................................................................................... 10
3. Installation and Noise Elimination Measures........................................................... 16
3.1 Installation Environment.................................................................................................. 16
3.2 Supply Voltage................................................................................................................ 16
3.3 Noise Elimination Measures and Grounding................................................................... 16
3.4 Installation....................................................................................................................... 18
4. Wiring...................................................................................................................... 19
4.1 Overall Configuration....................................................................................................... 19
4.2 I/O Signals of Gateway Unit............................................................................................ 22
4.3 Design of SIO Communication Network (SIO Communication)...................................... 25
4.3.1 Wiring............................................................................................................... 25
4.3.2 Axis Number Setting........................................................................................ 34
4.4 How to Connect Teaching Tools When Grounding the Positive Terminal of the 24-V
Power Supply.............................................................................................................................. 35
5. Overview of DeviceNet............................................................................................ 36
5.1 Address Assignment for the Master PLC (Omron CJ Series)......................................... 36
6. Address Configuration of Gateway Unit .................................................................. 39
6.1 Position-number Specification Mode............................................................................... 39
6.1.1 Overall Address Configuration......................................................................... 40
6.1.2 Gateway Control/Status Signals...................................................................... 41
6.1.3 Assignment for Each Axis................................................................................ 44
6.2 Direct Numerical Specification Mode.............................................................................. 47
6.2.1 Overall address configuration.......................................................................... 48
6.2.2 Gateway Control/Status Signals...................................................................... 50
6.2.3 Assignment for each axis.................................................................................53
6.3 Command Specification Mode........................................................................................ 57
6.3.1 Overall address configuration.......................................................................... 59
6.3.2 Gateway Control/Status Signals...................................................................... 61
6.3.3 Assignment for each axis.................................................................................64
6.3.4 Command Areas.............................................................................................. 70
y
DeviceNet Gatewa
7. Communication Signal Details ................................................................................ 80
7.1 Overview of Communication Signal Timings .................................................................. 80
7.2 Communication Signals and Operation Timings............................................................. 81
7.3 Basic Operation Timings................................................................................................. 89
7.4 Command Transmission................................................................................................. 99
8. Network System Building Procedure..................................................................... 101
8.1 Procedure......................................................................................................................101
8.2 Settings for Controller Communication ......................................................................... 102
8.3 Setting the Gateway Unit and PLC Master................................................................... 104
8.4 Assigning the Master PLC Address by Free Assignment............................................. 105
8.4.1 Starting the Configurator................................................................................ 105
8.4.2 Creation of Network Configuration................................................................. 106
8.4.3 Creating a Scan List....................................................................................... 109
8.4.4 Online Connection ......................................................................................... 114
8.4.5 Downloading the Master Scan List................................................................ 115
8.5 Assigning the Master PLC Address by Fixed Assignment............................................ 117
9. Example of DeviceNet Operation.......................................................................... 118
9.1 Configuration Overview................................................................................................. 118
9.2 Actuator Operation Pattern ........................................................................................... 119
9.3 Various Controller Settings ........................................................................................... 119
9.4 Setting Up the Gateway Unit......................................................................................... 120
9.5 Setting Up the DeviceNet Master Unit (CJ1W-DRM21)................................................ 120
9.6 Assigning the Master PLC Address .............................................................................. 120
9.7 Ladder Sequence Flowchart......................................................................................... 122
10. Troubleshooting .................................................................................................... 124
10.1 Actions to Be Taken upon Problems.............................................................................124
10.2 Failure Diagnosis........................................................................................................... 125
10.2.1 Gateway Unit (CPU or Power Supply) Error.................................................. 125
10.2.2 DeviceNet Communication Error................................................................... 125
10.2.3 ROBO Cylinder Controller Communication Error .......................................... 125
10.2.4 Troubleshooting for DeviceNet Communication............................................ 127
y
DeviceNet Gatewa

1. Overview

1.1 DeviceNet Gateway Unit

The DeviceNet Gateway Unit (hereinafter referred to as “DeviceNet Gateway” or “Gateway Unit”) is used to connect a DeviceNet communication protocol network on which a host programmable controller (hereinafter “PLC”) operates, to a SIO communication sub-network (Modbus communication protocol) linking ROBO Cylinder controllers.
The physical standard to which the SIO communication network conforms is RS-485, and the slave addresses on this network are 1 through 16.
All data exchanged between the DeviceNet communication network and the Modbus SIO communication network are tentatively saved in the internal memory of the Gateway Unit, and then transferred cyclically. The PLC recognizes the Gateway Unit as a remote I/O device. The Gateway Unit supports PCON-C/CG/SE, ACON-C/CG/SE, SCON-C and ERC2-NP/PN/SE controllers.
“Gateway” is a term used in communication networks, referring to a device that converts data to/from different media and protocols to enable communication between networks.
Caution
In this document, all references to “SIO communication” mean communication between the Gateway Unit (this unit) and IAI’s controller.
Caution
This manual only describes the controls feasible using the Gateway Unit. In the event of any conflict between this manual and the operation manual for the controller, the content of this manual will prevail. Refer to the operation manual for each controller for any function, parameter setting, alarm detail or any other information not described in this manual.
1
y
DeviceNet Gatewa

1.2 What Is DeviceNet?

(1) FA communication system

In FA communication, each communication specification varies depending on the communicating equipment, type of information, and purpose of communication, among others. In general, however, the FA communication system is divided into the information level, controller level and field level, as shown below.
level
Information
FA computer
Controller level Field level
Device level
Robot
Remote
I/O
Motor driver
Installed
instrument
Solenoid
valve
Sensor level
Limit
switch

(2) Information level

Also called “PLC upper network”, the main purpose of this network level is to transmit production information, etc., to information terminals. Ethernet is the most commonly used communication method for the information level.

(3) Controller level

Also called “Inter-PLC network”, this network level often handles real-time information of production lines.

(4) Field level

Also called “PLC lower network”, this network level is mainly used to save wirings for systems controlled by a single controller. In this sense, this network is regarded as a means for “wire-saving communication.” The field level is largely divided into the device level and the sensor level.
Key open network
2
y
DeviceNet Gatewa

(5) DeviceNet

DeviceNet is a device-level open network used widely for FA and other applications. Since the communication specifications are open, DeviceNet-compliant devices made by different manufacturers can communicate with one another without dedicated programs. Currently the DeviceNet standard is managed by a nonprofit organization called ODVA (Open DeviceNet Vendor Association, Inc.). Key features of DeviceNet are listed below: [1] A wire-saving communication network realizing complete multi-vendor connectivity [2] The operating specifications are uniform around the world, which means that the same network
configurations can be used overseas.
[3] Slave devices are treated as remote I/Os of the PLC in which the DeviceNet unit is installed.
Accordingly, communication with slave devices does not require special programs.
[4] High line efficiency ensures high-speed responses.
For details on DeviceNet, refer to the operation manuals for your master unit and PLC. Along with this manual, also read the operation manual for each controller connected. This DeviceNet Gateway cannot be used in any way not described as feasible in this manual. To prevent malfunction, the customer is also advised not to use settings, wirings and other uses other than those described as feasible in this manual.

1.3 Application Example of Gateway Unit

The network illustrated below gives an application example of the Gateway Unit.
Remote I/O
station
CPU
unit
DeviceNet Gate w a y
(Remote I/O station)
DeviceNet
unit (master station)
DeviceNet
Remote I/O
station
SIO communication network (Modbus)
Remote I/O
station
3
y
DeviceNet Gatewa

1.4 Features and Key Functions

1.4.1 Features

With the DeviceNet Gateway Unit, a desired operation mode can be selected from the position-number specification mode, direct numerical specification mode, and command specification mode.
(1) Position-number specification mode
In this mode, the actuator is operated by specifying position numbers. Up to 16 axes can be connected. The position data, speed, acceleration/deceleration, etc., must be entered beforehand in the position table. Various status signals can be input/output and completed position numbers can be read. However, the current position cannot be monitored.
(2) Direct numerical specification mode
In this mode, the actuator is operated by directly specifying the position data, speed, acceleration/deceleration, positioning band, and current-limiting value for push-motion operation, in numerical values. Various status signals can be input/output and current position data can be read. There are five patterns in the direct numerical specification mode, each accommodating a different number of connected axes. [1] Direct numerical specification mode, maximum 4 axes [2] Direct numerical specification mode, maximum 6 axes [3] Direct numerical specification mode, maximum 8 axes [4] Direct numerical specification mode, maximum 10 axes [5] Direct numerical specification mode, maximum 16 axes
(3) Command specification mode
In this mode, the actuator can be operated in two operation patterns: the “positioner operation” pattern in which the actuator is operated by specifying position numbers, and the “simple direct operation” pattern in which the actuator is operated by specifying the operation data directly in numerical values, while specifying all other items including the speed, acceleration/deceleration, positioning band, and current-limiting value for push-motion operation, using position numbers. A desired axis configuration can be designed using one or both of the two operation patterns. If the two operation patterns are combined, you must assign the axes sequentially from those conforming to the positioner operation pattern, followed by the axes conforming to the simple direct operation pattern. The command specification mode is further classified into the Large mode (160 bytes of inputs and 160 bytes of outputs), Middle mode (128 bytes of inputs and 128 bytes of outputs), and Small mode (64 bytes of inputs and 64 bytes of outputs), according to the size of assigned areas. Up to 16 axes can be connected in this mode.

1.4.2 Key Functions

A comparison table of the key functions available in each mode of the Gateway Unit is given on the next page. When studying this table, also refer to the explanation of each operation mode provided in Chapter
6.
4
5
Operation by position data specification Direct specification of speed and acceleration/deceleration Direct specification of positioning band Push-motion operation (Specified in the P table.) Operation by position number specification Enabling position table
Maximum registrable positions 64 - 512 512 Completed position number read Controller PIO pattern selection x x { *2 x Zone (parameter) { (2 zones) x { *3 x Position zone (P table) x x { *4 x Various status signal read Speed change during movement Operation at separate acceleration and deceleration Current position monitor *6 x
Commands
Connectable axes 16 4 6 8 10 16 16 16 Maximum specifiable position data value
Mode setting SW1 2 0 4 8 13 12 1 5 9 Gateway I/O bytes *1 P table = Position table
*2 PIO patterns of 0 to 4 can be selected. *3 PIO patterns 1 to 3 are not available. *4 PIO patterns 3 is not available. *5 In current position monitor, the current position data can be read directly from the PLC because the data is assigned to Gateway output signals. *6 In current position read, the current position is read indirectly using a read command sent from the PLC to the Gateway.
Key function
Command/response transmission P table data read/write x x
Current position read *5 x x Alarm code read x x Broadcast x x
Input 48 28 40 52 64 100 160 128 64 Output 48 52 76 100 124 196 160 128 64
Position-number specification
mode
x (Specified in the P table.) x (Specified in the P table.) x (Specified in the P table.)
{ {
{
{ { { { { { { {
{ { {
x x
Set in the P table. 9999.99 mm 9999.99 mm 9999.99 mm
Direct numerical specification
mode
{ { {
{
x x
x
{
Positioner operation Simple direct operation
{ (The P table is rewritten.) { (The P table is rewritten.) x (Specified in the P table.) { (The P table is rewritten.) x (Specified in the P table.)
{ (Specified in the P table.) { (Specified in the P table.)
Large mode Middle mode Small mode
Command specification mode
{ { {
{
{ (Specified in the P table.)
x
{ { {
{ { { { {
{
x
x
{
x
x
DeviceNet Gateway
DeviceNet Gateway
The table below lists the number of positions available for each controller in each PIO pattern, and the corresponding maximum number of positions that can be registered for the Gateway Unit. Take note that the number of positions may be limited in some cases.
PIO patterns (Parameter No. 25) SE 0 1 2 3 4
Operation type
Standard
Electro-
magnetic
valve type
Zone
signal
type
Position
zone type
-
Exclusive
to SIO
Positioning points 8 3 16 16 - 64
ERC2
Home return signal Zone signal P zone signal x x x
Position-
number
specification
mode
Positioner
operation
Simple
Gateway controls
direct
Command
specification
operation
Operation type
{ {
8
*1
*1 *3 8 (0)
x x x ­x
x
x
{
16
*1
*1 *3
16 (2)
x -
{
16
*1
*1 *3
16 (3)
-
- 64 64
-
{ {
{
*3
64 (0)
Maximum
Gateway positions
512
- x - - - - 512
Position-
ing
mode
Teaching
mode
256-point
mode
512-point
mode
Electro-
magnetic
valve
mode 1
Exclusive
to SIO
Positioning points 64 64 256 512 7 64
PCON ACON SCON
Home return signal Zone signal P zone signal
Position-
number
specification
mode
Positioner
operation
Simple direct
Gateway controls
Command
specification
operation
{ { { { { { {
x x x
{ { {
64 64
*3 64 (0)
*3 64 (1)
256
64 *2
*3
256 (2)
x
512
64 *2
*3
512 (3)
{ { { {
7 64 64
*3
7 (4)
*3
64 (0)
Maximum
Gateway positions
- - - - - - 512
512
*1 In an operation mode where position numbers are specified, the number of available positions is
limited according to the PIO pattern selected (via parameter No. 25). (The Gateway can handle a greater number of positions.)
*2 Since the Gateway can handle 64 positions, the number of positions available for the controller is
limited.
*3 With positioner operation axes under the command specification mode, align the setting of the
controller’s PIO pattern selection parameter with the I/O pattern set by Gateway control signals PPS0 to PPS2. The value that should be set by PPS0 to PPS2 is shown in parentheses after the number of positions.
DeviceNet Gateway

1.5 Description of Model Name

Base model For DeviceNet
Gateway Unit

1.6 Accessories

[1] Power-supply input connector plug 1 pc
MC15/4-ST-35 (Phoenix Contact)
[2] SIO communication connector plug 1 pc
MC15/6-ST-381 (Phoenix Contact)
[3] DeviceNet communication connector plug 1 pc
SMSTB25/5-ST-508AU (Phoenix Contact) None of the plugs come with a terminal resistor.
DeviceNet Gateway

2. Specifications and Name of Each Part

2.1 General Specifications

Item Specification Power supply Current consumption 300 mA max.
Communication standard
Communication specification Master-slave connection
Baud rate 500 k / 250 k / 125 kbps (Changed by DIP switches) Communication cable length (*1)
DeviceNet specifications
Occupied nodes 1 node Communication power supply Voltage: 24 VDC (supplied from DeviceNet)
Transmission path configuration IAI’s original multi-drop differential communication Communication method Half-duplex Synchronization method Asynchronous Transmission path type EIA RS485, 2-wire type Baud rate 230.4 kbps Error control method No parity bit, CRC (*2) Communication cable length Total cable length: 100 m max. Connected units 16 axes max.
specifications
SIO communication
Communication cable Surrounding air temperature
Surrounding humidity 85% RH or below (non-condensing) Surrounding environment Free fr o m co r ro s i v e o r f l a m m a b le g a s es , o i l m i st o r p ow d e r du s t Storage temperature Storage humidity 90% RH or below (non-condensing)
Environment
Vibration durability 4.9 m/s2 (0.5 G) Protection class IP20 Weight 480 g or below
*1 Refer to the operation manuals for your master unit and PLC in the case of T-branch communication. *2 CRC: Cyclic Redundancy Check
A data error detection method commonly used in synchronous transmission.
24 VDC ± 10% A certified DeviceNet 2.0 interface module is used.
Group 2 only server Insulated node of network powered operation type
Bit strobe Polling Cyclic
Baud rate
500 kbps 100 m 39 m 250 kbps 250 m 78 m 125 kbps 500 m
Note) When a thick DeviceNet cable is used.
Current consumption: 60 mA
Double shielded twisted-pair cable (Recommended cable: HK-SB/20276 X L, 2P X AWG22 by Taiyo Electric Wire & Cable)
0 to 40° C
-10 to 65° C
Maximum
network length
Maximum
branch length
6 m
Total branch
length
156 m

2.2 External Dimensions

(Installed dimension)
DeviceNet Gateway

2.3 Name and Function of Each Part

[1] Gateway status indicator
LEDs RUN: Normal G.ER: Error C.ER: DeviceNet error T.ER: SIO link error
[2] SIO communication
[3] Mode setting switch
[SIO communication connector] [4] External port switching input
PORT IN PORT N
[5] Controller communication lines
SDA: Communication line SDB: Communication line GND: Ground FG: Frame ground
[12] Power-supply input
(ROBO Cylinder controller communication error)
status LEDs TxD: Sending data RxD: Receiving data
Port switching
connector
DeviceNet Gateway
[6] DeviceNet communication
connector Black: (V-) Light blue: (CAN_L) Clear: Shield White: (CAN_H) Red: (V+)
[7] Baud-rate setting switches
[8] Node-address setting switches
[9] DeviceNet communication
status LEDs MS: Module
Status LED
NS: Network
status LED
[10] Port switch
ON: Port ON OFF: Port OFF
[11] Teaching pendant/PC
connector
DeviceNet Gateway

[1] Gateway status indicator LEDs

Each LED indicates the applicable conditions shown in the table below. If any of these LEDs indicates an abnormality, refer to 10.2, “Troubleshooting.”
Indicated status Description
Steady green The CPU of this unit is operating. RUN
Unlit CPU operation is stopped. If this LED does not come on after turning
on the power, this unit is experiencing a CPU error.
Steady red
This unit is experiencing a CPU error or major shutdown failure. G.ER
(Gateway CPU error)
Unlit Normal
C.ER
Steady red
(DeviceNet
communication error)
The DeviceNet module is experiencing an error or this unit cannot recognize the DeviceNet connection. (Check the DeviceNet communication status per [9].) Even if this LED is lit, the teaching pendant or PC software can still be connected as long as the RUN LED is lit.
Blinking red While the port switch is ON, this LED blinks at 1-second intervals.
Unlit Normal
T.ER
Steady red
Steady red (ROBO
A communication error occurred between this unit and the ROBO Cylinder controller.
Cylinder controller
communication error)
Blinking red (ROBO
Cylinder controller
communication error)
A communication error occurred between this unit and the ROBO Cylinder controller. (No response, overrun, framing error or CRC
(*)
error)
Unlit Normal
* CRC: Cyclic Redundancy Check
A data error detection method commonly used in synchronous transmission.

