How it Works
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ROBO
User Manual
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IAI America ROBO User Manual

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PCON, ACON, SCON, ERC2, ERC3
Serial Communication [Modbus Version]
Operation Manual, Sixth Edition
Modbus
Modbus

Please Read Before Use

Thank you for purchasing our product.
This Operation Manual explains the serial communication (Modbus), among others, providing the information you need to know to use the product safely.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary.
[Important]
x The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI
shall assume no responsibility for the outcome of any operation not specified herein.
x Information contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
x If you have any question or comment regarding the content of this manual, please contact the IAI
sales office near you.
x Using or copying all or part of this Operation Manual without permission is prohibited. x The company names, names of products and trademarks of each company shown in the sentences
are registered trademarks.
Modbus

Table of Contents

Safety Guide.................................................................................................................................................. 1
Handling Precautions .................................................................................................................................. 11
1 Overview .............................................................................................................................................. 13
1.1 Operation Manuals Relating to This Product You Find in the DVD.............................................. 14
2 Specifications ....................................................................................................................................... 15
2.1 Communication Mode ................................................................................................................... 16
3 Preparation for Communication ........................................................................................................... 17
3.1 In Case the Host Uses RS232C Interface .................................................................................... 17
(1) System configuration ....................................................................................................................... 17
(2) Wiring ............................................................................................................................................... 18
(3) SIO converter (vertical specification: RCB-TU-SIO-A,
horizontal specification: RCB-TU-SIO-B) ....................................20
3.2 In Case the Host Uses RS485 Interface....................................................................................... 21
(1) System configuration ....................................................................................................................... 21
(2) Wiring ............................................................................................................................................... 22
3.3 Communication Connector Pin Assignment of PLC and PC (Reference).................................... 23
3.4 Various Setting before Starting Communication........................................................................... 24
3.5 Setting Axis Numbers ................................................................................................................... 25
3.6 Setting Controller Communication Speed..................................................................................... 26
3.6.1 Setting Wiring and Hardware for Each System....................................................................................26
3.6.2 Setting Communication Speed..............................................................................................................26
4 Communication .................................................................................................................................... 28
4.1 Message Transmission Timing ..................................................................................................... 28
4.2 Timeout and Retry......................................................................................................................... 29
4.3 Internal Addresses and Data Structure of RC Controller.............................................................. 30
4.3.1 Structure of Modbus Registers..............................................................................................................30
4.3.2 Details of Modbus Registers..................................................................................................................31
(1) Data of alarm detail code (Address = 0500 (2) Data of alarm address (Address = 0501
(3) Data of alarm code (Address = 0503H) (ALA0)...............................................................................34
(4) Data of alarm occurrence time (Address = 0504 (5) Data of device control register 1 (Address = 0D00 (6) Data of device control register 2 (Address = 0D01 (7) Data of position number specification registers (Address = 0D03 (8) Data of total moving count (Address = 8400 (9) Data of total moving distance (Address = 8402 (10) Data of present time (Address = 841A (11) Data of total FAN driving time (Address = 842E
(12) Data of device status register 1 (Address = 9005H) (DSS1) ..........................................................43
(13) Data of device status register 2 (Address = 9006 (14) Data of expansion device status register (Address = 9007
(15) Data of system status registers (Address = 9008H) (STAT)........................................................... 46
(16) Data of special port monitor registers (Address = 9012H) (SIPM).................................................. 47
(17) Data of zone status register (Address = 9013
(18) Data of position number status register (Address = 9014H) (POSS) ............................................. 49
(19) Data of expansion system status register (Address = 9015H) (SSSE) .......................................... 50
) (ALA0)..................................................................... 33
H
) (ALA0).......................................................................... 33
H
) (ALA0) ............................................................ 35
H
) (DRG1)........................................................ 36
H
) (DRG2)........................................................ 37
H
) (POSR)................................ 38
H
) (TLMC).................................................................. 39
H
) (ODOM)............................................................40
H
(SCON-CA), 8420H(PCON-CA/CFA) (TIMN).................. 41
H
(TFAN).............................................................. 42
H
) (DSS2) ..........................................................44
H
) (DSSE)...........................................45
H
) (ZONS) ...............................................................48
H
Modbus
4.3.3 Structure of Modbus Status Registers..................................................................................................51
4.3.4 Data of Modbus Status Registers .........................................................................................................52
5 Modbus RTU ........................................................................................................................................ 55
5.1 Message Frames (Query and Response)..................................................................................... 56
5.2 List of RTU Mode Queries ............................................................................................................ 59
5.3. Data and Status Reading (Queries Using Code 03)..................................................................... 63
5.3.1 Reading Consecutive Multiple Registers..............................................................................................63
5.3.2 Alarm Detail Description Reading <<ALAO, ALCO, ALTO>> ............................................................66
5.3.3 Total moving count Reading <<TLMC>>.............................................................................................68
5.3.4 Total moving distance Reading <<ODOM>> (in 0.01 mm units) .......................................................70
5.3.5 Present Time Reading <<TIMN>>........................................................................................................72
5.3.6 Total FAN Driving Time Reading <<TIMN>>.......................................................................................75
5.3.7 Current Position Reading <<PNOW>> (in 0.01 mm units) .................................................................77
5.3.8 Present Alarm Code Reading <<ALMC>>...........................................................................................79
5.3.9 I/O Port Input Signal Status Reading <<DIPM>> ................................................................................81
5.3.10 I/O Port Output Signal Status Reading<<DOPM>> ............................................................................85
5.3.11 Controller Status Signal Reading 1 <<DSS1>>...................................................................................89
5.3.12 Controller Status Signal Reading 2 <<DSS2>>...................................................................................91
5.3.13 Controller Status Signal Reading 3 <<DSSE>> ..................................................................................93
5.3.14 Controller Status Signal Reading 4 <<STAT>> ...................................................................................95
5.3.15 Current Speed Reading <<VNOW>>...................................................................................................97
5.3.16 Current Ampere Reading <<CNOW>> ................................................................................................99
5.3.17 Deviation Reading <<DEVI>>.............................................................................................................101
5.3.18 Total Time after Power On Reading <<STIM>>................................................................................103
5.3.19 Special Input Port Input Signal Status Reading<<SIPM>>...............................................................105
5.3.20 Zone Output Signal Status Reading<<ZONS>>................................................................................107
5.3.21 Position Complete Number Reading<<POSS>>.............................................................................109
5.3.22 Controller Status Signal Reading 5 <<SSSE>>.................................................................................111
5.3.23 Force Feedback Data Read <<FBFC>> --- SCON-CA Only............................................................113
5.4 Operation Commands and Data Rewrite (Query Using Code 05).............................................. 115
