IAI America ROBO User Manual

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PCON, ACON, SCON, ERC2, ERC3

Serial Communication [Modbus Version]

Operation Manual, Sixth Edition

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.

Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD/DVD that comes with the product contains operation manuals for IAI products. When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying them on a PC.

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

[Important]

x 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

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

) (ALA0).......................................................................... 33

) (ALA0) ............................................................ 35

) (DRG1)........................................................ 36

) (DRG2)........................................................ 37

) (POSR)................................ 38

) (TLMC).................................................................. 39

) (ODOM)............................................................40

(SCON-CA), 8420H(PCON-CA/CFA) (TIMN).................. 41

(TFAN).............................................................. 42

) (DSS2) ..........................................................44

) (DSSE)...........................................45

) (ZONS) ...............................................................48

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

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

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 151

Article 150-5

Article 36-32

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]

including the end of the

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.

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

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).

(AWG20 or equivalent) or more for grounding work. For security

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

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.

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

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

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

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.

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.

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

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

Controller

Operation Manual for ERC2(SE:SIO) Actuator with

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

Controller

15 Operation Manual for PCON-CA/CFA Controller ME0289

ME0158

ME0159

ME0279

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

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

3 Preparation for Communication

3.1 In Case the Host Uses RS232C Interface

(1) System configuration

Modbus

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

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.

RD SD ER

SG DR RS

RD SD ER

SG DR RS

D-sub connector

RD SD ER

SG DR RS

Modbus

SIO converter

TB2

NC 2

3 4

5 6 7

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.

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

Fig. 3.2_1/2

4-directional junction (5-1473574-4 made by AMP)

e-CON connector (3-1473562-4 made by AMP)

Controller link cable CB-RCB-CTL002

Yellow

Orange

Blue

Nth slave (N = maximum 16 slaves)

e-CON connector (3-1473562-4 made by AMP)

(1) To the next page

SGA

SGB

GND

Housing color: Orange

Housing color: Green

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 2 3 4

Orange

Blue

Green

Orange

Blue

Brown

Green

ERC2-SE

SGA

SGB

+5V

GND

4-directional junction (5-1473574-4 made by AMP)

e-CON connector (3-1473562-4 made by AMP)

Controller link cable CB-RCB-CTL002

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

SGA

SGB GND

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

Connected to junction

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)

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)

ERC2-standard (PIO)

SGA

SGB

GND

Fig. 3.2_2/2

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

3.2 In Case the Host Uses RS485 Interface

(1) System configuration

Master /host

Modbus

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.

(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

SGA

SGB

GND

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)

the 24 V power supply for each controller (other than SCON). For ROBONET connection, refer to the separate ROBONET Operation Manual.

Controller link cable CB-RCB-CTL002

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)

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

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)

Controller link cable CB-RCB-CTL002

Yellow

Orange

3 7

Blue

Nth slave (N = maximum 16 slaves)

e-CON connector (3-1473562-4 made by AMP)

Housing color: Green

SGA

SGB

GND

Housing color: Orange

Fig. 3.5

Modbus

3.3 Communication Connector Pin Assignment of PLC and PC (Reference)

In case of PLC made by Mitsubishi: QJ71C24 RS232C D-sub 9-pin connector (male: cable side)

In case of PLC made by Omron: CJ1W-SCB or SCU RS232C D-sub 9-pin connector (male: cable side)

In case of PLC made by Keyence: KV-L20R RS232C D-sub 9-pin connector (female: cable side)

3. Specications

One end of the shielded cable shall be connected to a connector housing or grounded.

PC: RS232C D-sub 9-pin connector (female: cable side)

To use flow control, connect RS and CS as well as DR and ER.

Connect the shielded cable to the connector housing

In case of PLC made by Omron: CJ1W-SCB or SCU RS485 D-sub 9-pin connector (male: cable side)

Transmission data- (SDA)

Transmission data+ (SDB)

Reception data- (RDA)

Reception data+ (RDB)

(Set the toggle switch

to a two-wire system)

Transmission data-

Transmission data+

One end of the shielded cable shall be connected to a connector housing or grounded.

In case of PLC made by Mitsubishi: QJ71C24 RS485 Terminal block

Wire cables based on the printed signal names on the communication unit panel.