[2] SIO communication status LEDs

These LEDs are used to check the communication status between the DeviceNet Gateway and the ROBO Cylinder controller. Each LED blinks when the host PLC is communicating with the ROBO Cylinder controller via the DeviceNet Gateway, or when the ROBO Cylinder controller is communicating with the teaching pendant or PC software connected via the DeviceNet Gateway.
Indicated status Description
TxD
RxD
Blinking green
Unlit
Blinking green
Unlit
Sending data (DeviceNet Gateway ROBO Cylinder controller) Not sending data (DeviceNet Gateway ROBO Cylinder controller) Receiving data (ROBO Cylinder controller DeviceNet gateway) Not receiving data (ROBO Cylinder controller DeviceNet gateway)
DeviceNet Gateway

[3] Mode setting switch

This switch is used to set the operation mode of the DeviceNet Gateway. Operate the switch after turning off the DeviceNet Gateway power. If any number between Nos. 1 and 5 is selected, the position table settings in the controller will become invalid.
SW1 turns ON when tilted to the right.
: ON X: OFF
No.
4 3 2 1 Description Output Input
1 X X X X 2 X
3
4
5 6 X X
7 X X X 8 X
9
SW1 I/O bytes
Direct numerical specification mode,
52 28
maximum 4 axes
X X
X X X
X X X
X Position-number specification mode 48 48
X X
X
 
Direct numerical specification mode, maximum 6 axes Direct numerical specification mode, maximum 8 axes
Direct numerical specification mode, maximum 10 axes
Direct numerical specification mode, maximum 16 axes
Command specification mode, Large 160 160 Command specification mode, Middle 128 128 Command specification mode, Small 64 64
76 40 100 52 124 64 196 100

[4] External port switching input

The ON/OFF status of the teaching pendant/PC connector port can be switched using external signals (no-voltage contact type). The connector port is enabled when the port switch [10] on the DeviceNet Gateway is OFF. When the input signal is ON, the port is also ON. (Refer to [10], “Port switch.”)

[5] Controller communication lines

This terminal is used to connect the communication lines to the SIO communication connector.

[6] DeviceNet communication connector

This connector is used to connect the DeviceNet communication lines.

[7] Baud-rate setting switches

Switches DR0 and DR1 are used to set a desired baud rate. Each switch turns ON when tilted to the left.
{: ON X: OFF
Baud rate DR1 DR0
125 K X X 250 K X 500 K
{
{
X

[8] Node-address setting switches

Switches NA1 to NA32 are used to set a desired node address. Each switch turns ON when tilted to the left.
{: ON X: OFF
Address NA32 NA16 NA8 NA4 NA2 NA1
0 X X X X X X 1 X X X X X 2 X X X X 3 X X X X
62 63
Normally the node address of the master unit is set to 63.
{ { { { { { { { { { {
{ { {
DeviceNet Gateway
{
X
X
A
DeviceNet Gateway

[9] DeviceNet communication status LEDs

The two LEDs of MS and NS on the front face of the board indicate the node status and network status. (The remaining two LEDs are not used.) These LEDs illuminate in one of two colors (red or green), and each LED indicates a different monitored status, as shown in the table below.
MS (Module Status) LED ..... This LED indicates the status of the node.
NS (Network Status) LED ..... This LED indicates the status of the network.
LED Color Indicated status Description (meaning of indication)
MS
Red
- Unlit The power is not supplied.
NS
The node performs self-test when the power is input. During the self-test, the monitor LEDs change their indications in the following sequence:
[1] The NS LED turns off. [2] The MS LED illuminates in steady green (for approx. 0.25 second). [3] The MS LED illuminates in steady red (for approx. 0.25 second). [4] The MS LED illuminates in steady green. [5] The NS LED illuminates in steady green (for approx. 0.25 second). [6] The NS LED illuminates in steady red (for approx. 0.25 second).
[7] The NS LED turns off. When the self-test is completed and communication starts successfully, both the MS and NS LEDs will change to steady green.
Green
Red
- Unlit • The node is offline.
Lit The node is operating normally. Green
Blink The specified data size is exceeded.
Lit A hardware error is present. The board must be
replaced.
Blink
Lit Network connection has been established and
Blink The node is online, but network connection is not
Lit A fatal error, such as duplicate node addresses or
Blink A communication error is present.
minor error, such as a DIP switch setting error or configuration error, is present. A normal condition can be restored by a reset operation, etc.
communication is in progress without problem. yet established. Communication is stopped. (The
network is normal.) “bus off,” is present. Communication is disabled. (A communication timeout occurred.)
• The power is not supplied.
DeviceNet Gateway

[10] Port switch

This switch is used to enable the teaching pendant/PC connector (TP) (PORT ON = Start communication). Set this switch to the OFF position when connecting/removing the communication cable connector for teaching pendant or PC software. To use the teaching pendant or PC software, plug in the connector first, and then set the switch to the ON position. (Also check the signal status of the port switching input [4].) The maximum settable baud rate for communication between the teaching pendant or PC software and DeviceNet gateway is 115.2 kbps. The baud rate for communication between the DeviceNet gateway and controller is fixed to 230.4 kbps.
When the port is turned ON, DeviceNet communication error will not occur but data exchange via SIO communication will stop. Accordingly, output signals (data) from the PLC will not be output to the controller and the input signals (data) from the ROBO Cylinder controller will remain as the values that were effective immediately before the port was turned ON. Since the DeviceNet Gateway outputs a port ON status signal (TPC) to the PLC, provide an interlock, etc., if necessary.

[11] Teaching pendant/PC connector

This connector is used to connect the communication cable connector for teaching pendant or PC software.

[12] Power-supply input

This connector is used to connect the power supply (24 VDC) of the DeviceNet Gateway.
DeviceNet Gateway

3. Installation and Noise Elimination Measures

Exercise due caution regarding the installation environment.

3.1 Installation Environment.

a. The Gateway Unit is not dustproof or waterproof (oilproof). Accordingly, avoid using the Gateway
Unit in a dusty place or place where the unit may come in contact with oil mist or splashed cutting fluid.
b. Prevent the Gateway Unit from receiving direct sunlight or irradiated heat from large heat
sources such as heat treatment ovens.
c. Use the Gateway Unit in an environment of 0 to 40°C in surrounding air temperature and 85% or
below in humidity (non-condensing) and free from corrosive or flammable gases.
d. Use the Gateway Unit in an environment where the unit will not receive external vibration or
shock.
e. Prevent electrical noise from entering the Gateway Unit or its cables.

3.2 Supply Voltage

24 VDC ± 10% / Current consumption: 300 mA max.

3.3 Noise Elimination Measures and Grounding

a. Installing the Gateway Unit
Connect the Gateway Unit by directly securing it onto a metal enclosure using screws.
Provide class D (3) grounding for the enclosure.
Use as thick a cable as possible and connect it over the shortest possible distance.
Metal
enclosure
b. Notes on wiring method
Separate the communication lines of the Gateway Unit and Profibus module from lines carrying large current such as power circuits. (Do not bundle them together or place them in the same cable duct.)
c. Noise sources and elimination of noise
There are many noise sources, but the ones you should pay most attention to when building your system are solenoid valves, magnet switches and relays. Noise from these sources can be eliminated using the following measures.
[1] AC solenoid valves, magnet switches, relays
Measure --- Install a surge killer in parallel with the coil.
[2] DC solenoid valves, magnet switches, relays
Measure --- Install a diode in parallel with the coil. Determine an appropriate diode capacity
in accordance with the load capacity.
In a DC system, connecting the diode in reverse polarities may damage the diode, internal controller parts, and DC power supply. Exercise due caution.
+24 V 0 V
DeviceNet Gateway
Point
Install the surge killer in a location as close as possible to each coil. If the surge killer is installed on a terminal block or away from the coil, its noise elimination effect will decrease.
DeviceNet Gateway

3.4 Installation

Examine appropriate settings for the control box size, installation position of the Gateway Unit and cooling method of the control box, so that the temperature around the Gateway Unit will remain at or below 40°C. Install the Gateway Unit vertically on a wall, as shown below, and provide a minimum clearance of 50 mm above and below the unit, with a minimum clearance of 100 mm provided on all sides for wiring access. If multiple Gateway Units are installed side by side, provide a sufficient space between the adjacent units so that any unit can be installed and removed easily. If heat or noise is of concern, also provide appropriate measures.
Slave devices
DeviceNet Gateway

4. Wiring

4.1 Overall Configuration

Shown below is an example of the DeviceNet system configuration using the Gateway Unit.
power supply
Communication
Host system (PLC master)
SIO communication network
DeviceNet
4-way junction
T-junction
Gateway
Unit
Terminal
block
Teaching pendant
24-V
power
supply
Terminal resistor
DeviceNet Gateway
DeviceNet network wiring is shown below.
For details on DeviceNet, refer to the operation manual for the master (PLC). Shown below is an example of the DeviceNet network.
Terminal resistors are installed.
Branch line
(1) A device with an address connected to the network is called “node.” A node may be a master
(DeviceNet unit in the figure above) that manages DeviceNet, or a slave that connects an external I/O. Masters and slaves can be arranged in any positions.
(2) A cable having a terminal resistor installed on both ends is called “main line” (thick line in the
figure), while a cable branching from a main line is called “branch line” (thin line in the figure). Both cables use the dedicated five-lead DeviceNet cable. Either the thick cable or thin cable is used depending on the supplied current. You can learn more about this dedicated cable on the ODVA website. The dedicated cable is shown below.
How to Determine Which Cable to Use The table below summarizes the differences between thick and thin cables.
Type Baud rate
Thick cable
Thin cable
DeviceNet unit (master)
500 kbps 100 m 39 m 250 kbps 250 m 78 m 125 kbps 500 m 156 m 500 kbps 100 m 39 m 250 kbps 100 m 78 m 125 kbps 100 m
Node
Node Node Node
Color Signal type
Red Power-supply cable + (V+)
White Communication data high (CAN H)
- Shield
Blue Communication data low (CAN L)
Black Power-supply cable - (V-)
T-junction tap
Node
24-VDC
communication
power supply
Maximum
network length
Branch length
Main line
NodeNode
6 m
Node
The wire colors are also printed on the dedicated connector.
Total branch
length
156 m
Node
Current capacity
Terminal resistors are installed.
8 A
3 A
DeviceNet Gateway
About Grounding
Do not ground the shield wires at multiple locations on the network. Always ground the shield wires at one location.
Provide dedicated grounding separately from the inverters for drive systems, etc.
(3) Nodes can be connected in one of two ways. Both methods can be employed together in a
single network. [1] T-junction method --- A T-junction tap, etc., is used (Indicated by “T” in the network
diagram on p. 20)
[2] Multi-drop method --- A multi-drop connector is used to directly branch the cable at a node
(Indicated by “M” in the network diagram on p. 20)
(4) The communication power (24 VDC) must be supplied to each node via a five-lead cable.
With a DeviceNet system, the communication power (24 VDC) must be supplied to the network.
(5) A terminal resistor must be installed on both ends of a main line.
The gateway unit does not come with a terminal resistor. Use a terminal-block type terminal resistor (121 Ω ±1%, 1/4 W) or T-branch tap with terminal resistor (121 Ω ±1%, 1/4 W) by Omron, or connect other resistor of the same specification directly between the white and blue terminals on the communication connector.
(6) The baud rate is limited in accordance with the network lengths (total branch line length and
maximum network length).
Caution
Align the ground potential level of the power supply of each controller connected to the Gateway Unit with the ground potential level of the power supply of the Gateway Unit.
(7) When the wiring is complete, turn off the power and use a tester to measure the resistance
between the signal lines CAN H (white) and CAN L (blue) at any node.
If the measured resistance is between 50 and 70 Ω, the connection is appropriate.
If the measured resistance is 70 Ω or higher, the signal wires are open at some point or
there are not enough terminal resistors. This situation is classified as follows. If the measured resistance is around 100 Ω, there is only one terminal resistance on the network. If the measured resistor is 300 Ω or more, there is no terminal resistor on the network.
If the measured resistance is less than 50 Ω, on the other hand, there are too many terminal resistors. To be specific, there are at least three terminal resistors on the network.
Do not measure resistance while the system is operating, because it may cause communication data errors, resulting in an unexpected accident.
White (CAN H)
Tester
Use a tester to measure the resistance between the signal lines.
Blue (CAN L)
A
A

4.2 I/O Signals of Gateway Unit

(1) Connection diagram

Teaching-pendant emergency stop signal output
llowable load voltage: 30 VDC llowable load current: 1 A
DeviceNet cable
Teaching pendant
Emergency stop
Gateway power supply
24 VDC ±10%,
300 mA max.
External port switching input (provided
by the customer)
(Load: 24 VDC, 7 mA)
SIO communication
cable
DeviceNet Gateway
Gateway Unit
Black: (V-) Light blue: (CAN_L) Clear: (Shield) White: (CAN_H) Red: (V+)
Teaching pendant/ PC connector
Port switch
Port switch
DeviceNet Gateway

(2) Port control and emergency stop signal output

The teaching pendant/PC connector port can be operated by external signals, other than by ON/OFF switching of the port switch on the Gateway Unit. While the port is ON, the Gateway Unit outputs contact signals of the emergency stop pushbutton switch on the teaching pendant. Therefore, you can design an emergency stop circuit or other protective circuit for the entire system by incorporating these signals.
External port
switching input
OFF OFF Disabled (S1 and S2 shorted) Disabled
ON OFF
OFF ON
ON ON
A reference example of the emergency stop circuit is shown below.
Emergency
stop reset
Emergency stop button
Port switch Teaching-pendant emergency
stop signal output
S1, S2 =
Teaching-pendant emergency stop contacts
(Load: 24 VDC, 7 mA)
switches
Enabled
DeviceNet cable
Teaching pendant
Emergency stop
Gateway power supply
24 VDC ±10%,
300 mA max.
External port switching input
(provided by the customer)
SIO communication cable
Teaching pendant/PC
connector port
Enabled
Gateway Unit
Black: (V-) Light blue: (CAN_L) Clear: (Shield) White: (CAN_H) Red: (V+)
Teaching pendant/ PC connector
Port switch
Port switch
24