5.4.1 Writing to Coil........................................................................................................................................115
5.4.2 Safety Speed Enable/Disable Switching (SFTY)...............................................................................116
5.4.3 Servo ON/OFF <<SON>>...................................................................................................................118
5.4.4 Alarm Reset <<ALRS>>......................................................................................................................120
5.4.5 Brake Forced Release <<BKRL>>.....................................................................................................122
5.4.6 Pause <<STP>>.............................................................................................................
5.4.7 Home Return <<HOME>>...................................................................................................................126
5.4.8 Positioning Start Command <<CSTR>> ............................................................................................128
5.4.9 Jog/Inch Switching <<JISL>>..............................................................................................................130
5.4.10 Teaching Mode Command <<MOD>>...............................................................................................132
5.4.11 Position Data Load Command <<TEAC>>........................................................................................134
5.4.12 Jog+ Command <<JOG+>>................................................................................................................136
5.4.13 Jog- Command <<JOG->>..................................................................................................................138
5.4.14 Start Positions 0 to 7 <<ST0 to ST7>>
Movement Command (Limited to PIO Patterns 4 and 5) .............................140
5.4.15 Load Cell Calibration Command <<CLBR>> --- A dedicated load cell must be connected...........142
5.4.16 PIO/Modbus Switching Setting <<PMSL>>.......................................................................................144
5.4.17 Deceleration Stop <<STOP>> ............................................................................................................146
......................124
Modbus
5.5 Direct Writing of Control Information (Queries Using Code 06).................................................. 148
5.5.1 Writing to Registers..............................................................................................................................148
5.6 Direct Writing of Positioning Data (Queries Using Code 10) ...................................................... 152
5.6.1 Numerical Value Movement Command .............................................................................................152
5.6.2 Writing Position Table Data .................................................................................................................170
6 Modbus ASCII .................................................................................................................................... 178
6.1 Message Frames (Query and Response)................................................................................... 179
6.2 ASCII Code Table ....................................................................................................................... 182
6.3 List of ASCII Mode Queries ........................................................................................................ 183
6.4. Data and Status Reading (queries Using Code 03).................................................................... 187
6.4.1 Reading Consecutive Multiple Registers............................................................................................187
6.4.2 Alarm Detail Description Reading <<ALAO, ALCO, ALTO>> ..........................................................190
6.4.3 Total moving count Reading <<TLMC>>...........................................................................................192
6.4.4 Total moving distance Reading <<ODOM>> (in 0.01 mm units) .....................................................194
6.4.5 Present Time Reading <<TIMN>>......................................................................................................196
6.4.6 Total FAN Driving Time Reading <<TIMN>>.....................................................................................199
6.4.7 Current Position Reading (in 0.01 mm units) Monitor <<PNOW>>..................................................201
6.4.8 Present Alarm Code Query <<ALMC>>.............................................................................................203
6.4.9 I/O Port Input Signal Status Reading <<DIPM>> ..............................................................................205
6.4.10 I/O Port Output Signal Status Reading <<DOPM>> .........................................................................209
6.4.11 Controller Status Signal Reading <<DSS1>>....................................................................................213
6.4.12 Controller Status Signal Reading 2 <<DSS2>>.................................................................................215
6.4.13 Controller Status Signal Reading 3 <<DSSE>> ................................................................................217
6.4.14 Controller Status Signal Reading 4 <<STAT>> .................................................................................219
6.4.15 Current Speed Query <<VNOW>>.....................................................................................................221
6.4.16 Current Ampere Reading <<CNOW>> ..............................................................................................223
6.4.17 Deviation Reading <<DEVI>>.............................................................................................................225
6.4.18 Total Time after Power On Reading <<STIM>>................................................................................227
6.4.19 Special Input Port Input Signal Status Query <<SIPM>>..................................................................229
6.4.20 Zone Output Signal Status Reading <<ZONS>>...............................................................................231
6.4.21 Position Complete Number Query <<POSS>> .................................................................................233
6.4.22 Controller Status Signal 5 <<SSSE>>................................................................................................235
6.4.23 Force Feedback Data Read <<FBFC>> --- SCON-CA Only............................................................237
6.5 Operation Commands and Data Rewrite (Query Using Code 05).............................................. 239
6.5.1 Writing to Coil........................................................................................................................................239
6.5.2 Safety Speed Enable/Disable Switching (SFTY)..............................................................................
6.5.3 Servo ON/OFF <<SON>>...................................................................................................................242
6.5.4 Alarm Reset <<ALRS>>......................................................................................................................244
6.5.5 Brake Forced Release <<BKRL>>.....................................................................................................246
6.5.6 Pause <<STP>>...................................................................................................................................248
6.5.7 Home return <<HOME>>....................................................................................................................250
6.5.8 Positioning Start Command <<CSTR>> ............................................................................................252
6.5.9 Jog/Inch Switching <<JISL>>..............................................................................................................254
6.5.10 Teaching Mode Command <<MOD>>...............................................................................................256
6.5.11 Position Data Load Command <<TEAC>>........................................................................................258
6.5.12 Jog+ Command <<JOG+>>................................................................................................................260
6.5.13 Jog- Command <<JOG->>..................................................................................................................262
6.5.14 Start Positions 0 to 7 <<ST0 to ST7>> (Limited to PIO Patterns 4 and 5).......................................264
6.5.15 Load Cell Calibration Command <<CLBR>> --- A dedicated load cell must be connected...........266
6.5.16 PIO/Modbus Switching Setting <<PMSL>>.......................................................................................268
6.5.17 Deceleration Stop <<STOP>> ............................................................................................................270
.240
Modbus
6.6 Control Information Direct Writing (Queries Using Code 06)...................................................... 272
6.6.1 Writing to Registers..............................................................................................................................272
6.7 Positioning Data Direct Writing (Queries Using Code 10).......................................................... 276
6.7.1 Numerical Value Movement Command .............................................................................................276
6.7.2 Writing Position Table Data .................................................................................................................294
7 Troubleshooting.................................................................................................................................. 301
7.1 Responses at Errors (Exception Responses)............................................................................. 302
7.2 Notes........................................................................................................................................... 305
7.3 When Communication Fails........................................................................................................ 306
8 Reference Materials ........................................................................................................................... 313
8.1 CRC Check Calculation .............................................................................................................. 314
8.2 Configuration of Systems that use both SIO and PIO ................................................................ 316
Change History.......................................................................................................................................... 318
Modbus
Modbus