Transmission data+

Transmission data-

Reception data+

Reception data-

In case of PLC made by Keyence: KV-L20R RS485 Terminal block

1: SG

2: Reception data- (RDA)

3: Transmission data- (SDA)

4: Reception data+ (RDB)

5: Transmission data+ (SDB)

(Set the toggle switch on the 485 (2) side)

[* Please refer to operation manual of each manufacturer for detailed explanations.]

Fig. 3.6

One end of the shielded cable shall be connected to a connector housing or grounded.

Transmission data-

Transmission data+

One end of the shielded cable shall be connected to a connector housing or grounded.

Transmission data-

Transmission data+

One end of the shielded cable shall be connected to a connector housing or grounded.

3.4 Various Setting before Starting Communication

3. Specications

Modbus

Completion of wiring

If multiple controllers are connected, set the axis numbers [refer to section 3.5].

Only necessary to set once at first launch

Set the communication speed of each controller [refer to section 3.6].

Launch the network (start up the master and each controller).

Disable PIO startup. [RTU: Refer to section 5.4.15] [ASCII: Refer to section 6.5.15]

All controllers disabled?

Turn on the servo of the axis to be activated. [RTU: Refer to section 5.4.3] [ASCII: Refer to section 6.5.3]

Return the axis to be activated to home. [RTU: Refer to section 5.4.7] [ASCII: Refer to section 6.5.7] * Not necessary in case of absolute

specification

Main loop: Normal processing (position move, etc.)

(Note) Not necessary if

communication is only used to monitor each controller

m The setup is complete at this

point. Subsequent steps are processing steps performed part of normal operations.

Fig. 3.7

Modbus

3.5 Setting Axis Numbers

Set an axis number for each RC controller on the SIO link using hexadecimal digits from 0 to FH, which is the number for the 16th axis. If the panel surface of an RC controller has an axis number setting switch (ADRS) (PCONC/CG/CF/CA/CFA, ACON-C/CG, SCON-C/CA and ROBONET), adjust the arrow to point to the axis number using a flat bladed screwdriver (make sure that each axis number is unique).

3. Specications

In case of axis 1 (* set the switch to 0)

In case of axis 2 (* set the switch to 1)

In case of axis 11 (* set the switch to A)

Fig. 3.8

On RC controllers having no axis number setting switches, use the PC software or other teaching pendant to set the axis number. In this example, how to set the axis number using the PC software is explained. [For information on how to set the axis number using your teaching pendant, refer to the operation manual for each (CON-PTA, CON-PT, CON-T, RCM-E, RCM-T)]. Connect the PC to the SIO connector of the RC controller for which an axis number is to be set.

RS232C  RS485

Fig. 3.9

Set the numbers using the following procedure. [1] Start the RC connection software and select the [Setting] menu. [2] Select the [Controller Setting)] menu item. [3] Select the [Axis Number Assignment (N)] menu item. [4] Input the axis numbers (0 to 15) to the axis number table with a care not to make duplication.

Fig. 3.10

Enter the value obtained by subtracting 1 from the axis number to be set.

Modbus

3.6 Setting Controller Communication Speed

In order to perform communication, the communication speed of the PLC and each RC controller must match. Set the communication speed according to the procedure explained in sections 3.6.1 and 3.6.2. [For the settings on the host side, refer to the operation manual for your host equipment.] Please be aware that the wiring is different depending on the system configuration.

3.6.1 Setting Wiring and Hardware for Each System

(1) In case of using a PC as the master (host) controller It is possible to make settings without changing the current connection. In case of RC controllers equipped with a mode toggle switch (PCON-C/CG/CF/CA/CFA, ACON-C/CG and SCON-C/CA), set the mode toggle switch to MANU before making the settings.

3. Specications

(2) In case a PLC is used as the master (host) controller connected via RS232C Connect a PC as master (host) controller instead of the PLC (refer to Figure 3.1). At this point, disconnect the PLC from the SIO converter and connect the PC to the teaching port of the SIO converter [refer to section 3.1 (3)] using the cable supplied with the PC software. In case of RC controllers with a mode toggle switch (PCON-C/CG/CF/CA/CFA, ACON-C/CG and SCON-C/CA), set the mode toggle switch to MANU.