(3) I/O signal specifications and wires

Symbol Description Specification Connector and applicable wire
Positive side of the 24-
24 V
VDC Gateway power
24 VDC ±10%
0.8 to 1.3 mm2
supply
N
connector
Power-supply input
S1 S2
PORT IN
PORT N
SDA SIO communication line A
SIO
communication
SDB SIO communication line B
GND Ground
connector
FG Frame ground
Black: (V-) Power supply - Light blue:
(CAN_L) Clear: (Shield) White:
connector
DeviceNet
(CAN_H)
communication
Negative side of the 24­VDC Gateway power supply
Teaching-pendant emergency stop signal output
External port switching input
Communication data low Shield cable Communication data high
Power consumption: 300 mA max.
AWG 18 to 16
Allowable load voltage: 30 VDC 0.08 to 1.5 mm Allowable load current: 1 A AWG 28 to 16
No-voltage (dry) contact input Load: 24 VDC, 7 mA Align the potential level of the connected controller or ERC actuator with the potential level of the GND (ground). Internally connected to the frame.
0.08 to 1.5 mm AWG 28 to 16 Double shielded twisted­pair cable (AWG22) Recommended cable: HK-SB/20276 X L 2P X AWG22 by Taiyo Electric Wire & Cable
Use the dedicated five­lead DeviceNet cable recommended by ODVA. To check the details, visit ODVA’s website.
2
2
Red: (V+) Power supply +
*1 The gateway unit does not come with a terminal resistor.
Use a terminal-block type terminal resistor (121 Ω ±1%, 1/4W) or T-branch tap with terminal resistor (121 Ω ± 1%, 1/4W) by Omron, or connect other resistor of the same specification directly between the white and blue terminals on the communication connector.
The connection plug is a standard accessory. MC1.5/4-ST-3 5 (Phoenix Contact)
The connection plug is a standard accessory. MC1.5/6-ST-3 81 (Phoenix Contact) The Gateway Unit has a built­in terminal resistor, so connect the terminal resistor at the end of the SIO communication line.
The connection plug is a standard accessory. SMSTB2, 5/5-ST-5, 08AU (Phoenix Contact) In a DeviceNet network, a terminal resistor must be connected on both ends of a main line. Check the operation manual for the master (PLC).
DeviceNet Gateway
A
A
A
DeviceNet Gateway

4.3 Design of SIO Communication Network (SIO Communication)

4.3.1 Wiring (1) Basics

Item Description
Number of connected units Communication cable length Total cable length: 100 m max.
Communication cable
Terminal resistor
16 axes max. (The specific number varies depending on the operation mode. Refer to 1.4, “Features of Gateway Unit.”)
Double shielded twisted-pair cable (AWG22 --- Outer sheath diameter
1.35 to 1.60)) Recommended cable: HK-SB/20276 X L 2P X AWG22
by Taiyo Electric Wire & Cable
220 Ω 1/4 W
Caution
1. Connect the communication path to a bus and always connect a terminal resistor at the end. A terminal resistor is not needed on the Gateway Unit end, as the unit has a built-in terminal resistor.
2. The customer must provide the communication cable. If the recommended cable is not used, make sure the size of the cable to be used is AWG22.
(2) Linking PCON/ACON/SCON controllers via SIO communication
If the wiring receives tension or the IAI-recommended cable or equivalent is not used, it is recommended that you use a terminal block or joint to perform the wiring without using the connector. If the Gateway Unit connector receives tension, secure the cable nearby using a mounting base, tie-band, etc.
e-CON connector (4-1473562-4 by AMP, green) e-CON connector (3-1473562-4 by AMP, orange)
Junction (5-1473574-4 by AMP) Recommended cable: HK-SB/20276 X L 2P X AWG22
SIO communication trunk
(Provided by the customer)
Gateway Unit
(Built-in terminal resistor)
xis 1
xis 2
*1 The terminal resistor (220 Ω,1/4 W) is supplied with the controller link cable.
You can use a terminal block or directly connect the cables using a joint without problem. For the connection method, refer to the detailed connection diagram [Connection by Terminal Block or Joint].
Terminal resistor*1 R=220 Ω
1/4 W
Controller link cable
xis n
25
DeviceNet Gateway
a. Detail connection diagram
Details of SIO link connection are illustrated below. Controller link cables are available as options, but the customer must provide the communication trunk.
[Wiring by Connector]
Gateway Unit
Double shielded twisted-pair cable Recommended cable: HK-SB/20276 X L 2P X AWG22 by Taiyo Electric Wire & Cable
SIO communication trunk
4-way junction (5-1473574-4 by AMP)
e-CON connector (4-1473562-4 by AMP)
Housing color: Green
Controller link cable
Yellow
Orange
Blue
Yellow
Orange
Blue
Unit 1 Unit 2
e-CON connector (3-1473562-4 by AMP)
Housing color: Orange
26
A
DeviceNet Gateway
[Connection by Terminal Block or Joint]
Gateway Unit
Double shielded twisted-pair cable Recommended cable: HK-SB/20276 X L 2P X AWG22 by Taiyo Electric Wire & Cable
Axis 1
Yellow
Orange
Blue
If installing a terminal block is difficult or any other wiring limitation applies, connect the cable directly using a joint, instead of using a terminal block. Connect each wire using a round crimp terminal with a screw/nut, and then wrap an insulation tape around the connection point.
Yellow
Orange
Blue
Axis 2
To axis 3
* The user must provide relay terminals. Also, connect a terminal resistor (220 Ω, 1/4 W) between the
SGA and SGB terminals. Do not ground the end of the main communication line, but terminate it using a terminal block or leave
the end open without any termination. b. Producing a communication trunk [Wiring by Connector]
e-CON connector
[1] Strip the sheath of a double shielded twisted-pair
cable by approx. 15 to 20 mm.
pply pressure.
[2] Twist the shield wires and solder them onto vinyl wires
of AWG22 (outer diameter 1.35 to 1.6 mm) or
equivalent. [3] Place a cable protection tube over the cable. [4] Insert the four wires into the cable insertion holes in
the connector (SDA, SDB, GND, FG) without stripping
the core sheath.
Vinyl wire
Solder
Shielded
wires
Locking tab
Cable tube
[5] With the cable inserted in the press-fit cable housing,
apply pressure from above to pressure-weld the core
Double shielded twisted-pair shielded
wires. [6] Heat-treat the cable protection tube.
27
DeviceNet Gateway
e-CON connector pin numbers
Locking tab
Always insert a terminal resistor (220 Ω, 1/4 W) at the end of the communication trunk (between pins 1 and 2 of the e-CON connector).
Caution
[1] When wiring to the e-CON connector, stripping the wires may cause the stripped wires to short
inside the connector.
[2] Wires that can be connected to the e-CON connector are those with an outer sheath diameter of
1.35 to 1.60. When pressure-welding a wire, use pliers, etc., to keep the pressure-welding part horizontally during the pressure-welding process in order to make sure a force is applied evenly. If the wire size is wrong or the pressure-welding part is slanted during pressure-welding, communication errors (indicated by steady light of the T.ER LED) may occur due to poor contact.
[Connection by Terminal Block or Joint] [1] Cut the e-CON connector on the controller link cable provided as an option and then connect the cut
end to a terminal block using crimp terminals appropriate for the terminal block. To join the controller link cable directly without using a terminal block, join each wire using a round crimp terminal with a screw/nut, and then wrap an insulation tape around the connection point.
[2] Also connect the terminal resistor to the terminal block. Protect the conductor part of the resistor using
an insulation tube, etc. Even when a joint is used for connection, also protect the conductor part using an insulation tube, etc., in the same manner. When taping, be careful not to wrap the resistor itself with the tape.
c. Controller link cable (CB-RCB-CTL002)
This cable is available as an option for each controller.
Controller end
Mini DIN connector
Signal
Yellow
Orange
e-CON connector 3-1473562-4 (Housing color: Orange)
Signal
Blue
The following parts are supplied with the controller link cable.
[1] 4-way junction Model: 5-1473574-4 by AMP x 1 unit [2] e-CON connector 4-1473562-4 by AMP x 1 unit Outer diameter of applicable wire 1.35 to 1.6 mm [3] Terminal resistor
220 Ω 1/4 W With e-CON connector x 1 unit
28
DeviceNet Gateway
(3) Linking ERC2-SE controllers via SIO communication
For details, refer to the operation manual for your ERC2-SE controller. Use 4-way junctions to link the controllers as shown below. The power-supply & I/O cable and network connection cable (including a 4-way junction or e-CON connectors) are standard accessories of each ERC2-SE controller.
Gateway Unit
To be provided by the customer.
Terminal resistor (220 Ω, 1/4 W)
4-way junction e-CON connector
Network connection cable (CB-ERC2-CTL001)
Power-supply & I/O cable (CB-ERC2-PWBIO)
JST JST
PIO/24-VDC control power supply, motor power supply, brake signal, ground, shield
Controller 1
Controller 2
Controller 3
Controller 16
Caution
(1) If the total communication cable length is 10 m or longer and a communication error occurs
because of difficulty establishing successful communication, connect a terminal resistor to the last
axis. (2) If each actuator uses a separate power supply, use a same ground 0 [V]. (3) The power supply of the Gateway Unit and the control power supply of each ERC2 controller
must share a common ground 0 V. (4) Connect the shield line to the FG terminal for each axis. (5) If the total link cable length exceeds 30 m, use a cable with a wire size of AWG22 or greater.
29
(4) Linking ERC2-NP/PN controllers via SIO communication
Use relay terminal blocks to link the controllers as shown below.
Gateway Unit
Paired shield cables (To be provided by the customer.)
Terminal resistor
Relay terminal block
PIO/24-VDC control power supply, motor power supply, brake signal, ground, shield
SGA Orange (red 1)
SGB Orange (black 1)
DeviceNet Gateway
PIO power-supply & I/O cable CB-ERC-PWBIO
Controller 1
Controller 2
Controller 16
Caution
(1) If the total communication cable length is 10 m or longer and a communication error occurs
because of difficulty establishing successful communication, connect a terminal resistor to the last
axis. (2) If each actuator uses a separate power supply, use a same ground 0 [V]. (3) The power supply of the Gateway Unit and the control power supply of each ERC2 controller
must share a common ground 0 V. (4) Connect the shield line to the FG terminal for each axis. (5) If the total link cable length exceeds 30 m, use a cable with a wire size of AWG22 or greater.
30
DeviceNet Gateway
(5) Wiring the emergency stop (EMG) circuit
When designing an emergency stop circuit that incorporates the emergency stop switch on the teaching pendant connected to the Gateway Unit, emergency stop signals output from the “S1” and “S2” terminals of the Gateway Unit can be used. This way, all connected ROBO Cylinder controllers can be stopped instantly in case of emergency by operating the emergency stop switch on the teaching pendant connected to the Gateway Unit.
Caution
1. For details on the emergency stop processing implemented by ROBO Cylinder controllers, refer to
the operation manual for your PCON, ACON, SCON or ERC2 controller.
31
y
y
r
[1] Example of cutting off drive signals
EMG reset
switch
Teaching
pendant
EMG
pushbutton
EMG
pushbutton
Gatewa
power suppl
Gateway Unit
TP connector
Port
switch
24-VDC input
power supply
(2 A max. per unit)
SIO connector
SIO
communication
Power-supply
terminal block
DeviceNet Gateway
PCON, ACON controller
Connection detection signal (H)
EMG signal detection (H)
Time cons-
tant
Drive stop signal (L)
Motor drive power
Control power
Power-supply terminal block (unit 2)
-supply terminal block (unit 3)
Powe
SIO
connector
connection
detection
circuit
Motor
drive
circuit
Caution
The input current that flows through EMG terminals is 5 mA. When connecting the contacts of EMG relay CR to the EMG terminals of multiple controllers, check the current capacity of relay contacts.
32
y
y
r
[2] Example of cutting off motor drive power
switch
EMG reset
Teaching
pendant
EMG
pushbutton
EMG
pushbutton
Gatewa
power suppl
Gateway Unit
TP connector
Port
switch
24-VDC input power supply
(2 A max. per unit)
SIO connector
SIO
communication
Power-supply
terminal block
DeviceNet Gateway
PCON, ACON controller
Connection detection signal (H)
EMG signal detection (H)
Motor drive power
Control power
Power-supply terminal block (unit 2)
-supply terminal block (unit 3)
Powe
Time cons-
tant
SIO
connector
connection
detection
circuit
Drive stop signal (L)
Motor
drive
circuit
33
DeviceNet Gateway

4.3.2 Axis Number Setting

The following explanation applies to PCON, ACON, SCON and ERC2 controllers.
Set the axis number as a slave station number on the SIO communication network. The axis number of axis 1 is “0,” while that of axis 16 is “F.” Set an appropriate axis number using a hexadecimal value between 0 and F. Axis numbers can be set on the teaching pendant or in the PC software.
Operation in the PC software
[1] Open the main window [2] Click Settings (S) [3] Bring the cursor to Controller Settings (C) [4] Click Assign Axis Number (N) [5] Enter a number in the axis number table.
Operation on the teaching pendant RCM-T
[1] Open the User Adjustment window [2] Bring the cursor to Assigned No. using the T key [3] Enter an axis number, and press Enter [4] Enter “2” under Adjustment No., and press Enter.
Operation on the simple teaching pendant RCM-E
[1] Open the User Adjustment window [2] Press Enter to open the Assigned No. window [3] Enter an axis number, and press Enter [4] Enter “2” under Adjustment No., and press Enter.
For details on each setting method, refer to the operation manual for your teaching pendant or PC software.
Caution
1. Each axis number must be unique.
2. Before setting an axis number for a given axis, disconnect the link cable of the applicable axis.
3. Connect a terminal resistor between SGA and SGB on the terminal module.
34
DeviceNet Gateway
4.4 How to Connect Teaching Tools When Grounding the Positive Terminal of the 24­V Power Supply
If the positive terminal of the gateway unit’s 24-V power supply is grounded (= +24-V side is grounded), use a SIO converter, as shown below case, do not connect the FG on the SIO converter.
Teaching pendant PC, etc.
Do not connect the FG.
24-V
power supply
With a gateway system, basically the negative terminal of the 24-V power supply is grounded (= 0-V side is grounded). Since most teaching pendants and PCs have their communication GND line and FG (frame ground) shorted internally, grounding the positive terminal of the 24-V power supply (= grounding the +24-V side) will cause the 24-V power supply to short when a teaching pendant or PC is connected, consequently damaging the teaching pendant or PC.
, to connect a teaching pendant or PC to the gateway unit. In this
Make sure the FG on the PC is not connected to ground. If the FG 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 controller link cable comes with one e-CON connector, one junction and one terminal resistor.
e-CON connector (3-1473562-4 by AMP) Junction (5-1473574-4 by AMP)
Terminal resistor R = 220 Ω
Gateway unit
Controller link cable Model: CB-RCB-CTL002
Caution
Do not connect the FG on the SIO converter.
35
DeviceNet Gateway

5. Overview of DeviceNet

All data exchanged between the master station and the controller are tentatively stored in the internal memory of the Gateway Unit, and then transmitted cyclically. Accordingly, the PLC program recognizes these data as remote DeviceNet I/Os. Up to 16 ROBO Cylinder controllers can be connected to the Gateway Unit, with the connected controllers assigned an axis number of 0 to 15, respectively. The Gateway Unit simultaneously sends and receives data to/from the master station for all ROBO Cylinder controllers connected via SIO communication.