Safety Guide

When designing and manufacturing a robot system, ensure safety by following the safety guides provided below and taking the necessary measures.
Regulations and Standards Governing Industrial Robots
Safety measures on mechanical devices are generally classified into four categories under the International Industrial Standard ISO/DIS 12100, “Safety of machinery, ” as follows:
Safety measures Inherent safety design
Protective guards --- Safety fence, etc. Additional safety measures --- Emergency stop device, etc. Information on use --- Danger sign, warnings, operation manual
Based on this classification, various standards are established in a hierarchical manner under the International Standards ISO/IEC. The safety standards that apply to industrial robots are as follows:
Type C standards (individual safety standards) ISO10218 (Manipulating industrial robots – Safety)
JIS B 8433 (Manipulating industrial robots – Safety)
Also, Japanese laws regulate the safety of industrial robots, as follows:
Industrial Safety and Health Law Article 59
Workers engaged in dangerous or harmful operations must receive special education.
Ordinance on Industrial Safety and Health Article 36 --- Operations requiring special education
No. 31 (Teaching, etc.) --- Teaching and other similar work involving industrial robots
(exceptions apply)
No. 32 (Inspection, etc.) --- Inspection, repair, adjustment and similar work involving industrial
robots (exceptions apply)
Article 150 --- Measures to be taken by the user of an industrial robot
1
Modbus
Requirements for Industrial Robots under Ordinance on Industrial Safety and
Health
Work area Work condition Cutoff of drive source Measure Article
Outside
movement
range
Inside
movement
range
During
automatic
operation
During
teaching, etc.
During
inspection, etc.
Not cut off
Cut off (including stopping of operation)
Not cut off
Cut off
Not cut off (when inspection, etc., must be performed during operation)
Signs for starting operation Article 104
Installation of railings, enclosures, etc.
Sign, etc., indicating that work is in progress
Preparation of work rules Article 150-3
Measures to enable immediate stopping of operation
Sign, etc., indicating that work is in progress
Provision of special education Article 36-31
Checkup, etc., before commencement of work
To be performed after stopping the operation
Sign, etc., indicating that work is in progress
Preparation of work rules Article 150-5
Measures to enable immediate stopping of operation
Sign, etc., indicating that work is in progress
Provision of special education (excluding cleaning and lubrication)
Article 150-4
Article 150-3
Article 150-3
Article 150-3
Article 151
Article 150-5
Article 150-5
Article 150-5
Article 150-5
Article 36-32
2
Modbus
Applicable Models of IAI’s Industrial Robots
Machines meeting the following conditions are not classified as industrial robots according to Notice of Ministry of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No.
340): (1) Single-axis robot with a motor wattage of 80 W or less (2) Combined multi-axis robot whose X, Y and Z-axes are 300 mm or shorter and whose rotating
part, if any, has the maximum movement range of within 300 mm rotating part
(3) Multi-joint robot whose movable radius and Z-axis are within 300 mm
Among the products featured in our catalogs, the following models are classified as industrial robots:
1. Single-axis ROBO Cylinders RCS2/RCS2CR-SS8 whose stroke exceeds 300 mm
2. Single-axis robots The following models whose stroke exceeds 300 mm and whose motor capacity also exceeds 80 W: ISA/ISPA, ISDA/ISPDA, ISWA/ISPWA, IF, FS, NS
3. Linear servo actuators All models whose stroke exceeds 300 mm
4. Cartesian robots Any robot that uses at least one axis corresponding to one of the models specified in 1 to 3
5. IX SCARA robots
IX-NNN (NNW, NNC) 3515 [H] IX-NNN (NNW, NNC) 50 [H] /60 [H] /70 [H] /80 [H] IX-NSN5016[H] /6016 [H] IX-TNN (UNN) 3015 [H]/3515 [H] IX-HNN (INN) 50 [H] /60 [H] /70 [H] /80 [H]
3
including the end of the
3
Modbus
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
Operation
Description
1 Model
Selection
Description
Ɣ This product has not been planned and designed for the application where high
level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications.
1) Medical equipment used to maintain, control or otherwise affect human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
Ɣ Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Ɣ Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding the specification range
4) Location where radiant heat is added from direct sunlight or other large heat source
5) Location where condensation occurs due to abrupt temperature changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Ɣ For an actuator used in vertical orientation, select a model which is equipped with a
brake. If selecting a model with no brake, the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece.
4
Modbus
No.
Operation
Description
2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize
equipment such as crane.
Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the
leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Ɣ When in transportation, consider well about the positions to hold, weight and
weight balance and pay special attention to the carried object so it would not get hit or dropped.
Ɣ Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts attached or there are tapped holes to attach bolts. Follow the instructions in the operation manual for each model.
Ɣ Do not step or sit on the package. Ɣ Do not put any heavy thing that can deform the package, on it. Ɣ When using a crane capable of 1t or more of weight, have an operator who has
qualifications for crane operation and sling work.
Ɣ When using a crane or equivalent equipments, make sure not to hang a load that
weighs more than the equipment’s capability limit.
Ɣ Use a hook that is suitable for the load. Consider the safety factor of the hook in
such factors as shear strength.
Ɣ Do not get on the load that is hung on a crane. Ɣ Do not leave a load hung up with a crane. Ɣ Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
4 Installation
and Start
Ɣ The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of condensation.
Ɣ Store the products with a consideration not to fall them over or drop due to an act
of God such as earthquake.
(1) Installation of Robot Main Body and Controller, etc. Ɣ Make sure to securely hold and fix the product (including the work part). A fall, drop
or abnormal motion of the product may cause a damage or injury. Also, be equipped for a fall-over or drop due to an act of God such as earthquake.
Ɣ Do not get on or put anything on the product. Failure to do so may cause an
accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.
Ɣ When using the product in any of the places specified below, provide a sufficient
shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or chemical droplets
Description
5
Modbus
No.
Operation
Description
4 Installation
and Start
Description
(2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and
controller, and for the teaching tool.
Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it
