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.”

Note

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

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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

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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

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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

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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

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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

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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

MC1•5/4-ST-3•5 (Phoenix Contact)

[2] SIO communication connector plug 1 pc

MC1•5/6-ST-3•81 (Phoenix Contact)

[3] DeviceNet communication connector plug 1 pc

SMSTB2•5/5-ST-5•08AU (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

{

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(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.

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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).

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[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)

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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).

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[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)

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[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)

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[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.

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(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

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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)

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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

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(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

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(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.

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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).

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(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.

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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.

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(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.)

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(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

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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

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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.

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(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).

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(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.

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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)

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(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).

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