5.1 Address Assignment for the Master PLC (Omron CJ Series)

The DeviceNet unit (CPU unit) performs remote I/O communication with a slave, where data is exchanged automatically between the CPU unit and the slave without using programs in the PLC. Each slave is assigned appropriate areas in the I/O memory of the CPU unit in which the master unit is installed. I/O memory areas can be assigned to slaves in one of three methods specified below:
[1] Fixed assignment [2] Free assignment using a user setting table for free master area assignment (assignment DM)
[3] Free assignment using a configurator The following pages provide an overview of method [1], as well as method [3] which is used more commonly. For details, refer to the operation manual for your PLC.
36
DeviceNet Gateway

(1) Fixed assignment

When a CJ-series master unit is used, one of three pairs of fixed assignment areas can be specified
as assigned relay areas (using a specified soft switch).
In other words, three master units can be installed in a single PLC, with each master unit assigned
different areas.
One of these area pairs is selected.
[1] When areas are selected for fixed assignment, I/O addresses in the applicable output and input
areas will be assigned sequentially in the order of node addresses according to a fixed order. [2] A slave having more than 16 I/O points occupies multiple channels. [3] A slave having no more than 16 I/O points occupies the lower byte. [4] The master unit will not occupy any channels even when the node address is set. (This applies
to both fixed assignment and free assignment.)
I/O memory address of
CPU unit
Output
(OUT) area 1
Input
(IN)
area 1
Output
(OUT) area 2
Input
(IN)
area 2
Output
(OUT) area 3
Input
(IN)
area 3
Node address
Address 0 Address 1
Address 62 Address 63
Address 0 Address 1
Address 62 Address 63
Address 0 Address 1
Address 62 Address 63
Address 0 Address 1
Address 62 Address 63
Address 0 Address 1
Address 62 Address 63
Address 0 Address 1
Address 62 Address 63
To each slave
From each slave
To each slave
From each slave
To each slave
From each slave
37
A
A
A
A
DeviceNet Gateway

(2) Free assignment using a configurator

By using a DeviceNet configurator, slaves can be assigned respectively to four blocks, including output area blocks 1 and 2 and input area blocks 1 and 2, in a desired node address order within each block. By using this free assignment function, up to 16 master units can be installed in a single PLC.
CPU unit
Output area
Output
(OUT)
block 1
Output
(OUT)
block 2
Input area
Input (IN)
block 1
Input (IN)
block 2
[1] One block has a maximum of 500 channels (i.e., there are 500 output channels x 2 and 500
input channels x 2). Each item can be assigned in desired areas within the applicable range
specified below:
I/O relay: 0000~6143CH Internal auxiliary relay: W000~W511CH Keep relay: H000~H511CH Data memory: D00000~D32767 Expansion data memory: E00000~E32767
[2] The blocks can be assigned in a desired order, and the assigned block areas and node
addresses in each block can also be sequenced freely. [3] A slave having more than 16 I/O points occupies multiple channels. [4] A slave having no more than 16 I/O points occupies either the lower byte or upper byte.
*1 DeviceNet configurator
A software program for building, setting and managing DeviceNet networks using graphical screen interfaces. This software provides the following functions:
• Free assignment of remote I/O functions
• Setting of slave parameters
• Monitoring of master and slave communication statuses
Each block can occupy any position. For example, the blocks can be arranged in a sequence of IN block 1, OUT block 2, IN block 2 and OUT block 1.
Address
Address
Address
Address
Address
Address
Address
Address
ddresses can be
freely sequenced.
ddresses can be
freely sequenced.
ddresses can be
freely sequenced.
ddresses can be
freely sequenced.
To each slave
From each slave
38
DeviceNet Gateway

6. Address Configuration of Gateway Unit

As explained in 1.4, “Features of Gateway Unit,” the connected controller(s) can be operated in three main modes. The slave address configuration is different in each of these modes.

6.1 Position-number Specification Mode

In this mode, the actuator is operated by specifying position numbers in the position table. Up to 16 axes can be controlled. The position table must be set for each axis using the PC software or teaching pendant. Basically 64 positions from Nos. 0 to 63 can be specified. However, the number of available points may be limited depending on the PIO pattern selected for each axis (using the PIO pattern selection parameter). (Refer to the list in 1.4.2.)
The key control functions available in this mode are listed below.
: Direct control
Key function
Home return operation Positioning operation Speed and acceleration/ deceleration setting Pitch (incremental) feed Push-motion operation Speed change during movement
Operation with acceleration and deceleration set differently Pause Zone signal output PIO pattern selection X *1
*1 The number of positions may be limited depending on the PIO pattern selected (via parameter No.
25) for each connected controller. Specify position numbers in compliance with the position number limitation applicable to each controller. Normally, a maximum of 64 positions can be specified.
Δ: Indirect control x: Disabled
Δ Δ
Δ Δ Δ
Δ
 
A number in the position table is specified. Set in the position table.
Set in the position table. Set in the position table. Two or more position numbers are combined.
(Refer to the operation manual for your controller.) Set in the position table.
Each zone is set by parameters.
Remarks
39
DeviceNet Gateway

6.1.1 Overall Address Configuration

In the position number specification mode, the gateway control/status signal inputs and outputs use two words each. With each axis, each control signal consists of one word in each PLC I/O area, and 24 input words and 24 output words are occupied for the entire gateway unit. The values in parentheses indicate axis numbers.
Output from PLC ⇒ Gateway Unit ⇒
Input to each axis
CH+ b15
+00 Gateway control signal 0 00 Gateway status signal 0 +01 Gateway control signal 1 01 Gateway status signal 1
Command position
+02
number (0) Command position
+03
number (1) Command position
+04
number (2) Command position
+05
number (3) Command position
+06
number (4) Command position
+07
number (5) Command position
+08
number (6) Command position
+09
number (7) Command position
+10
number (8) Command position
+11
number (9) Command position
+12
number (10) Command position
+13
number (11) Command position
+14
number (12) Command position
+15
number (13) Command position
+16
number (14) Command position
+17
number (15) +18 18 +19 +20 +21 +22 +23
Upper
byte
Cannot be used.
b8 b7
Lower
byte
Control signal (0) 02 Control signal (1) 03 Control signal (2) 04 Control signal (3) 05 Control signal (4) 06 Control signal (5) 07 Control signal (6) 08 Control signal (7) 09 Control signal (8) 10
Control signal (9) 11 Control signal (10) 12 Control signal (11) 13 Control signal (12) 14 Control signal (13) 15 Control signal (14) 16 Control signal (15) 17
Node
address
b0 b15
Completed position number + zone signal (0) Completed position number + zone signal (1) Completed position number + zone signal (2) Completed position number + zone signal (3) Completed position number + zone signal (4) Completed position number + zone signal (5) Completed position number + zone signal (6) Completed position number + zone signal (7) Completed position number + zone signal (8) Completed position number + zone signal (9) Completed position number + zone signal (10) Completed position number + zone signal (11) Completed position number + zone signal (12) Completed position number + zone signal (13) Completed position number + zone signal (14) Completed position number + zone signal (15)
~
23
Output from each axis ⇒ Gateway Unit ⇒
Input to PLC
Upper
byte
b8 b7
Cannot be used.
Lower
byte
Status signal (0) Status signal (1) Status signal (2) Status signal (3) Status signal (4) Status signal (5) Status signal (6) Status signal (7) Status signal (8)
Status signal (9) Status signal (10) Status signal (11) Status signal (12) Status signal (13) Status signal (14) Status signal (15)
b0
40
DeviceNet Gateway

6.1.2 Gateway Control/Status Signals

As for the address configuration in each mode, the initial two channels provide signals used to control the Gateway Unit. Both input and output word registers consist of two words each. It is recommended that data in these word registers be transferred to, and used in, bit registers. Gateway control/status signals are used to control the ON/OFF status of SIO communication and monitor the SIO communication status and Gateway Unit status.
PLC output
Gateway
control signal 0
Gateway
control signal 1
1 word = 16 bits
PLC input
status signal 0
status signal 1
Gateway
Gateway
1 word = 16 bits
41
I/O Signal List
Signal type Bit
Control
signal 0
Signal
name
15 MON
14-8 ---
7 NPS4 6 NPS3 5 NPS2 4 NPS1
DeviceNet Gateway
Description
SIO link communication will start when this signal is turned ON, and stop when it is turned OFF. Do not turn the MON signal ON when CFG15 to 0 (linked axis connection) are all OFF. Also, do not turn all of CFG15 to 0 OFF when the MON signal is ON. If CFG15 to 0 are all turned OFF and the MON signal turned ON, the Gateway Unit will generate a SIO link error and the LED (T.ER) on the front face of the unit will illuminate. These bits cannot be used. Always set them to OFF (0). These bits are used in the command specification mode. In any other mode, always set them to OFF (0). Set the number of axes (0 to 16) used via positioner operation, using a five-bit binary value. *1
3 NPS0
These bits are used in the command specification mode. In any other mode, always set them to OFF (0). Set the I/O pattern (pattern 0 to 4) of each axis to be used via positioner operation, using a three-bit binary value. *2
Specify the axis number corresponding to each axis to be linked. The axis will be connected when the signal is turned ON (1), and disconnected when it is turned OFF (0). ON/OFF switching is permitted even when the MON signal is ON. (Notes) Do not turn ON the axis number signal
corresponding to any axis not physically connected.
Do not turn ON any axis number signal
other than the specifiable number selected
by the mode setting switch. If either of the above conditions is breached, a SIO link error will occur.
PLC output
Control
signal 1
2 PPS2 1 PPS1 0 PPS0
15 CFG15 Link ON Axis No. 15 14 CFG14 14 13 CFG13 13 12 CFG12 12 11 CFG11 11 10 CFG10 10
9 CFG9 9 8 CFG8 8 7 CFG7 7 6 CFG6 6 5 CFG5 5 4 CFG4 4 3 CFG3 3 2 CFG2 2 1 CFG1 1 0 CFG0 0
*1 If the mode setting switch (SW1) is set to the command specification mode and the settings of NPS0 to
NPS4 indicate 0, all axes will become simple direct operation axes.
*2 Only one I/O pattern of 0 to 4 can be used for positioner operation axes.
42
Signal type Bit
Status
signal 0
PLC input
Status
signal 1
Signal
name
Gateway Unit normal output
15 RUN
Gateway Unit error detection output
14 G.ER
SIO communication error detection output
13 T.ER
Port switch ON output The status of the port switch on the front face
12 TPC
11 MOD4 10 MOD3
9 MOD2 8 MOD1
7 Major V.4 6 Major V.2 5 Major V.1 4 Minor V.16 3 Minor V.8 2 Minor V.4
Mode setting switch 4 output Mode setting switch 3 output Mode setting switch 2 output Mode setting switch 1 output The major version number is output as a three-bit binary value.
The major version number is output as a five-bit binary value.
1 Minor V.2 0 Minor V.1
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 0 LNK0 0
DeviceNet Gateway
Description
This signal remains ON while the Gateway Unit is operating normally. The signal is synchronized with the illumination of the LED (RUN) on the front face of the unit.
This signal turns ON when a major shutdown failure has been detected. The signal is synchronized with the illumination of the LED (G.ER) on the front face of the unit.
This signal turns ON when a SIO link communication error has been detected. The signal is synchronized with the illumination of the LED (T.ER) on the front face of the unit.
of the unit is output. This signal is ON while the port switch is ON. The setting status of each pin of the mode setting switch is output.
This bit will turn ON (change to 1) when the switch is turned ON.
The Gateway version information is output. You may need to check this information in certain situations, such as when the Gateway encountered a problem. Provide the necessary wiring so that these signals can be read by the PLC.
Example) If the version is 1.03, the major
version number is “1” (data: 001), while the minor version number is
“3” (data: 00011). Link connection of an axis selected for link connection by any one of CFG15 to 0 will become enabled when the MON signal is turned ON. The signal corresponding to each axis whose link connection is enabled turns ON.
43
p
DeviceNet Gateway

6.1.3 Assignment for Each Axis

With I/O signals for each axis, each PLC input or output area consists of one word (two bytes), respectively. Control and status signals consist of ON (1)/OFF (0) signal bits. Command position and completed position numbers are treated as one-byte (eight-bit) binary data. Specify command position numbers within the position number range set for each controller axis.
PLC output
n (axis number)
PLC input
n (axis number)
Command position number
leted position number Status signal
Com
1 word = 16 bits
Control signal
1 word = 16 bits
44
DeviceNet Gateway
I/O Signal Details
Signal type Bit
Command
position number
Control
PLC output
signal
Zone
signal
output 2
Zone
signal
output 1
Completed
position number
(alarm
output)
PLC input
Status
signal
*1 The maximum number of positioning points is 16 under PIO control with ERC2-NP/PN controllers.
When the Gateway Unit is connected, however, up to 64 points can be specified.
*2 [ZONE 2] cannot be used with ERC2-NP/PN controllers.
Six-bit
data
(b13-8)
b7 - Cannot be used. ­b6 - Cannot be used. ­b5 - Cannot be used. ­b4 SON Servo on command 7.2 (7) b3 STP Pause command 7.2 (5) b2 HOME Home return command 7.2 (8) b1 CSTR Start command 7.2 (9) b0 RES Reset command 7.2 (4)
b15
b14 ZONE1
Six-bit
data
(b13-8)
b7 EMGS Emergency stop 7.2 (2) b6 - Cannot be used. ­b5 PWR Controller ready 7.2 (1) b4 SV Ready (servo is on) 7.2 (7) b3 MOVE Moving 7.2 (6) b2 HEND Home return complete 7.2 (8) b1 PEND Position complete 7.2 (10) b0 ALM Alarm 7.2 (3)
Signal
name
PC 32 to
PC1
ZONE2
*2
PM32
to
PM1
Description Details
Specify the command position number using a binary value. *1
The completed position number and zone signal status are output. Read the completed position number as a six-bit binary value. If an alarm is present (= the ALM signal is ON), a description of the alarm is output as the completed position number. (For the alarm descriptions to be output, refer to the next table, “Alarm Description List.”
7.2 (11)
7.2 (13)
7.2 (12)
45
DeviceNet Gateway
[Alarm Description List] The list below shows the alarm descriptions to be output by PM8 to PM1 (as a binary code) while the corresponding alarms are present. For details of alarm descriptions, refer to the operation manual for the controller.
: ON X: OFF
ALM PM8 PM4 PM2 PM1
Output
code
Description *2 Remarks
X - - - - - Normal
 
X X X X X
1 Used by the manufacturer *1
X 2 Used by the manufacturer *1
Movement command at servo OFF (80) Position command before completion of home return (82)
X X
3
Absolute position movement command before completion of home return (83) Movement command during home return (84)
 
X X
X
 
X X 4 PCB mismatch error (F4) X
5 Non-volatile memory write error (F7) *1
X 6
Parameter data error (A1) Position data error (A2) Position command information data error (A3)
X
7
Excitation detection error (B8) Operation timeout during home return operation (BE)
X X X 8 Excessive actual speed (C0)
Overvoltage (C9)
X X
9
Overheat (CA) Control power-supply voltage error (CC) Control power-supply voltage low (CE)
 
X X
 
X A Used by the manufacturer *1
B Position deviation counter overflow (D8)
X X C Servo error (C1)
Open phase A, B (E8) Open phase A (E9) Open phase B (EA) RCP2 absolute encoder error detection 1
X
D
(ED) RCP2 absolute encoder error detection 2 (EE) RCP2 absolute encoder error detection 3 (EF)
X E
F
CPU error (FA) FPGA error (FB) Non-volatile memory rewrite life exceeded (F5) Non-volatile memory write timeout (F6)
Non-volatile memory data corrupted (F7) *1 These errors will not occur while the gateway unit is in use. *2 The alarm codes displayed on the PC software screen or teaching pendant are shown in parentheses.
46
DeviceNet Gateway

6.2 Direct Numerical Specification Mode

In the direct numerical specification mode, the actuator is operated by specifying the position data, speed, acceleration/deceleration, positioning band (push band), and current-limiting value for push-motion operation, directly in numerical values. There are five patterns, each accommodating a different number of connected axes. (The pattern is set using the mode setting switch SW1.) The current position data can be read at any time. There is no need to set the position table for each axis.
The key functions that can be controlled in this mode are summarized in the table below.
: Direct control
Key function
Home return operation Positioning operation Speed/acceleration setting Pitch (incremental) feed X Pitch feed data cannot be processed directly.
Push-motion operation Speed change during movement
Operation with acceleration and deceleration set differently
Pause Zone signal output X Monitor the current position using the PLC. *1 PIO pattern selection X *2
*1 No strobe signal is provided for current position data. To check the current position from the PLC
during movement, set zones and check if the data has remained inside a given zone for at least two scans.
*2 Set the PIO pattern selection parameter (No. 25) of each connected controller to “0” (standard type).
(PCON-C/CG, ACON-C/CG, SCON-C, ERC-2NP/PN)
Δ: Indirect control X: Disabled
  