around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
Ɣ Perform the wiring for the product, after turning OFF the power to the unit, so that
there is no wiring error.
Ɣ When the direct current power (+24V) is connected, take the great care of the
directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction.
Ɣ Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction of the product.
Ɣ Never cut and/or reconnect the cables supplied with the product for the purpose of
extending or shortening the cable length. Failure to do so may cause the product to malfunction or cause fire.
(3) Grounding Ɣ The grounding operation should be performed to prevent an electric shock or
electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation.
Ɣ For the ground terminal on the AC power cable of the controller and the grounding
plate in the control panel, make sure to use a twisted pair cable with wire thickness
0.5mm
grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards).
Ɣ Perform Class D Grounding (former Class 3 Grounding with ground resistance
100: or below).
2
(AWG20 or equivalent) or more for grounding work. For security
6
Modbus
No.
Operation
Description
4 Installation
and Start
5 Teaching Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the
(4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the
leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Ɣ When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range. When the robot under operation is touched, it may result in death or serious injury.
Ɣ Make sure to install the emergency stop circuit so that the unit can be stopped
immediately in an emergency during the unit operation.
Ɣ Take the safety measure not to start up the unit only with the power turning ON.
Failure to do so may start up the machine suddenly and cause an injury or damage to the product.
Ɣ Take the safety measure not to start up the machine only with the emergency stop
cancellation or recovery after the power failure. Failure to do so may result in an electric shock or injury due to unexpected power input.
Ɣ When the installation or adjustment operation is to be performed, give clear
warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden power input may cause an electric shock or injury.
Ɣ Take the measure so that the work part is not dropped in power failure or
emergency stop.
Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure safety. Ɣ Do not insert a finger or object in the openings in the product. Failure to do so may
cause an injury, electric shock, damage to the product or fire.
Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution not
to pinch your hand or damage the work parts with the actuator dropped by gravity.
leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Ɣ Perform the teaching operation from outside the safety protection fence, if possible.
In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.
Ɣ When the operation is to be performed inside the safety protection fence, the
worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution not
to pinch your hand or damage the work parts with the actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection fence, the
movable range should be indicated.
Description
7
Modbus
No.
Operation
Description
6 Trial
Operation
7 Automatic
Operation
Description
Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the
leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Ɣ After the teaching or programming operation, perform the check operation one step
by one step and then shift to the automatic operation.
Ɣ When the check operation is to be performed inside the safety protection fence,
perform the check operation using the previously specified work procedure like the teaching operation.
Ɣ Make sure to perform the programmed operation check at the safety speed. Failure
to do so may result in an accident due to unexpected motion caused by a program error, etc.
Ɣ Do not touch the terminal block or any of the various setting switches in the power
ON mode. Failure to do so may result in an electric shock or malfunction.
Ɣ Check before starting the automatic operation or rebooting after operation stop that
there is nobody in the safety protection fence.
Ɣ Before starting automatic operation, make sure that all peripheral equipment is in
an automatic-operation-ready state and there is no alarm indication.
Ɣ Make sure to operate automatic operation start from outside of the safety
protection fence.
Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product.
Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so may
cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.
8
Modbus
No.
Operation
Description
8 Maintenance
and Inspection
9 Modification
and Dismantle
10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it properly
11 Other Ɣ Do not come close to the product or the harnesses if you are a person who
Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the
leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Ɣ Perform the work out of the safety protection fence, if possible. In the case that the
operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.
Ɣ When the work is to be performed inside the safety protection fence, basically turn
OFF the power switch.
Ɣ When the operation is to be performed inside the safety protection fence, the
worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ For the grease for the guide or ball screw, use appropriate grease according to the
Operation Manual for each model.
Ɣ Do not perform the dielectric strength test. Failure to do so may result in a damage
to the product.
Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution not
to pinch your hand or damage the work parts with the actuator dropped by gravity.
Ɣ The slider or rod may get misaligned OFF the stop position if the servo is turned
OFF. Be careful not to get injured or damaged due to an unnecessary operation.
Ɣ Pay attention not to lose the cover or untightened screws, and make sure to put the
product back to the original condition after maintenance and inspection works. Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection fence, the
movable range should be indicated.
Ɣ Do not modify, disassemble, assemble or use of maintenance parts not specified
based at your own discretion.
as an industrial waste.
Ɣ When removing the actuator for disposal, pay attention to drop of components
when detaching screws.
Ɣ Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
requires a support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device.
Ɣ See Overseas Specifications Compliance Manual to check whether complies if
necessary.
Ɣ For the handling of actuators and controllers, follow the dedicated operation
manual of each unit to ensure the safety.
Description
9
Modbus
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model.
Level Degree of Danger and Damage Symbol
Danger
Warning
Caution
Notice
This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.
This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.
This indicates lower possibility for the injury, but should be kept to use this product properly.
Danger
Warning
Caution
Notice
10
Modbus