(3) In case a PLC is used as the master (host) controller connected via RS485

Connect a PC directly to each RC controller in the same way as for setting axis numbers. In case of RC controllers with a mode toggle switch (PCON-C/CG/CF/CA/CFA, ACON-C/CG and SCON-C/CA), set the mode toggle switch to MANU.

(4) When a ROBONET is connected To set up your ROBONET, connect the cable supplied with your PC software to the teaching port on the GateWayR unit. Set the MODE selector switch on the GateWayR unit to “MANU.”

3.6.2 Setting Communication Speed

Set the communication speed using the following procedure. (Note) On ROBONET controllers, the baud rate is set using the ROBONET gateway

[1] Start the RC connection software and select [Edit (E)] from the [Parameters (P)] menu.

parameter setting tool. [For details, refer to the separate ROBONET Operation Manual.]

Fig. 3.11

[2] Select the axis number of the controller to be changed.

Fig. 3.12

[3] Set parameter No. 16, SIO communication speed.

Modbus

3. Specications

Fig. 3.13

4 Communication

4.1 Message Transmission Timing

Modbus

Master (PLC, etc.)

Controller (slave)

4. Communicationn

The basic transmission control procedure consists of the master sending a query, and the RC controller that received the query sending a response, which are considered one unit. The delay time after a query message is received until a response message is sent is calculated as the total sum of parameter No. 17 “Min. delay for activating local transmitter” (default value 5 ms) and the internal processing time (refer to the table below). After receiving a query message, the RC controller waits for the “min. delay for activating local transmitter.” Once this delay time elapses, the controller will activate the transmitter and start sending a response message. The master must enable the receive function of its own station within the aforementioned delay time after sending a query message. After sending a response message, the RC controller immediately prepares to receive the next query.

Query (message frame)

Delay time = “Internal processing

time” +Min. delay for activating local transmitter” (parameter No. 17)

Fig. 4.1

Response (message frame)

Delay time

Query

Delay time

Response

Internal processing time

(Note 1)

Item Time Read/write a register other than those in the low-speed memory area 1 msec max. Position data (1 position) Read 4 msec max. Position data (1 position) Write 15 msec max. Position data (1 position) Read/write 18 msec max. Position data (9 positions) Read 9 msec max. Position data (9 positions) Write 90 msec max. Position data (9 positions) Read/write 98 msec max.

Note 1 Processing duration may differ depending on the category to access and the

controller type.ᴾ

ᴾ

Modbus

4.2 Timeout and Retry

After sending a query, the host waits for a response from the controller (except when the query that has been sent is a broadcast query). If the elapsed time after sending a command until a response is received exceeds the timeout value (Tout), the host may send the command again to reestablish communication. If the number of retries exceeds three times, it means that an irremediable communication error has occurred. The method for calculating the timeout value (Tout) is explained below.

1. Timeout value (Tout)

Tout = To + D + (10 x Bprt/Kbr) [ms]

To : Internal processing time* x Safety factor (3) D : Min. delay for activating local transmitter [ms]

(default value of parameter No. 17 is 5 ms) Kbr : Baud rate [kbps] Bprt : Response message bytes + 8

Caution The internal processing time varies depending on the category of the register

to be accessed. The processing time required for each action is listed in the table below.

Item Maximum time [ms] Read/write a register other than those in the low-speed memory area 1 Position data (1 position) Read 4 Position data (1 position) Write 15 Position data (1 position) Read/write 18 Position data (9 positions) Read 9 Position data (9 positions) Write 90 Position data (9 positions) Read/write 98

2. Number of Retries Nrt = 3 (note that setting of the number of retries is mandatory)

4. Communication

Modbus

4.3 Internal Addresses and Data Structure of RC Controller

The memory area in your RC controller consists of the Modbus register area read/written in units of words and the Modbus status are written in units of bits (coils).

Memory area

Modbus register

Access

unit

Word 0500~9908

[Refer to 4.3.1 and 4.3.2.]

Modbus status

Bit 0100~043F

[Refer to 4.3.3 and 4.3.4.]

(Note) Function codes explained in this manual

4.3.1 Structure of Modbus Registers

The layout of the Modbus registers is shown below.