 
The host PLC must issue each command by adding/subtracting the pitch-feed distance data to/from the current position.
Speed data is accepted at the start of positioning. To change the speed during movement, therefore, change the speed data during movement and then restart the positioning operation. Acceleration/deceleration data is accepted at the start of positioning. To specify a deceleration different from the acceleration, therefore, change the deceleration data during movement and then restart the positioning operation.
Remarks
47
DeviceNet Gateway

6.2.1 Overall address configuration

Each Gateway control/status signal input or output consists of two words. In the direct numerical specification mode, each axis control signal consists of the PLC output area (Gateway input area) containing six words and the PLC input area (Gateway output area) containing three words. The number of controlled axes is set using the mode setting switch (SW1), and the data areas will vary depending on the settings of this switch. The switch settings and corresponding data areas are shown in the table below.
No.
: ON X: OFF
4 3 2 1
1 X X X X 2 X
3
4
5
SW1 I/O bytes
Direct numerical specification mode, maximum 4 axes
X X
X X X
X X X
Direct numerical specification mode, maximum 6 axes Direct numerical specification mode, maximum 8 axes Direct numerical specification mode,
maximum 10 axes Direct numerical specification mode, maximum 16 axes
Description
Output Input
52 28
76 40 100 52 124 64 196 100
48
)
)
The overall address configuration is shown below. “CH” indicates the head address of assigned areas in the DeviceNet master. The values in parentheses indicate axis numbers.
CH+
Output from PLC Gateway Unit
Input to each axis
Gateway control 0 Gateway control 1
Axis control (0)
Axis control (1)
Axis control (2)
Axis control (3)
Axis control (4) Axis control (5)
Axis control (6)
Axis control (7)
Axis control (8)
Node
address
Output from each axis Gateway Unit
CH+
Input to PLC
Gateway status 0 Gateway status 1
Axis status (0) Axis status (1)
Axis status (2) Axis status (3) Axis status (4) Axis status (5) Axis status (6) Axis status (7) Axis status (8) Axis status (9) Axis status (10)
Axis status (11) Axis status (12)
Axis status (13) Axis status (14) Axis status (15)
Axis control (9)
Axis control (10)
Axis control (11)
b15 Upper byte b8
Status signal (11
Current position data (11
Cannot be used.
Axis control (12)
Axis control (13)
Axis control (14)
Axis control (15)
b15 Upper byte b8
Position data specification (11)
Current-limiting value for push motion (11)
Acceleration/deceleration (11)
(Note) If fixed assignment is sued, the
maximum number of assignable
Control signal (11)
channels is limited to 64.
DeviceNet Gateway
Mode No. 1
Mode No. 2
Mode No. 3
Mode No. 4
Mode No. 5
b7 Lower byte b0
b7 Lower byte b0
Speed (11)
Positioning band (11)
49
DeviceNet Gateway

6.2.2 Gateway Control/Status Signals

As for the address configuration in each mode, the initial two channels provide signals used to control the Gateway Unit. Both input and output word registers consist of two words each. It is recommended that data in these word registers be transferred to, and used in, bit registers. Gateway control/status signals are used to control the ON/OFF status of SIO communication and monitor the SIO communication status and Gateway Unit status.
PLC output
Gateway
control signal 0
Gateway
control signal 1
1 word = 16 bits
PLC input
status signal 0
status signal 1
Gateway
Gateway
1 word = 16 bits
50
I/O Signal List
Signal type Bit
Control
signal 0
Signal
name
15 MON
14-8 ---
7 NPS4 6 NPS3 5 NPS2 4 NPS1
DeviceNet Gateway
Description
SIO link communication will start when this signal is turned ON, and stop when it is turned OFF. Do not turn the MON signal ON when CFG15 to 0 (linked axis connection) are all OFF. Also, do not turn all of CFG15 to 0 OFF when the MON signal is ON. If CFG15 to 0 are all turned OFF and the MON signal turned ON, the Gateway Unit will generate a SIO link error and the LED (T.ER) on the front face of the unit will illuminate. These bits cannot be used. Always set them to OFF (0). These bits are used in the command specification mode. In any other mode, always set them to OFF (0). Set the number of axes (0 to 16) used via positioner operation, using a five-bit binary value. *1
3 NPS0
These bits are used in the command specification mode. In any other mode, always set them to OFF (0). Set the I/O pattern (pattern 0 to 4) of each axis to be used via positioner operation, using a three-bit binary value. *2
Specify the axis number corresponding to each axis to be linked. The axis will be connected when the signal is turned ON (1), and disconnected when it is turned OFF (0). ON/OFF switching is permitted even when the MON signal is ON. (Notes) Do not turn ON the axis number signal
corresponding to any axis not physically connected.
Do not turn ON any axis number signal
other than the specifiable number selected
by the mode setting switch. If either of the above conditions is breached, a SIO link error will occur.
PLC output
Control
signal 1
2 PPS2 1 PPS1 0 PPS0
15 CFG15 Link ON Axis No. 15 14 CFG14 14 13 CFG13 13 12 CFG12 12 11 CFG11 11 10 CFG10 10
9 CFG9 9 8 CFG8 8 7 CFG7 7 6 CFG6 6 5 CFG5 5 4 CFG4 4 3 CFG3 3 2 CFG2 2 1 CFG1 1 0 CFG0 0
*1 If the mode setting switch (SW1) is set to the command specification mode and the settings of NPS0 to
NPS4 indicate 0, all axes will become simple direct operation axes.
*2 Only one I/O pattern of 0 to 4 can be used for positioner operation axes.
51
Signal type Bit
Status
signal 0
PLC input
Status
signal 1
Signal
name
Gateway Unit normal output
15 RUN
Gateway Unit error detection output
14 G.ER
SIO communication error detection output
13 T.ER
Port switch ON output The status of the port switch on the front face
12 TPC
11 MOD4 10 MOD3
9 MOD2 8 MOD1
7 Major V.4 6 Major V.2 5 Major V.1 4 Minor V.16 3 Minor V.8 2 Minor V.4
Mode setting switch 4 output
Mode setting switch 3 output
Mode setting switch 2 output
Mode setting switch 1 output
The major version number is output as a three-bit binary value.
The major version number is output as a five-bit binary value.
1 Minor V.2 0 Minor V.1
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 0 LNK0 0
DeviceNet Gateway
Description
This signal remains ON while the Gateway Unit is operating normally. The signal is synchronized with the illumination of the LED (RUN) on the front face of the unit. This signal turns ON when a major shutdown failure has been detected. The signal is synchronized with the illumination of the LED (G.ER) on the front face of the unit. This signal turns ON when a SIO link communication error has been detected. The signal is synchronized with the illumination of the LED (T.ER) on the front face of the unit.
of the unit is output. This signal is ON while the port switch is ON.
The setting status of each pin of the mode setting switch is output.
This bit will turn ON (change to 1) when the switch is turned ON.
The Gateway version information is output. You may need to check this information in certain situations, such as when the Gateway encountered a problem. Provide the necessary wiring so that these signals can be read by the PLC.
Example) If the version is 1.03, the major
version number is “1” (data: 001), while the minor version number is “3” (data: 00011).
Link connection of an axis selected for link connection by any one of CFG15 to 0 will become enabled when the MON signal is turned ON. The signal corresponding to each axis whose link connection is enabled turns ON.
52
DeviceNet Gateway

6.2.3 Assignment for each axis

Control and status signals are set using ON (1)/OFF (0) signal bits, while current-limiting value for push-mode operation and acceleration/deceleration are set using one-byte (eight-bit) hexadecimal data. Speed, target position data, positioning band and current position data are one-and-a-half-word (24-bit) hexadecimal data. It is recommended that control and status signals be transferred to, and used in, bit registers.
Set a desired current-limiting value for push motion, acceleration/deceleration or speed within the corresponding range specified for the applicable actuator, while target position data must be inside the soft stroke limits.
Units: Current-limiting value = 1%, Acceleration/deceleration = 0.01 G, Speed = 1/100 mm/sec,
Position data/positioning band = 1/100 mm
PLC output = Axis control signal
1 word = 16 bits
n (axis number): 0 to 15
Position data specification (signed integer)
Current-limiting value for push motion
(Sign)
Position data specification
(sign: 0 = Positive value, 1 = Negative value)
Speed
Acceleration/deceleration
Speed
Positioning band
Control signal
Positioning band
53
(sig
)
PLC input = Axis status signal
n (axis number): 0 to 15
Current position data (signed integer)
Cannot be used.
1 word = 16 bits
Status signal
(Sign)
n: 0 = Positive value, 1 = Negative value
DeviceNet Gateway
Current position data
Caution
1. Signed 24-bit hexadecimal data output or input from/to the PLC is treated as a negative value when the most significant bit is “1.” Take note that all these data are treated as normal numerical data within the PLC.
54
I/O Signal Details
Signal type Bit
Target
position
data
Current-
limiting
value for
push
motion
PLC output
Speed
Acceleration/
deceleration
24-bit
data
8-bit data
24-bit
data
8-bit data
Signal
name
---
---
---
---
DeviceNet Gateway
Description Details
Set a signed 24-bit integer (unit: 0.01 mm) based on hexadecimal notation Example) To specify +25.4 mm, set “0009ECH”
(“2540” in decimal notation). (Notes) The maximum settable value is +9999.99 mm =
999999 (decimal value) = 0F423FH (hexadecimal value).
A negative value is indicated by a two’s
complement. Accordingly, the most significant bit
becomes “1.” Set position data within the soft stroke limits. To set the push force, set the current-limiting value for push motion as a hexadecimal value (unit: %). The setting range is from “00H” to “FFH,” with FFH corresponding to 100%. Example) To specify 50%, set “7FH”
(corresponding to the decimal value of
127 obtained by FFH (255) x 50%). Set a 24-bit integer (unit: 0.01 mm/sec) based on hexadecimal notation Example) To specify 200 mm/sec, set “004E20H”
(“20000” in decimal notation). (Note) If speed is not set or the set speed is “0,” the
actuator will remain stopped. No alarm will generate. If the set speed is changed to “0” during
movement, the actuator will decelerate to a stop. Set an eight-bit integer (unit: 0.01 G) based on hexadecimal notation. Example) To specify 0.2 G, set “14H” (“20” in
decimal notation). The maximum value is “C8H” (“200” in decimal notation) corresponding to 2 G. (Note) Even if acceleration/deceleration is not set, the
setting of parameter No. 9, “Default acceleration/deceleration” will not be applied.
7.3 (4)
7.3 (4)
7.3 (4)
7.3 (4)
55
Signal type Bit
Positioning
band
PLC output
Control
signal
Status
signal
PLC input
Current position
data
--- b15-8 --- Cannot be used. ---
DeviceNet Gateway
Signal
name
Set a 24-bit integer (unit: 0.01 mm) based on
Description Details
7.3 (4) hexadecimal notation Example) To specify +25.4 mm, set “0009ECH”
(“2540” in decimal notation).
24-bit
data
---
(Notes)
Set position data within the soft stroke limits. Specify the direction of push-motion operation
using DIR.
Even if positioning band is not set, the setting of
parameter No. 10, “Default positioning band” will not be applied.
b15 --- Cannot be used. ---
Push direction specification
b14 DIR
(0 = Home return direction,
7.3 (4) 1 = Opposite to home return direction)
b13 PUSH Push-motion operation mode specification 7.3 (4) b12 SON Servo on command 7.2 (7) b11 STP Pause command 7.2 (5) b10 HOME Home return command 7.2 (8)
b9 CSTR Start command 7.2 (9) b8 RES Reset command 7.2 (4)
b15-8 --- Cannot be used. ---
b7 EMGS Emergency stop status 7.2 (2) b6 PSFL Missed work 7.3 (4) b5 PWR Controller ready 7.2 (1) b4 SV Ready (servo is on) 7.2 (7) b3 MOVE Moving 7.2 (6) b2 HEND Home return complete 7.2 (8) b1 PEND Position complete 7.2 (10) b0 ALM Alarm 7.2 (3)
The current position data is output as a signed 24-
7.3 (4) bit integer (unit: 0.01 mm) based on hexadecimal notation
24-bit
data
---
Example) To specify +25.4 mm, set “0009ECH”
(“2540” in decimal notation). (Note) A negative value is indicated by a two’s
complement. Accordingly, the most significant bit becomes “1.”
56
DeviceNet Gateway

6.3 Command Specification Mode

In this mode, two patterns can be combined, including the pattern in which the actuator is operated by specifying the target position data in numerical values and specifying all other positioning data using position numbers (simple direct operation), and the pattern in which the actuator is operated by specifying position numbers only (positioner operation). You can also use request commands to read/write the position table, monitor the current value, and broadcast commands, among others.
Two operation patterns are available, including the “positioner operation” pattern in which the actuator is operated by specifying position numbers, and the “simple direct operation” pattern in which the actuator is operated by specifying the operation data directly in numerical values, while specifying all other items including the speed, acceleration/deceleration, positioning band, and current-limiting value for push­motion operation, using position numbers. A desired axis configuration can be designed using one or both of the two operation patterns. If the two operation patterns are combined, you must assign the axes sequentially from those conforming to the positioner operation pattern, followed by the axes conforming to the simple direct operation pattern. The command specification mode is further classified into the Large mode (160 bytes of inputs and 160 bytes of outputs), Middle mode (128 bytes of inputs and 128 bytes of outputs), and Small mode (64 bytes of inputs and 64 bytes of outputs), according to the size of assigned areas. Up to 16 axes can be connected in this mode. You can also use request commands to read/write the position table (positioner operation only), read the current position, and broadcast commands (positioner operation only), among others.
Caution
The position table can be rewritten only via positioner operation. Take note that the position table cannot be rewritten more than 100,000 times or so. If there are not enough positions to be registered, use the position table rewrite function to operate the actuator indirectly via numerical specification.
57
DeviceNet Gateway
With each function, the top row indicates positioner operation, while the bottom row indicates simple direct operation.
: Direct control
Key function
Δ: Indirect control
Remarks
X: Disabled
Home return operation Positioning operation
 
Δ
Positioning operation is performed by specifying an applicable number in the position table. *1
Δ
Set all positioning data other than position data in the position table, and specify the position data and position table number at the same time.
Speed/acceleration setting
Pitch (incremental) feed
Δ Δ Δ
Set in the position table. *1 Set in the position table. Set in the position table. *1
X Pitch feed data cannot be processed directly.
The host PLC must issue each command by adding/subtracting the pitch-feed distance data to/from the current position.
Push-motion operation
Speed change during movement
Operation with acceleration and deceleration set differently
Pause Zone signal output
Δ Δ Δ
Δ Δ
Δ
  
Set in the position table. *1 Set in the position table. Speed change is implemented by combining
two or more position numbers. (Refer to the operation manual for your controller.) Set in the position table. *1
Set in the position table.
The zone signal output is set in the position table or via a parameter. *2
X The current position data is constantly output
from the Gateway, so use the PLC to monitor the current position data. *3
PIO pattern selection
*4
X *5
*1 The position table data can be written (rewritten) from the PLC using a request command (position
table data write). To use this function, the necessary data must be written to the position data
beforehand. *2 The current position data can be read using a request command, but this data is not output constantly. *3 No strobe signal is provided for the current position data. To check the current position from the PLC
during movement, set zones and check if the data has remained inside a given zone for at least two
scans. *4 This parameter (No. 25) is not available with PCON-SE, ACON-SE and ERC2-SE controllers. *5 Set the PIO pattern selection parameter (No. 25) of each connected controller to “0” (standard type).
58
DeviceNet Gateway