Handling Precautions

The explanations provided in this manual are limited to procedures of serial communication. Refer to the operation manual supplied with the ROBO Cylinder Controller (hereinafter referred to as RC controller) for other specifications, such as control, installation and connection.
Caution
(1) Make sure to follow the usage condition, environment and specifications ranges of
the product. Not doing so may cause a drop in performance or malfunction of the product.
(2) If any address or function not defined in this specification is sent to an RC
controller, the controller may not operate properly or it may implement unintended movements. Do not send any function or address not specified herein.
(3) RC controllers are designed in such a way that once the controller detects a break
(space) signal of 150 msec or longer via its SIO port, it will automatically switch the baud rate to 9600 bps. On some PCs, the transmission line remains in the break (space) signal transmission mode while the communication port is closed. Exercise caution if one of these PCs is used as the host device, because the baud rate in your RC controller may have been changed to 9600 bps.
(4) Set the baud rate and other parameters using IAI’s PC software or other dedicated
teaching tool.
(5) If the controller is used in a place meeting any of the following conditions, provide
sufficient shielding measures. If sufficient actions are not taken, the controller may malfunction: [1] Where large current or high magnetic field generates [2] Where arc discharge occurs due to welding, etc. [3] Where noise generates due to electrostatic, etc. [4] Where the controller may be exposed to radiation
(6) When performing wiring tasks and inserting/extracting connectors in/from sockets,
make sure that the power supplies of the host and each RC controller are turned off. Carrying out such tasks with the power supplies turned on may result in electric shock and/or damage to parts.
11
Modbus
(7) In order to prevent malfunctions due to noise, wire the communication cables such
that the communication cables are isolated from power lines and other control wiring.
(8) In order to prevent malfunctions due to noise, make sure to take noise prevention
measures on the electric equipment in the same power supply circuit or within the same device.
12