6.3.1 Overall address configuration

Each Gateway control signal input or output consists of two words. Only in this mode, PPS0 to PPS2 and NPS0 to NPS4 of control word 0 are used to set the pattern and number of position-number specification axes. This is followed by the command I/O areas each consisting of seven words, and the Gateway control signal and command I/O areas each consisting of nine words. These areas are fixed. Although the control areas for each axis are assigned immediately after the fixed areas, positioner operation axes should always be assigned first, followed by simple direct operation axes. When assigning areas for each axis, make sure no empty bytes remain in between assigned bytes. The total I/O area size of the Gateway varies according to how the mode setting switch SW1 is set, as shown in the table below.
Mode
number
7 X X X { Large mode 8 X { X 9
Up to 16 axes can be assigned, including positioner operation axes and simple direct operation axes, within the areas specified in the table above. With positioner operation axes, each axis control signal consists of one word for both input and output. With simple direct operation axes, three PLC input signal words and four PLC output signal words are available. The following page provides an example, where three positioner operation axes and five simple direct operation axes are assigned in the Small mode.
SW1
4 3 2 1
{
{
X X { Small mode
- Total I/O areas Fixed areas 160 bytes = 80
words each
Middle
mode
128 bytes = 64
words each
64 bytes = 32
words each
9 words
each
Control areas for
each axis
71 words each 55 words each 23 words each
59
A
Example of Address Configuration
Gateway control area
Command I/O area
1 word
Output from PLC Gateway Unit
Input to each axis
b15 Upper byte b8 b15 Upper byte b8
Gateway control signal 0
Gateway control signal 1
Request command
Data 0 Data 1 Data 2 Data 3 Data 4 Data 5
Positioner operation axis (0) control signal Positioner operation axis (1) control signal Positioner operation axis (2) control signal
4 words
Simple direct operation axis (3)*2
control signal
Simple direct operation axis (4)
control signal
Simple direct operation axis (5)
control signal
Simple direct operation axis (6)
control signal
Small mode
(32 words)
Simple direct operation axis (7)
control signal
Middle mode
(64 words)
Large mode
(80 words)
*1 The values in the “CH+” column indicate relative channel numbers counted from the first
Gateway channel.
*2 The values in parentheses indicate axis numbers on the SIO communication network.
DeviceNet Gateway
Output from each axis Gateway Unit
Input to PLC
b7 Lower byte b0 b7 Lower byte b0
Gateway status signal 0
Gateway status signal 1
Response command
Data 0 Data 1 Data 2 Data 3 Data 4 Data 5
Positioner operation axis (0) status signal Positioner operation axis (1) status signal Positioner operation axis (2) status signal
Simple direct operation axis
(3) status signa
Simple direct operation axis
(4) status signa
Simple direct operation axis
(5) status signa
Simple direct operation axis
(6) status signa
Simple direct operation axis
(7) status signa
Cannot be used.
Fixed areas
1 word
3 words
reas for
each axis
60
DeviceNet Gateway

6.3.2 Gateway Control/Status Signals

The first two channels of signals are used to control the gateway unit, and consist of two input word­resistor words and two output word-resistor words. It is recommended that data in these word registers be transferred to, and used in, bit registers. Gateway control/status signals are used to control the ON/OFF status of SIO communication and monitor the SIO communication status and Gateway Unit status.
PLC output
Gateway
control signal 0
Gateway
control signal 1
1 word = 16 bits
PLC input
status signal 0
status signal 1
Gateway
Gateway
1 word = 16 bits
61
I/O Signal List
Signal type Bit
Control
signal 0
Signal
name
15 MON
14-8 ---
7 NPS4 6 NPS3 5 NPS2 4 NPS1
DeviceNet Gateway
Description
SIO link communication will start when this signal is turned ON, and stop when it is turned OFF. Do not turn the MON signal ON when CFG15 to 0 (linked axis connection) are all OFF. Also, do not turn all of CFG15 to 0 OFF when the MON signal is ON. If CFG15 to 0 are all turned OFF and the MON signal turned ON, the Gateway Unit will generate a SIO link error and the LED (T.ER) on the front face of the unit will illuminate. These bits cannot be used. Always set them to OFF (0). These bits are used in the command specification mode. In any other mode, always set them to OFF (0). Set the number of axes (0 to 16) used via positioner operation, using a five-bit binary value. *1
3 NPS0
These bits are used in the command specification mode. In any other mode, always set them to OFF (0). Set the I/O pattern (pattern 0 to 5) of each axis to be used via positioner operation, using a three-bit binary value. *2
Specify the axis number corresponding to each axis to be linked. The axis will be connected when the signal is turned ON (1), and disconnected when it is turned OFF (0). ON/OFF switching is permitted even when the MON signal is ON. (Cautions) Do not turn ON the axis number signal
corresponding to any axis not physically connected.
Do not turn ON any axis number signal
other than the specifiable number selected
by the mode setting switch. If either of the above conditions is breached, a SIO link error will occur.
PLC output
Control
signal 1
2 PPS2 1 PPS1 0 PPS0
15 CFG15 Link ON Axis No. 15 14 CFG14 14 13 CFG13 13 12 CFG12 12 11 CFG11 11 10 CFG10 10
9 CFG9 9 8 CFG8 8 7 CFG7 7 6 CFG6 6 5 CFG5 5 4 CFG4 4 3 CFG3 3 2 CFG2 2 1 CFG1 1 0 CFG0 0
*1 If the mode setting switch (SW1) is set to the command specification mode and the settings of NPS0 to
NPS4 indicate 0, all axes will become simple direct operation axes.
*2 Only one I/O pattern of 0 to 4 can be used for positioner operation axes.
62
Signal type Bit
Status
signal 0
PLC input
Status
signal 1
Signal
name
Gateway Unit normal output
15 RUN
Gateway Unit error detection output
14 G.ER
SIO communication error detection output
13 T.ER
Port switch ON output The status of the port switch on the front face
12 TPC
11 MOD4 10 MOD3
9 MOD2 8 MOD1
7 Major V.4 6 Major V.2 5 Major V.1 4 Minor V.16 3 Minor V.8 2 Minor V.4
Mode setting switch 4 output Mode setting switch 3 output Mode setting switch 2 output Mode setting switch 1 output The major version number is output as a three-bit binary value.
The major version number is output as a five-bit binary value.
1 Minor V.2 0 Minor V.1
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 0 LNK0 0
DeviceNet Gateway
Description
This signal remains ON while the Gateway Unit is operating normally. The signal is synchronized with the illumination of the LED (RUN) on the front face of the unit. This signal turns ON when a major shutdown failure has been detected. The signal is synchronized with the illumination of the LED (G.ER) on the front face of the unit.
This signal turns ON when a SIO link communication error has been detected. The signal is synchronized with the illumination of the LED (T.ER) on the front face of the unit.
of the unit is output. This signal is ON while the port switch is ON. The setting status of each pin of the mode setting switch is output.
This bit will turn ON (change to 1) when the switch is turned ON.
The Gateway version information is output. You may need to check this information in certain situations, such as when the Gateway encountered a problem. Provide the necessary wiring so that these signals can be read by the PLC.
Example) If the version is 1.03, the major
version number is “1” (data: 001), while the minor version number is
“3” (data: 00011). Link connection of an axis selected for link connection by any one of CFG15 to 0 will become enabled when the MON signal is turned ON. The signal corresponding to each axis whose link connection is enabled turns ON.
63
DeviceNet Gateway

6.3.3 Assignment for each axis

The I/O signals are associated with different area sizes and contents between positioner operation axes and simple direct operation axes.
(1) Control/status signals of a positioner operation axis
Each axis is assigned one word of PLC output (control signal) and one word of PLC input (status signal), as shown below. One of six patterns is used according to the PIO pattern set by the Gateway control signal PPS.
1 word = 16 bits
Pattern 0 (standard mode)
Pattern 1 (teaching mode)
Pattern 2 (256­point positioning mode)
PLC output
Pattern 3 (512­point positioning mode)
Pattern 4 (electromagnetic valve mode 1)
Control signal
Control signal
Control signal
Control signal
Control signal
Command position number
Command position number
Command position number
Command position number
Start position
64
Pattern 0
Pattern 1
Pattern 2
Pattern 3
PLC input
Pattern 4
Status signal
Status signal
Status signal
Status signal
Status signal
DeviceNet Gateway
Completed position number
Completed position number
Completed position number
Completed position number
Completed position number
65
I/O Signal Details
Signal type Bit
Control
signal
PLC output
Command
position
number
Status
signal
PLC input
Completed
position
number
DeviceNet Gateway
Signal
name b15 SON 0 to 4 Servo on command 7.2 (7) b14 RES 0 to 4 Reset command 7.2 (4)
CSTR 0, 2, 3 Start command 7.2 (9) b13
PWRT 1 Position data load command TEAC 7.2 (17) b12 STP 0 to 4 Pause command 7.2 (5) b11 HOME 0 to 4 Home return command 7.2 (8)
b9 BKRL 0, 2 to 4 Forced brake release 7.2 (18) b9 JOG- 1 Jog- command b8 JOG+ 1 Jog+ command b7 JISL 1 Jog/inching switching 7.2 (15) b6 MOD 1 Teaching mode command 7.2 (16)
b8-b0 PC*** 0 to 3 Specify the command position b6-b0 ST0-ST6 4 Specify the start position using a bit
b15 BALM 0 to 4 Battery voltage low alarm --­b14 ALM 0 to 4 Alarm 7.2 (3) b13 EMGS 0 to 4 Emergency stop 7.2 (2) b12 SV 0 to 4 Ready (servo is on) 7.2 (7) b11 PEND 0, 2 to 4 Position complete 7.2 (10) b11 WEND 1 Position data load command status
b10 HEND 0 to 4 Home return complete 7.2 (8)
b9 RMDS 0 to 4 Operation mode status --­b8 PZONE 0 to 2, 4 Position zone output monitor b7 ZONE1 0, 4 Zone output monitor 1 b7 MODS 1 Teaching mode status 7.2 (16) b6 MOVE 0, 1 Moving 7.2 (6)
b8 to b0 PM*** 0 to 3 The completed position number is b6 to b0 PE0 to
PE6
Pattern No. Description Details
7.2 (14)
7.2 (11)
number using a binary value. pattern.
7.2 (17)
TEAC
7.2 (13)
7.2 (12)
read as a binary value.
4 The completed position is read as a
bit pattern.
---
---
66
DeviceNet Gateway
(2) Control/status signals of a simple direct operation axis
Each axis is assigned four words of PLC outputs (control signals) and three words of PLC inputs (status signals), as shown below. The target position data and current position data are indicated by signed 32-bit hexadecimal integers that are multiples of 0.01 mm.
PLC output = Control signal
*1
*2
Position data specification (signed integer)
(Sign) (Sign) Position data specification (sign: 0 = Positive value, 1 = Negative value)
Movement data position number
Control signal
PLC input = Status signal
Current position data (signed integer)
Current position data (sign: 0 = Positive value, 1 = Negative value)
*1 m indicates the head address assigned to a simple direct operation axis. (m = 12 in the example
shown on the “Overall address configuration” page.)
*2 n indicates a sequential number, such as 0, 1, 2, …, assigned only to a simple direct operation
axis, counted from the first simple direct operation axis. (n = 0 to 4 in the example shown on the “Overall address configuration” page.)
1 word = 16 bits
Status signal
67
I/O Signal Details
Signal type Bit
Target
position
data
Movement
data
position
PLC output
number
Control
signal
Current position
data
Status
signal
PLC input
DeviceNet Gateway
32-bit
data
Signal
name
--- Set a signed 32-bit integer (unit: 0.01 mm) based on hexadecimal notation
Description Details
7.3 (5)
Example) To specify +25.4 mm, set “Hex0009EC”
(“2540” in decimal notation).
The maximum settable value is +9999.99 mm =
999999 (decimal value) = 0F423FH (hexadecimal value).
A negative value is indicated by a two’s
complement. Accordingly, the most significant bit becomes “1.”
16-bit
data
PC*** When setting movement data other than position
data in the position table, specify the applicable
7.2 (11)
7.3 (5)
position number using a hexadecimal value.
b15 BKRL Forced brake release 7.2 (18)
b14-b13 --- Cannot be used. ---
b12 SON Servo on command 7.2 (7) b11 STP Pause command 7.2 (5) b10 HOME Home return command 7.2 (8)
b9 CSTR Start command 7.2 (9) b8 RES Reset command 7.2 (4)
b7-b0 --- Cannot be used. ---
32-bit
data
--- The current position data is output as a signed 32­bit integer (unit: 0.01 mm) based on hexadecimal
7.3 (5)
notation.
b15-b9 --- Cannot be used. ---
b8 PMSS PIO/Modbus switching status
--­0: PIO, 1: Modbus A PIO/Modbus switching command is used to switch between the two modes.
b7 EMGS Emergency stop status 7.2 (2) b6 PSEL Missed work --­b5 PWR Controller ready 7.2 (1) b4 SV Ready (servo is on) 7.2 (7) b3 MOVE Moving 7.2 (6) b2 HEND Home return complete 7.2 (8) b1 PEND Position complete 7.2 (10) b0 ALM Alarm 7.2 (3)
68
DeviceNet Gateway
Caution
For movement data that must be specified directly from the PLC using numerical values, the settings of corresponding “default parameter values” are not applied. This means that if any of these data is not specified numerically, the actuator will not operate or an alarm will generate.
The table below summarizes how to specify movement data in each operation mode.
Specified data
Mode
Position number
specification
Direct numerical
specification
Position Position table PLC numerical
specification
Speed Position table
(Parameter) *1 Acceleration/ deceleration Positioning band Push-current
Position table
(Parameter) *1
Position table
(Parameter) *1
Position table PLC numerical
limiting value
PLC numerical
specification
PLC numerical
specification
PLC numerical
specification specification
*1 (Parameter) indicates that the default parameter value will be applied when the applicable data is not
set in the position table.
Command specification
Positioner
operation
Simple direct
operation
Position table PLC numerical
specification
Position table
(Parameter) *1
Position table
(Parameter) *1
Position table
(Parameter) *1
Position table
(Parameter) *1
Position table
(Parameter) *1
Position table
(Parameter) *1
Position table Position table
69
DeviceNet Gateway

6.3.4 Command Areas

Command areas are available in the command specification mode, and the various commands explained below can be used to read/write the position table, among others.
(1) Address configuration
The request command area and response command area consist of seven words each (CH+2 to CH+8).
*1 The values in the “CH+” column indicate relative channel numbers counted from the first
Gateway channel. *2 Data 4 (RSV) and data 5 (RSV) are not currently used. *3 If a command error occurs, the most significant bit (b15) of the response command will turn ON
and a corresponding error code of (4) will be set in response data 1.
Output from PLC Gateway Unit
Input to each axis
b15 Upper byte b8
Request command
Data 0 Data 1 Data 2 Data 3 Data 4 Data 5
(RSV) *2 (RSV) *2
Output from each axis Gateway Unit
Input to PLC
b15 Upper byte b8 b7 Lower byte b0
b7 Lower byte b0
Response command
Data 0 *3
Data 1
*3 (error code) Data 2 Data 3 Data 4 Data 5
(RSV) *2 (RSV) *2
70
(2) Command list
The available commands and corresponding command codes are listed below.
Function category Code Description
Handshake 0000H Clear a request command Position table data write
Position table data read
(ROM) Present alarm code read 0342H Read a present alarm code
Current position read Group-specified broadcast
PIO/Modbus control switching
: Available, X: Not available
1000H Write a target position 1001H Write a positioning band 1002H Write a speed
1003H 1004H
Write an individual zone boundary + Write an individual zone
boundary – 1005H Write an acceleration 1006H Write a deceleration
1007H
Write a current-limiting value
for push-motion operation 1008H Write a load current threshold
1009H
Write a push-motion
operation setting 1040H Read a target position 1041H Read a positioning band 1042H Read a speed
1043H 1044H
Read an individual zone
boundary +
Read an individual zone
boundary – 1045H Read an acceleration 1046H Read a deceleration
1047H
Read a current-limiting value
for push-motion operation 1048H Read a load current threshold
0DA0H Write a POS write coil Position table data write
02E0H
0440H
Read a POS write completion
coil
Read the current position of a
specified axis
Synchronously move multiple
0D03H
axes to the position
corresponding to the same
POS number
0DA1H
Switch between PIO and
Modbus modes.
DeviceNet Gateway
Positioner
operation axis
{ {
{
{
{ { {
{ {
{
X
Simple direct
operation axis
X
X
X
X
{
71
DeviceNet Gateway
(3) Each command and data format
[1] “Position table data write” command
Command name CH+ PLC output (request) PLC input (response) Write a target position
Write a positioning band
Write a speed
Write an individual zone boundary +
Write an individual zone boundary –
Write an acceleration
+2 1000H
3 Position number 4 5 6 Axis number 0 to FH *2 7 (RSV) 8 (RSV)
+2 1001H
3 Position number 4 5 6 Axis number 0 to FH *2 7 (RSV) 8 (RSV)
+2 1002H
3 Position number 4 5 6 Axis number 0 to FH *2 7 (RSV) 8 (RSV)
+2 1003H
3 Position number 4 5 6 Axis number 0 to FH *2 7 (RSV) 8 (RSV)
+2 1004H
3 Position number 4 5 6 Axis number 0 to FH *2 7 (RSV) 8 (RSV)
+2 1005H
3 Position number 4 Acceleration data *4 5 0 6 Axis number 0 to FH *2 7 (RSV) 8 (RSV)
Position data *1
Positioning band data *3
Speed data *3
Position data *1
Position data *1
Same as the requested value, if the command was successful.
Same as the requested value, if the command was successful.
Same as the requested value, if the command was successful.
Same as the requested value, if the command was successful.
Same as the requested value, if the command was successful.
Same as the requested value, if the command was successful.
72
DeviceNet Gateway
Command name CH+ PLC output (request) PLC input (response) Write a deceleration
+2 1006H
3 Position number 4 Deceleration data *4
Same as the requested value, if the command was
successful. 5 0 6 Axis number 0 to FH *2 7 (RSV) 8 (RSV)
Write a current­limiting value for push-motion operation *5
+2 1007H
3 Position number 4
0000 ~ 00FFH (00FH: Maximum current)
Same as the requested
value, if the command was
successful. 5 0
6 Axis number 0 to FH *2 7 (RSV) 8 (RSV)
Write a load current threshold
+2 1008H
3 Position number 4
0000 ~ 00FFH (00FH: Maximum current)
Same as the requested
value, if the command was
successful. 5 0
6 Axis number 0 to FH *2 7 (RSV) 8 (RSV)
*1) Signed 32-bit integer data *2) Axis numbers 0 to 15 correspond to data 00 to 0FH, respectively. *3) 32-bit integer data *4) Eight-bit integer data *5) Valid only with position table numbers under which a push-current limiting value other than zero
is set (= push-motion operation is set).
73
DeviceNet Gateway
[2] “Position table data read” command
Command name CH+ PLC output (request) PLC input (response) Read a target position
+2 1040H
3
Position number
4 0
Same as the requested value, if the command was successful. Target position data *2
5 0
Read a positioning band
6 Axis number 0 to FH *1 7 (RSV) 8 (RSV)
+2 1041H
3
Position number
4 0
Same as the requested value, if the command was successful.
Same as the requested value, if the command was successful. Positioning band data *3
5 0
Read a speed
6 Axis number 0 to FH *1 7 (RSV) 8 (RSV)
+2 1042H
3
Position number
4 0
Same as the requested value, if the command was successful.
Same as the requested value, if the command was successful. Speed data *3
5 0
Same as the requested value, if the command was successful.
Same as the requested value, if the command was successful. Individual zone boundary + data *2
Same as the requested value, if the command was successful.
Same as the requested value, if the command was successful. Individual zone boundary – data *2
Same as the requested value, if the command was successful.
Same as the requested value, if the command was successful.
Read an individual zone boundary +
Read an individual zone boundary –
Read an acceleration
6 Axis number 0 to FH *1 7 (RSV) 8 (RSV)
+2 1043H
3
Position number
4 0 5 0 6 Axis number 0 to FH *1 7 (RSV) 8 (RSV)
+2 1044H
3
Position number
4 0 5 0 6 Axis number 0 to FH *1 7 (RSV) 8 (RSV)
+2 1045H
3
Position number
4 0 Acceleration data *4 5 0 6 Axis number 0 to FH *1 7 (RSV)
Same as the requested value, if the command was successful.
8 (RSV)
74
DeviceNet Gateway
Command name CH+ PLC output (request) PLC input (response) Read a deceleration
+2 1046H
3
Position number
Same as the requested value, if the command was
successful. 4 0 Deceleration data *4 5 0 6 Axis number 0 to FH *1 7 (RSV)
Same as the requested
value, if the command was
successful. 8 (RSV)
Read a current­limiting value for push-motion operation *5
+2 1047H
3 4
Position number 0 0000 ~ 00FFH (00FH:
5 0 6 Axis number 0 to FH *1 7 (RSV)
Same as the requested
value, if the command was
successful.
Maximum current)
Same as the requested
value, if the command was
successful. 8 (RSV)
Read a load current threshold
+2 1048H
3 4
Position number 0 0000 ~ 00FFH (00FH:
5 0 6 Axis number 0 to FH *1 7 (RSV)
Same as the requested
value, if the command was
successful.
Maximum current)
Same as the requested
value, if the command was
successful. 8 (RSV)
*1) Axis numbers 0 to 15 correspond to data 00 to 0FH, respectively. *2) Signed 32-bit integer data *3) 32-bit integer data *4) Eight-bit integer data *5) Valid only with position table numbers under which a push-current limiting value other than zero
is set (= push-motion operation is set).
75
DeviceNet Gateway
[3] “Position table data write (ROM)” command
Command name CH+ PLC output (request) PLC input (response) Position table data write (ROM) coil write
+2 0DA0H
3 0 4 0
Same as the requested value, if the command was successful.
5 0 6 Axis number 0 to FH 7 (RSV)
8 (RSV) Position table data write (ROM) completion coil write
+2 02E0H
3
0
4 0
0
5
Same as the requested value, if the command was successful. 00FFH = Data is being written to ROM 0000H = Data has been
written to ROM 6 Axis number 0 to FH 7 (RSV) 8 (RSV)
Same as the requested
value, if the command was
successful.
[4] “Present alarm code read” command
Command name CH+ PLC output (request) PLC input (response) Read a present alarm code
+2 0342H
3
0
Same as the requested value, if the command was
successful. 4 0 Alarm code 5 0 6 Axis number 0 to FH 7 (RSV)
Same as the requested
value, if the command was
successful. 8 (RSV)
76
DeviceNet Gateway
[5] “Current value monitor” command
Command name CH+ PLC output (request) PLC input (response) Current position of a specified axis
+2 0440H
3
0
4 0 5
0
6 Axis number 0 to FH
Same as the requested value, if the command was successful. Current position of a specified axis (signed 32-bit integer)
7 (RSV) 8 (RSV)
77
DeviceNet Gateway
[6] “Group-specified broadcast” command The axes specified by a group number are started simultaneously toward the position specified by a POS number. This command causes the Gateway to communicate with each ROBO Cylinder controller in the broadcast mode, and accordingly the ROBO Cylinder controller does not return any response. The response result indicated by a PLC input only means that the command has been sent successfully to the ROBO Cylinder controller; it does not indicate the status of the ROBO Cylinder controller. Check the status of each ROBO Cylinder controller using the status signal for the applicable axis.
CH+ PLC output (request) PLC input (response)
+2 0D03H
3 Target POS number *1 4 Group ID number *2 5 0 6 0 7 (RSV) 8 (RSV)
*1) The values that can be specified vary depending on the type and settings of each ROBO
Cylinder controller.
*2) If this number is “0,” all linked axes will move regardless of the group specification. Set the group
number using the applicable system parameter in the PC software.
Same as the requested value, if the command was successful.
Caution
1. If a different movement command is issued using a control signal for each axis while the axis is still moving as a result of the group-specified broadcast operation command, the movement by the group-specified broadcast operation command will be cancelled and the axis will operate according to the latest movement command. This means that each axis effectively has two movement command interfaces. Accordingly, make sure only one of the two interfaces is used at a given time.
2. Even if the link is cancelled by turning OFF the CFG bit of the gateway control signal, the controller will always receive and execute the group-specified broadcast operation command once a link is established thereafter.
[7] “PIO/Modbus switching” command
CH+ PLC output (request) PLC input (response)
+2 0DA1H
3 0
Coil ON/OFF
4
00FFH = ON: Modbus (Disable PIO commands)
0000H = OFF: PIO (Enable PIO commands) *1 to *3 5 0 6 Axis number 0 to FH 7 0 8 0
*1) The PIO/Modbus switching status is reflected in the status signal PMSS. This command cannot
be set for position-number specification axes (an invalid request error (0103H) will generate).
*2) Even if the coil is turned OFF (PIO commands are enabled), it is still possible to change the
position data for a given axis via Modbus communication from the PLC (the link must be maintained).
*3) The controller receives and executes movement commands received via Modbus
communication, even in the PIO control mode.
Same as the requested value, if the command was successful.
78
DeviceNet Gateway
(4) Error response
If a command error occurs, the most significant bit (b15) of the response command will turn ON and a corresponding error code, as shown below, will be set in response data 1. If link is not yet established at all, nothing will be shown in the response command.
Code Description 0101H Invalid axis number *1 0102H Invalid position number *1 0103H Invalid request command *1 0201H Communication failure 0202H Command not executable by the controller
*1 If an error is found as a result of checking the data received from the PLC, the Gateway Unit will
set an error code in the response data without sending the command to the controller.
(5) How to use commands
To use various commands, process the applicable data in the command area according to the flow shown below. In the example flow, only one command is processed.
Clear the request command area
Use a command
Clear the request command area and data areas 0 to 3
Response
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 data areas 0 to 3
79
y
r
DeviceNet Gateway

7. Communication Signal Details

7.1 Overview of Communication Signal Timings

When a given control signal is turned ON to operate the ROBO Cylinder controller using the sequence program in the PLC, the maximum response time before a response (status) signal will be received is expressed by the formula below:
Maximum response time (msec) = 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 → remote I/O station transmission delay Xt: Remote I/O → master station transmission delay
For the master remote I/O station transmission delay (Yt) and remote I/O master station transmission delay (Xt), refer to the operation manuals for your DeviceNet master unit and PLC.
PLC sequence program
Control signal
Status signal
Master remote I/O station transmission delay (Yt)
Gatewa
Control signal
Status signal
SIO link cycle time SIO link cycle time
Controlle
Control signal
Command
processing time
Status signal
If a communication error occurs due to a problem along the transmission path, etc., a communication retry or retries (up to three times) may occur, in which case the SIO link cycle time (Mt) will be extended.
DeviceNet transmission delay
Remote I/O master station transmission delay (Xt)
80
DeviceNet Gateway

7.2 Communication Signals and Operation Timings

(1) Controller ready (PWR)

This signal turns “1” (ON) when the controller becomes ready to perform control following the power on.
Function
This signal turns “1” (ON) when the controller has been successfully initialized following the power on and becomes ready to perform control, regardless of the alarm condition, servo status, etc. Even when an alarm is present, the PWR signal turns “1” (ON) as long as the controller is able to perform control. This signal is synchronized with the status indicator LED (green) on the front panel of the controller.

(2) Emergency stop (EMGS)

This signal turns “1” (ON) when the controller actuates an emergency stop.
Function
This signal turns “1” (ON) when an alarm generates, when an emergency stop is actuated by the emergency stop circuit (refer to 4.3.1), or when the motor drive power is cut off. It will turn “0” (OFF) once the emergency stop is cancelled.

(3) Alarm (ALM)

This signal turns “1” (ON) when the controller’s protective circuit (function) detects an error.
Function
This signal turns “1” (ON) when a protective circuit (function) operates due to detection of an error. It will turn “0” (OFF) once the cause of the alarm is removed and the reset (RES) signal is turned “1” (ON). (Cold-start alarms are excluded.) When an alarm is detected, the ALM LED (red) on the front face of the alarm will illuminate. This LED remains unlit while the controller is normal. With ERC2-NP/PN/SE controllers, the LED at the top of the motor unit will illuminate in red. The LED will return to green once the servo is turned on.

(4) Reset (RES)

This signal has two functions. It can be used to reset controller alarms or cancel the remaining travel distance while the actuator is paused.
Function
[1] While an alarm is present, remove the cause of the alarm and then turn this signal from “0”
(OFF)” to “1” (ON), and the alarm signal will be reset. (Cold-start alarms are excluded.)
[2] While the actuator is paused, turn this signal from “0” (OFF)” to “1” (ON), and the remaining
travel will be cancelled.
PLC input signal
PLC output signal
PLC input signal
PLC input signal
81
DeviceNet Gateway

(5) Pause (STP)

Turning this signal “1” (ON) causes the axis movement to pause (= the axis will decelerate to a stop). Turning it “0” (OFF) resumes the axis movement. The relationship between the STP signal and MOVE (moving) signal is shown below.

(6) Moving (MOVE)

This signal turns “1” (ON) while the actuator is moving with the servo turned ON (also during home return, push-motion operation and jogging). Use this signal together with PEND for status discrimination on the PLC side. The MOVE signal turns “0” (OFF) upon completion of positioning, home return or push-motion operation, and also during pause.

(7) Servo ON command (SON)

Operation ready (SV)
Turning the SON signal “1” (ON) turns the servo ON. Once the servo turns ON, the SV LED (green) on the front panel of the controller illuminates. With the ERC2, the LED at the top of the motor unit illuminates in green. The SV signal is synchronized with this LED indicator.
Function
The controller servo can be turned ON/OFF using the SON (servo ON) signal. While the SV signal is “1” (ON), the controller servo remains ON and the actuator can be operated.
The relationship between the SON signal and SV signal is shown below.
PLC output signal
Depending on tdicm ≤Acceleration/deceleration tdicp Yt + 2Mt + Xt + 6 (msec)
PLC input signal
PLC output signal
PLC input signal
82
A
DeviceNet Gateway

(8) Home return command (HOME)

Home return complete (HEND)
Home return operation is started at the leading edge of the HOME signal from “0” (OFF) to “1” (ON). The HEND (home return complete) signal turns “1” (ON) when the home return is completed. Turn the HOME signal “0” (OFF) after the HEND signal has turned “1” (ON). Once turned “1” (ON), the HEND signal will not turn “0” (OFF) until the power is turned off or the HOME signal is input again. This means that you can perform home return using the HOME signal as many times as desired, even after the initial home return is completed.
ctuator operation
PLC output signal
PLC input signal
Mechanical end Stops at the home position.
Caution
1. With a positioner operation axis operated in the position number specification mode or command specification mode, issuing a positioning command to a given position without performing home return following the power on will cause the actuator to automatically return home and then perform positioning, provided that it is the first positioning operation after the power on.
2. Take note that in any other mode, an alarm “Error code 83: ALARM HOME ABS (absolute position movement command before completion of home return)” will generate.
83
DeviceNet Gateway

(9) Positioning start (CSTR)

Upon detection of the leading edge of this signal from “0” (OFF) to “1” (ON), the target position number corresponding to the binary code consisting of PC1 to PC322768 (The specific signals used vary depending on the operation mode) will be read and the actuator will position itself to the target position specified by the applicable position data. The same also applies when the position is specified directly using a numerical value in the position data specification area. Before executing this command, the target position, speed and other operation data must be set in the position table using a PC/teaching pendant. If this command is executed when no home return operation has been performed yet (= the HEND output signal is “0” (OFF)) following the power on, the actuator will automatically perform the home return operation and then position itself to the target position. Turn this signal “0” (OFF) after confirming that the PEND signal has turned “0” (OFF).

(10) Position complete (PEND)

This signal turns “1” (ON) when the actuator has moved to the target position and entered the positioning band, or push-motion operation has completed (the actuator has not missed the work). If the servo turns ON, the applicable position is defined as the target position and thus this signal turns “1” (ON). It will turn “0” (OFF) when the positioning operation is subsequently started via the HOME signal or CSTR signal.
Speed
PLC output signal
PLC input signal
The position complete signal turns ON here.
Target position
Travel distance
Time
Positioning band
Caution
If the servo turns OFF or an emergency stop is actuated while the actuator is stopped at the target position, the PEND signal turns “0” (OFF).
When the servo subsequently turns ON, the PEND signal will turn “1” (ON) again if the actuator is inside the positioning band. If CSTR remains “1” (ON), the PEND signal does not become “1” (ON) even when the current actuator position is inside the positioning band. The PEND signal will become “1” (ON) after the CSTR signal turns “0” (OFF).
84
A
DeviceNet Gateway

(11) Command position number (PC1 to PC512)

PLC output signal
The command position number is read as a binary code. The size of the command position number varies, as follows, according to the operation mode:
Position number specification mode PC1 to PC32 64 points
Command specification mode, positioner operation PC1 to PC256 512 points
Command specification mode, simple direct operation PC1 to PC32768
The controller unit reads the PC signal as a binary command position number at the “0” (OFF) “1” (ON) edge of the CSTR signal.