1 Overview

Modbus
The ROBO Cylinder Controller (hereinafter referred to as RC controller) is equipped with a serial bus interface for asynchronous communication conforming to the EIA RS485 standard. This interface allows the RC controller to communicate with the host (host controller). In this way, it is possible to build an SIO link system that can connect and control up to 16 axes of slaves (RC controllers) (
Note 1).
In addition to sending commands to each axis individually, it is also possible to broadcast the same command to all slaves at the same time. Modbus Protocol is employed as the communication protocol, and it is possible to send commands from a host as well as read internal information. Since the specifications of Modbus Protocol are disclosed globally, software development can be carried out easily.
(Note 1) Note that it is only possible to connect RC series devices on the same network; old RC series
(protocol T) or other devices cannot be connected.
There are 2 types of serial transmission modes: ASCII mode (where 1-byte (8 bits) data is Converted to ASCII code (2 characters) and sent) and RTU mode (where 1-byte (8 bits) data is sent as is). RC controllers identify the transmission mode on a packet-by-packet basis, thus making it possible to receive in both modes
(
Note 2
)
. Set the ROBONET RS485 to the SIO through mode. [Refer to the separate ROBONET Operation Manual.]
(Note 2) Make sure to use the same serial transmission mode for all devices on one network: it is not
allowed to use both modes.
Controllable controllers
x ERC2 (SE) / ERC3* x PCON-C / CA* / CFA* / CG / CF / CY / SE / PL / PO x ACON-C / CG / CY / SE / PL / PO x SCON-C / CA x ROBONET_RS485 (SIO through mode)
* V0002 or later
1. Overview
13
1. Overview
Modbus

1.1 Operation Manuals Relating to This Product You Find in the DVD

No. Name Control No
Operation Manual for ERC2(PIO) Actuator with Integrated
1
Controller
Operation Manual for ERC2(SE:SIO) Actuator with
2
Integrated Controller
3 Operation Manual for PCON-C/CG/CF Controller ME0170
4 Operation Manual for PCON-CY Controller ME0156
5 Operation Manual for PCON-SE Controller ME0163
6 Operation Manual for PCON-PL/PO Controller ME0164
7 Operation Manual for ACON-C/CG Controller ME0176
8 Operation Manual for ACON-CY Controller ME0167
9 Operation Manual for ACON-SE Controller ME0171
10 Operation Manual for ACON-PL/PO Controller ME0166
11 Operation Manual for SCON-C Controller ME0161
12 Operation Manual for SCON-CA Controller ME0243
13 Operation Manual for ROBONET ME0208
Operation Manual for ERC3 Actuator with Integrated
14
Controller
15 Operation Manual for PCON-CA/CFA Controller ME0289
ME0158
ME0159
ME0279
14
Modbus

2 Specifications

Item Method/condition Interface Conforming to EIA RS485 Communication method Half-duplex communication Maximum total extension distance 100 m Synchronization method Start-stop synchronization Connection pattern Transmission mode RTU/ASCII (auto-detect) * Baud rate (bps) Selectable from the following speeds via parameter setting:
Bit length 8 bits Stop bit 1 bit Parity None
Note ROBONET is not applicable for ASCII Mode.
1-to-N unbalanced bus connection (1 d N d 16)
9600, 14400, 19200, 28800, 38400 57600, 76800, 115200, 230400
2. Specications
15

2.1 Communication Mode

In the Modbus protocol, communication takes place in a single-master/multiple-slave configuration. In this communication, only the master (the PLC host in the example below) issues a query to a specified slave (the RC controller connected to axis C in the example below). When the specified slave receives this query, it executes the function specified in the query, and then returns a response message (one communication cycle is completed with this operation).
The query message format consists of the slave address (or broadcast), function code defining the content of request, data, and error check.
The response message format consists of the function code confirming the content of request, data, and error check. Following figure shows the query message format and response
2. Specications
message configuration.
Modbus
Query message
Device address (example: axis C)
Function code
Data
Error check
Axis A Axis B Axis C Axis D Axis E
Response message
Device address (example: axis C)
Confirmation function code
Data
Error check
Fig. 2.1
16

3 Preparation for Communication

3.1 In Case the Host Uses RS232C Interface

(1) System configuration
Modbus
PC
PLC
(RS232C)
You can connect IAI’s PC software or other teaching tool.
Vertical specification: RCB-TU-SIO-A Horizontal specification: RCB-TU-SIO-B
⇔
(RS232C RS485)
(Female)
Master /host
The host must be either a PLC or PC. It is not allowed to connect both at the same time.
RS232C cable (prepared by the customer) Check the pin assignment of the interface on the host side and prepare either straight-through or cross-connected cables accordingly.
(Female)
Mini DIN, 8-pin connector
Recommended cables (Taiyo Cabletech HK-SB/20276xL (m) 2P x AWG22) Prepared by the customer
PCON-*
RS232C cross-connected cable (prepared by the customer)
Terminating resistor R = 220 When using a commercially available RS232C ⇔ RS485 converter, adjust the resistance to the converter.
3. Specications
PCON-*
Junction (5-1473574-4 made by AMP)
e-CON connector (*-1473562-4 made by AMP)
Can be connected using a terminal block, instead.
Controller link cables CB-RCB-CTL002 (Comes with one
junction, one e-CON connector and one terminating resistor with R = 220Ω, 1/4 W)
SCON-*
Fig. 3.1
17
Cable for network connection CB-ERC2-CTL001
SIO-compatible power supply I/O cable CB-ERC2-PWBIO***
ERC2 [Refer to Section 3.2 for connection of ERC3]
Caution Make sure to use the common 0 V
line of the 24 V power supply for each controller (other than SCON).
For ROBONET connection, refe r to
the separate ROBONET Operation Manual.
(2) Wiring
RS232C cables (commercially available cables, etc.) Make sure to check the signal names of the RS232 C connectors on the host side before connecting (refer to “3.3 Communication Connector Pin Assignment of PLC and PC”).
3. Specications
Caution Make sure to use the common 0
Host RS232C connectors
V line of the 24 V power supply for each controller (other than SCON). For ROBONET connection, refer to the separate ROBONET Operation Manual.
CD
RD SD ER
SG DR RS
CS
CI
CD
RD SD ER
SG DR RS
CS
CI
D-sub connector
CD
RD SD ER
SG DR RS
CS
CI
Modbus
SIO converter
TB2
1
1
NC 2
3 4
5 6 7
8
9
If the host side (PLC or PC) is using flow control, connect RS and CS as well as DR and ER as shown in the figure to the left.
RD
2
SD
3
NC
4
SG
5
NC
6
NC
7
NC
8
NC
9
TB1 or J4/J5 (refer to (3) for the detailed explanation)
SIO converter
Refer to Fig. 3.2 (figure above).
Host RS232C connectors
Mini DIN, 8-pin
PCON/ACON/SCON Nth slave (N = maximum 16 slaves)
Recommended cables: (Taiyo Cabletech HK-SB/20276xL (m) 1P x AWG22)
TB2
TB1
SGA
SGB
SGA
SGB
GND
J4, J5
e-CON connector
2-pair shielded cables Recommended cables: Taiyo Cabletech HK-SB/20276xL 2P x AWG22
1
2
3
4
1
2
7
Fig. 3.2_1/2
4-directional junction (5-1473574-4 made by AMP)
1
2
3
4
1
2
3
4
e-CON connector (3-1473562-4 made by AMP)
Controller link cable CB-RCB-CTL002
Yellow
1
Orange
2
3
4
Blue
Nth slave (N = maximum 16 slaves)
e-CON connector (3-1473562-4 made by AMP)
(1) To the next page
1
SGA
SGB
2
GND
7
Housing color: Orange
Housing color: Green
18
Modbus
2-pair shielded cables Recommended cables: Taiyo Cabletech HK-SB/20276xL 2P x AWG22
(1) From the previous page
Cables for network connection CB-ERC2-CTL001
Orange
Blue
Brown
Green
1 2 3 4
SIO-compatible power supply I/O cable CB-ERC2-PWBIO***
1
1
2
2
3
3
4
4
1 2 3 4
Orange
Blue
Green
Orange
Blue
Brown
Green
1
2
3
4
1
2
3
4
ERC2-SE
SGA
1
SGB
2
+5V
3
GND
4
4-directional junction (5-1473574-4 made by AMP)
1
2
3
4
e-CON connector (3-1473562-4 made by AMP)
Controller link cable CB-RCB-CTL002
1
2
3
4
Yellow
Orange
Blue
Nth slave (N = maximum 16 slaves)
e-CON connector (3-1473562-4 made by AMP)
Caution Make sure to use the common 0 V line
Terminating resistor R = 220 : (comes with controller link cable) When using a commercially available RS232C RS485 converter, adjust the resistance to the converter.
Housing color: Green
PCON/ACON/SCON
1
SGA
2
SGB GND
7
Housing color: Orange
of the 24 V power supply for each controller (other than SCON). For ROBONET connection, refer to the separate ROBONET Operation Manual.
3. Specications
In case of standard ERC2 products (the wiring processing is different from ERC2-SE)
J.S.T. Mfg V0.5-3
Terminal block
e-CON connector
1
2
Connected to junction
3
4
x PIO-compatible power supply I/O cable
(CB-ERC-PWBIO***)
Red
Black
(Connect to the 0 V line of the 24 V power supply of ERC2)
1 2
Orange (black 1)
2
Pink (black 1)
Please prepare cables for the parts enclosed with dashed lines and GND. (Recommended cables: Taiyo Cabletech HK-SB/20276xL (m) 2P x AWG22)
Orange (red 1)
1
ERC2-standard (PIO)
1A
SGA
1B
SGB
5B
GND
Fig. 3.2_2/2
19
Modbus
(3) SIO converter (vertical specification: RCB-TU-SIO-A, horizontal specification: RCB-TU-
SIO-B)
Link connection terminal block (TB1)
3. Specications
D-sub 9-pin connector
A RS232C RS485 converter
LED for monitoring (LED1 and LED2)
Link connector (J4 and J5)
Mini DIN8 pin connector
Fig. 3.3
~ Power supply and emergency stop terminal block (TB2)
x EMG1 and EMG2: Discrete outputs of the emergency stop switch of the teaching
pendant
EMG1 and EMG2 are connected to the emergency stop switch of the teaching pendant when the PORT switch is set to ON; EMG1 and EMG2 are short circuited when the switch is set to OFF.
x 24 V: Supply +24 V power (current consumption 0.1 A or less) x 0 V: Supply 0 V power (use common 0 V for all 24 V DC-supplied controllers). x FG: A terminal to which FG is connected
* Compatible wires: Single wire:  0.8 to 1.2 mm
Twisted wire: AWG18 to 20 (strip length 10 mm)
Power supply and emergency stop terminal block (TB2)
PORT switch
~ Link connection terminal block (TB1)
A connector for link connection with an RC controller
x A: Connect to pin 1 (SGA) of the communication
connector of the RC controller
x B: Connect to pin 2 (SGB) of the communication
connector of the RC controller
~ D-sub 9 pin connector
A connector for connection with the master (host) side
~ Mini DIN8 pin connector
A connector for connection with teaching pendant or PC software
~ PORT switch
x ON: A teaching tool is used. x OFF: A teaching tool is not used.
~ LED for monitoring (LED1 and LED2)
x LED1: Turns on/flashes when the RC controller is transmitting x LED2: Turns on/flashes when the master (host) side is transmitting
~ Link connector (J4 and J5)
Connectors for link connection with an RC controller An optional link cable (CB-RCB-CTL002) can be connected as is.
6.4
Terminal screw: M3×6
20