(12) Completed position number (PM1 to PM256)

PLC input signal
These signals are effective in the position number specification mode and command specification mode, simple direct operation. The completed position number is output as a binary code. Immediately after the power is turned on or while the actuator is moving, all signals from PM1 to PM256 are turned “0” (OFF). Although all of these signals turn “0” (OFF) when the servo turns OFF or an emergency stop is actuated, they will turn “1” (ON) again if the actuator is inside the positioning band (INP) relative to the target position when the servo is turned ON again. If the positioning band (INP) is exceeded, the signals will remain “0” (OFF). These signals also turn “1” (ON) upon completion of push-motion operation and when the actuator has missed the work in push-motion operation.

(13) Zone (PZONE, ZONE1, ZONE2)

PLC input signal
These signals turn “1” (ON) when the current actuator position is inside the specified zones. *1 Each zone is set in the position table or using user parameters.
Zone signal
ctuator
operation
Home
Zone setting-
+ direction
Zone setting+
Command
specification
mode, positioner
operation
*3
x
Setting Zone signal
Individual zone boundaries in position table Position zone output
PZONE User parameter for zone boundary 1 (Parameter No. 1 = + side, No. 2 = - side) User parameter for zone boundary 2 (Parameter No. 23 = + side, No. 24 = - side)
Zone output 1
ZONE1
Zone output 2
ZONE2
Position number
specification
mode
x *2
 
*1 These signals become effective upon completion of home return. Once a home return has
completed, the signals will remain effective even while the servo is OFF. *2 PIO pattern 3 is not supported. *3 PIO patterns 1 to 3 are not supported.
85
DeviceNet Gateway

(14) Jog + command/jog- command (JOG+/JOG-)

These signals are used to operate the actuator in PIO pattern 1 (teaching mode) as a positioner operation axis in the command specification mode. They are used as starting commands for jogging and inching. When the + command is issued, the actuator moves in the direction opposite home. When the – command is issued, the actuator moves in the direction of home. Whether to perform jogging or inching is specified by a combination of the JOG signal and JISL signal (jogging/inching switching signal).
[1] Jogging
Jogging can be performed when the jog/inching switching signal (JISL) is “0” (OFF). The actuator moves in the direction opposite home while JOG+ remains “1” (ON), and will decelerate to a stop once JOG+ turns “0” (OFF). The actuator moves in the direction of home while JOG- remains “1” (ON), and will decelerate to a stop once JOG- turns “0” (OFF). The operation is based on the following parameter settings:
Speed :Defined by parameter No. 26 (PIO jog speed)
Acceleration/deceleration :Rated acceleration/deceleration
(The specific value varies depending on the actuator.) To stop jogging (cause the actuator to decelerate to a stop), turn the current JOG signal from “1” (ON) to “0” (OFF) or turn both JOG+ and JOG- “1” (ON).
[2] Inching
Inching can be performed when the jog/inching switching signal (JISL) is “1” (ON). Every time the JOG signal switches from “0” (OFF) to “1” (ON), the actuator moves by the inching distance. JOG+ causes the actuator to inch in the direction opposite home, while JOG- causes it to inch in the direction of home. The operation is based on the following parameter settings:
Speed :Defined by parameter No. 26 (PIO jog speed)
Travel distance :Defined by parameter No. 48 (PIO inching distance)
Acceleration/deceleration :Rated acceleration/deceleration
(The specific value varies depending on the actuator.) If the actuator is currently performing normal operation, it will continue with the normal operation even after the JOG+ or JOG- signal is turned “1” (ON) (= the JOG signal will be ignored). Also when the actuator is currently paused, it will not operate even after the JOG+ or JOG- signal is turned “1” (ON) (= the JOG signal will be ignored).
PLC output signal
Caution
Take note that the actuator may collide with a mechanical end before a home return is completed, because the software stroke limits are still disabled during this period.
86
DeviceNet Gateway

(15) Jog/inching switching (JISL)

This signal is used to switch between jogging and inching. JISL = “0” (OFF) : Jogging JISL = “1” (ON) : Inching If the JISL signal switches to “1” (ON) while the actuator is jogging, the actuator will decelerate to a stop and then the inching function will be performed. If the JISL signal switches to “0” (OFF) while the actuator is inching, the actuator will complete the inching and then the jogging function will be performed.
Jogging or inching is specified by a combination of the JISL signal and JOG+/JOG- signal. The table below summarizes the relationship between these signals.
Jogging Inching
JISL “0” (OFF) “1” (ON)
Speed Parameter No. 26 (jog speed) Parameter No. 26 (jog speed)
Travel distance
Acceleration/deceleration Rated value (The specific value

(16) Teaching mode command (MOD)

Teaching mode status (MODS)
This signal is used when the actuator is operated in PIO pattern 1 (teaching mode) as a positioner operation axis in the command specification mode. Turning the MOD signal “1” (ON) switches the normal operation mode to the teaching mode. *1 The controller for each axis turns the MODS signal “1” (ON) upon switching to the teaching mode. On the PLC side, teaching operation should be performed after confirming that the MODS signal has turned “1” (ON). *1 The following conditions must be met before the normal operation mode can be switched to the
teaching mode:
Actuator operation (= the motor) is stopped
The JOG+ signal and JOG- signal are “0” (OFF)
The position data read command (PWRT) signal and positioning start (CSTR) signal are “0”
(OFF) The PWRT signal must also be “0” (OFF) for the teaching mode to switch to the normal operation mode.
PLC output signal
-
varies depending the actuator.)
PLC output signal
PLC input signal
Parameter No. 48 (inching distance)
Rated value (The specific value
varies depending on the
actuator.)
87
DeviceNet Gateway

(17) Position data read command (PWRT)

Position data read complete (WEND)
These signals are used when the actuator is operated in PIO pattern 1 (teaching mode) as a positioner operation axis in the command specification mode. The PWRT signal is effective when the MODS signal is “1” (ON). Turn the PWRT signal “1” (ON) and keep it in this condition for 20 msec or more (*1), and the current position data will be written to the “Position” field under the position number currently specified by the PLC. (*2) The WEND signal turns “1” (ON) upon completion of writing. On the host PLC side, the PWRT signal should be turned “0” (OFF) after the WEND signal has turned “1” (ON). If the PWRT signal is turned “0” (OFF) before the WEND signal turns “1” (ON), the WEND signal will not turn “1” (ON). Turning the PWRT signal “0” (OFF) will turn the WEND signal “0” (OFF). *1 Keep the signal “1” (ON) for 20 msec or more. If the signal is turned “1” (ON) for less than 20
msec, the data may not be written.
*2 If any data other than the position is undefined, the default value of the corresponding
parameter will be written.

(18) Forced brake release (BKRL)

The brake can be forcibly released by turning this signal “1” (ON).
PLC output signal
PLC output signal
PLC input signal
20 msec or more
88
y
pply
(
y
(
)
DeviceNet Gateway

7.3 Basic Operation Timings

(1) Ready

Start the actuator by following the procedure below after confirming that the slider or rod is not colliding with a mechanical end and the load is not contacting any surrounding equipment:
[1] Cancel the emergency stop or enable energization of the motor drive power. [2] Supply the 24-VDC controller power: 24-V and 0-V terminals on the power-supply terminal
block
[3] Set the minimum required parameters.
(Example)
To change the feed rate during teaching: Change the value of parameter No. 35 (Safety speed).
[4] In the positioner mode or simple direct mode, set optimal values in the “Position,” “Speed,”
“Acceleration,” “Deceleration” and other fields in the position table.
Condition of
circuit
safet
Controller power
of 24 VDC
Su
SV lamp
Front panel)
Controller read
CRDY
Pause (STP)
Servo ON command
(SON)
Operation ready
(SV)
Position complete
(PEND)
Emergency stop cancelled
Illuminates in orange only for 2 seconds, and then turns off.
Default parameter setting
1.6 sec or less
Green
Pause cancelled
Caution
When the power is turned on while an emergency stop is being actuated and then the emergency stop is cancelled (= the SON signal is turned “1” (ON)), the servo will turn ON after an elapse of up to 1.6 sec following the cancellation of the emergency stop.
1.6 sec or less
Emergency stop cancelled
Servo ON
89
DeviceNet Gateway
Warning
With the ACON, the excited magnetic phase is detected when the servo turns ON for the first time after the power on. Because of this operation, the actuator normally moves by approx. 0.5 to 2 mm, although the specific value varies depending on the ball screw lead. (On rare occasions, the actuator may move by up to one half the ball screw lead depending on the position where the power is turned on.)
Also note that if the power is turned on near a mechanical end, the actuator may contact the mechanical end during the detection operation and reverse its direction.
Exercise due caution not to allow the work or hand to contact any surrounding part or structure and sustain damage as a result.
90
A
DeviceNet Gateway

(2) Home return operation

Since the controller unit adopts an incremental position detector (encoder), the mechanical coordinate values will be lost once the power is cut off. For this reason, home return must be performed after the power is turned on in order to establish the mechanical coordinate values. To perform home return operation, input the home return command (HOME) signal. If a simple absolute R unit is connected to the controller unit to make the actuator an absolute axis, home return operation is no longer required.
Operation timings PLC process 1 : When the start button is pressed, the home return command (HOME) signal is
turned “1” (ON).
Operation : [1] The actuator starts moving toward the mechanical end on the home side.
[2] The actuator contacts the mechanical end, and then reverses its direction and
pauses at the home position. The home return complete (HEND) signal turns “1” (ON).
PLC process 2 : The home return command (HOME) signal is turned “0” (OFF) after confirmation
that the HEND signal has turned “1” (ON).
PLC process 3 : The actuator starts continuous operation. Home return command
Home return complete
Position complete
Moving
1 msec or less
ctuator movement
[1]
Power on
position
[2]
Home
Mechanical
end
position
Caution
Take note of the following points regarding home return: [1] Confirm that no obstacle is present in the home return direction. [2] If any obstacle is found in the home return direction, temporarily move the actuator in the direction
opposite home and remove the obstacle.
[3] Turning the HOME signal “1” (ON) causes the PEND signal to turn “0” (OFF) and MOVE signal to
turn “1” (ON). Turn the HOME signal “0” (OFF) again after confirming that the HEND signal has turned “1” (ON) while the HOME signal is still “1” (ON).
91
DeviceNet Gateway

(3) Operation by position number specification

The following explains positioner operation in the position number specification mode or command specification mode.
Operation
Enter position data in the controller’s position table beforehand, and specify each desired position number using the applicable link resister in the PLC. Push-motion operation, speed change during movement, pitch feed by relative coordinate specification and other operations are the same as the corresponding operations performed in the PIO (I/O cable) mode. Refer to the operation manuals for the PCON, ACON, SCON and ERC2. [1] Set the position number in the command position number register. [2] Next, confirm that the position complete (PEND) signal is “1” (ON) and then turn the start
command (CSTR) signal “1” (ON). [3] PEND turns “0” (OFF) tdpf after CSTR has turned “1” (ON). [4] Turn CSTR “0” (OFF) after confirming that PEND has turned “0” (OFF). [5] MOVE turns “1” (ON) simultaneously as PEND turns “0” (OFF) or within 1 Mt thereafter. [6] When the remaining travel falls within the specified positioning band (INP), PEND turns “1”
(ON) if CSTR is “0” (OFF), after which the completed position number is output.
Accordingly, when reading the completed position number after completion of positioning, check the position number after waiting for an appropriate time after PEND has turned “1” (ON) (= time needed to complete the remaining travel).
Caution
When the start (CSTR) signal turns “1” (ON), the position complete (PEND) signal turns “0” (OFF) and moving (MOVE) signal turns “1” (ON).
Be sure to turn the CSTR signal OFF after conforming that PEND has turned OFF while the CSTR signal is still ON. If CSTR remains ON, PEND will not turn ON after completion of movement
If another movement command specifying the same position is issued, the position complete
The moment the position complete output turns ON while the moving output is ON, the moving
When the actuator reaches a soft limit after continuous incremental moves, the position complete
Position complete (PEND)
output will turn OFF, but the moving output will not turn ON. output turns OFF even when the actuator is moving. Accordingly, increasing the positioning band
among position data may result in a situation where the actuator is still moving after the moving output has turned OFF simultaneously as the turning ON of the position complete output.
signal is output.
Start (CSTR)
Moving (MOVE)
Actuator
Movement complete
, as shown below.
92
Command
position number
[1]
[2]
Start command
Position complete
[3]
[4]
[6]
Completed
position number
[5]
Moving
*1 T1: Set T1 as 0 ms or greater by considering the scan time of the host controller. *2 Yt + 2Mt + Xt tdpf Yt + 2Mt + Xt + 7 (ms)
DeviceNet Gateway
93
DeviceNet Gateway

(4) Operation in the direct numerical specification mode

A function is provided to operate the actuator in the push-motion operation mode by writing the position data, acceleration/deceleration data, speed data, current-limiting value and positioning band directly to the link registers in the PLC, without using the position table in the controller. In the case of push-motion operation, all of the above data are set. In the case of normal positioning operation, the push-current limiting value data, PUSH signal and DIR signal are not required among the data required in push-motion operation. Take note that with either operation, the actuator will not operate unless all necessary data are set.
Operation [Push-motion operation]
[1] Set the push-motion start position data in the position data specification area. [2] Set the speed at which to travel to the push-motion start position in the speed specification
area, and set the corresponding acceleration/deceleration in the acceleration/deceleration area. Even if acceleration/deceleration is not set, the setting of parameter No. 9, “Default
acceleration/deceleration” will not be applied. [3] Set the travel for push-motion operation in the positioning band specification register. (*) [4] Set the push-current limiting value data to set the push force in the push-current limiting value
register. [5] Turn the PUSH (push mode specification) signal “1” (ON) [6] Use the DIR (push direction specification) signal to select the push direction
Push-motion operation is performed in the direction opposite home when the DIR signal is “1”
(ON), or in the direction of home when the DIR signal is “0” (OFF). [7] Thereafter, turn the start (CSTR) signal “1” (ON) after confirming that the position complete
(PEND) signal is “1” (ON).
The data set in [1] to [4] are read by the controller at the “0” (OFF) “1” (ON) edge of CSTR
(= leading edge of the signal). [8] PEND turns “0” (OFF) tdpf after CSTR has turned “1” (ON). [9] Turn CSTR “0” (OFF) after confirming that the PEND signal has turned “0” (OFF) or MOVE
signal has turned “1” (ON). [10] MOVE turns “1” (ON) simultaneously as PEND turns “0” (OFF) or within 1 Mt thereafter. [11] PEND turns “1” (ON) when the motor current reaches the push-current limiting value set in [4]
as a result of push-motion operation, while CSTR is still “0” (OFF). (The push-motion
operation has completed.)
If the motor current does not reach the push-current limiting value set in [4] even after the
actuator has entered the positioning band set in [3], the PSFL (missed work) signal turns “1”
(ON).
In this case, PEND does not turn “1” (ON). (The actuator has missed the work.) [12] The current position data is constantly refreshed. [13] Turn PUSH “0” (OFF) after PEND or PSFL has turned “1” (ON). * Take note that even if the positioning band specification data is not set, the setting of
parameter No. 10, “Default positioning band” will not be applied.
[Normal positioning operation] In the case of normal positioning operation, the PUSH signal remains “0” (OFF) in [5] above. Also, the setting of push-current limiting value data in [4] is not required. PEND turns “1” (ON) when the remaining travel falls within the positioning band specification data range set in [3] while CSTR is still “0” (OFF).
.
.
94
Loading...