3.2 In Case the Host Uses RS485 Interface

r
(1) System configuration
Master /host
Modbus
PC
The host must be either a PLC or PC. It is not allowed to connect both at the same time.
3. Specications
(RS485)
Junction (5-1473574-4 made by AMP)
e-CON connector (*-1473562-4 made by AMP)
Controller link cables CB-RCB-CTL002
(Comes with one junction, one e-CON connector and one terminating resistor with R = 220 : 1/4 W)
Vertical specification: RCB-TU­SIO-A Horizontal specification: RCB-TU­SIO-B (RS232C RS485)
Can be connected using a terminal block, instead.
SIO converte
Note: The baud rate of an RC controller automatically switches to 9600 [bps] if it detects a break (space) signal lasting 150 [msec] or longer from the SIO port. In some PCs, transmission lines are placed in break condition when the communication port is not open. That if such PCs are used, the baud rate of the connected RC controllers may be set to 9600 [bps] unintentionally.
Recommended cables (Taiyo Cabletech HK-SB/20276xL (m) 2P x AWG22) Prepared by the customer
SCON-*
RS232C cross-connected cable (prepared by the customer)
Adjust to the master (host).
Cable for network connection CB-ERC2-CTL001
PCON-*
ACON-*
ERC3 power supply I/O cable CB-ERC3P-PWBIO***
ERC3-SE [Refer to Section 3.1 for connection of ERC2]
Caution Make sure to use the common 0 V line
of the 24 V power supply for each controller (other than SCON). For ROBONET connection, refer to the
Fig. 3.4
separate ROBONET Operation Manual.
21
(2) Wiring
Modbus
3. Specications
Please note that some PLCs are configured such that SDA is the negative terminal of the transmission data and SDB is the positive terminal (in this case, RDA is the negative terminal of the reception data and RDB is the positive terminal). Please refer to “3.3 Communication Connector Pin Assignment of PLC and PC” for pin assignment on the PLC side.
PLC
RS485 connectors
Transmission data+
Transmission data-
Reception data+
Reception data-
From (2)
2-pair shielded cables Recommended cables: Taiyo Cabletech HK­SB/20276xL 2P x AWG22
SDA SDB
PDA PDB
PCON/ACON/SCON
1
SGA
2
SGB
GND
7
Nth slave (N = maximum 16 slaves)
2-pair shielded cables Recommended cables: Taiyo Cabletech HK-SB/20276xL 2P x AWG22
Yellow
Orange
Blue
Caution Make sure to use the common 0 V line of
4-directional junction (5-1473574-4 made by AMP)
1
2
3
4
1
2
3
4
4-directional junction (5-1473574-4 made by AMP)
1
2
3
4
1
2
3
4
the 24 V power supply for each controller (other than SCON). For ROBONET connection, refer to the separate ROBONET Operation Manual.
1
2
3
4
Controller link cable CB-RCB-CTL002
1
2
3
4
To (2)
e-CON connector (3-1473562-4 made by AMP)
Nth slave (N = maximum 16 slaves)
Yellow
Orange
Blue
e-CON connector (3-1473562-4 made by AMP)
1
2
7
Housing color: Green
SGA
SGB
GND
Housing color: Orange
Determine the terminating resistance value according to the specification on the master (host) side (PLC, RS232C RS485 converter in case of PC).
ERC3 power supply I/O cable CB-ERC3P-PWBIO**
Green
B5
SA SB B6
Nth slave (N = maximum 16 slaves)
Note Connection of ERC3-SE
1) A cable (CB-ERC3-PMB10) is required separately.
2) MEC Mode Type cannot be connected.
3) Connection cannot be established via PIO Converter.
Brown 1
e-CON connector (3-1473562-4 made by AMP)
*
1
2
3
4
Controller link cable CB-RCB-CTL002
Yellow
1
Orange
2
3 7
4
Blue
Nth slave (N = maximum 16 slaves)
e-CON connector (3-1473562-4 made by AMP)
1
2
Housing color: Green
SGA
SGB
GND
Housing color: Orange
Fig. 3.5
22
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