Address

range

Function

Code*

(Note)

03 H Read holding resisters 06 H Write holding registers 10 H Write multiple holding

registers at the same time

05 H Write coils

4. Communicationn

ᵎᵎᵎᵎ

ᴾ (Reserved for system)

ᵦ

ᵎᵓᵎᵎᵦᴾ

῍ᴾ

Detailed information of the alarm detected latelyᴾ

ᵎᵓᵎᵓᵦᴾ

ᴾ (Reserved for system)

ᵎᵢᵎᵎᵦᴾ

῍ᴾ

I/O control information registersᴾ

ᵎᵢᵎᵑᵦᴾ

ᴾ

ᵏᵎᵎᵎᵦᴾ

῍ᴾ

ᵑᵤᵤᵤᵦᴾ

ᴾ

ᵖᵒᵎᵎᵦᴾ

῍ᴾ

ᵖᵒᵐᵣᵦᴾ

*Applied models are PCON-CA/CFA, SCON-CA and ERC3.

(Reserved for system)

Position table information

(low-speed memory area)ᴾ

(Reserved for system)

Maintenance informationᴾ

ᴾ (Reserved for system)

ᵗᵎᵎᵎᵦᴾ

῍ᴾ

Controller monitor information registersᴾ

ᵗᵎᵏᵓᵦᴾ

ᴾ (Reserved for system)

ᵗᵖᵎᵎᵦᴾ

Position command registersᴾ

ᴾ (Reserved for system)

ᵗᵗᵎᵎᵦᴾ

῍ᴾ

Numerical command registersᴾ

ᵗᵗᵎᵖᵦᴾ

ᴾ

ᵤᵤᵤᵤᵦᴾ

(Reserved for system)

(Note)

ᴾ

Note Areas reserved for the system cannot be used for communication.

Modbus

4.3.2 Details of Modbus Registers

[hex]

0000 to 04FF

0500 Alarm detail code ALA0 30 30 0501 Alarm address ALA0 30 30 0502 Always 0 - - 0503 Alarm code ALC0 31 31 0504

0506 to 0CFF

0D00 Device control register 1 DRG1 33 33 0D01 Device control register 2 DRG2 34 34 0D03

0D04 to 0FFF

1000 to 3FFF Offset [hex]

Area name Description Symbol

Reserved for system Detailed information of the alarm detected lately

Alarm occurrence time ALT0

Reserved for system I/O control information category

Position number specification register POSR Reserved for system Position table information (low-speed memory area)

+0000H Target position PCMD

+0002H Positioning band INP

+0004H Speed command VCMD

+0006H Individual zone boundary + ZNMP

* Detailed addresses can be calculated using the formula to the right. o

4000 to 83FF

8400 Total moving count 8402 Total moving distance 841A Current time(dedicated for SCON-CA) TIMN 38 70 38 198 8420 Current time(dedicated for PCON-CA/CFA) TIMN 38 70 38 198

842E

8430 to 8FFF

9000 Current position register PNOW 76 204 9002 Present alarm code register ALMC 78 206 9003 Input port register DIPM 80 208 9004 Output port register DOPM

* Address = 1000 Reserved for system Maintenance information (dedicated for models applicable to calendar function)

Reserved for system Controller monitor information category

+0008H Individual zone boundary - ZNLP

+000AH Acceleration command ACMD

+000BH Deceleration command DCMD

+000CH Push-current limiting value PPOW

+000DH Load current threshold LPOW

+000E

Total FAN driving time(dedicated for PCON-

Control flag specification CTLF

+ (16 x position No.) + offset

(Note 1)

TLMC 36 66 36 194

(Note 1)

ODOM 37 68 37 196

TFAN 39 74 39 202

CFA)

9005 Device status 1 register DSS1 40(61) 88 40(189) 216 9006 Device status 2 register DSS2 41(61) 90 41(189) 218 9007 Expansion device status register DSSE 42(61) 92 42(189) 220 9008 System status register STAT 43(61) 94 43(189) 222 900A Current speed monitor register VNOW 96 224 900C Current ampere monitor register CNOW 98 226 900E Deviation monitor register DEVI 100 228 9010 System timer register STIM 9012 Special input port register SIPM 44(61) 104 44(189) 232 9013 Zone status register ZONS 45(61) 106 45(189) 234 9014 Position complete number status register POSS 46(61) 108 46(189) 236 9015

9016 to 901D

Reserved for system

Expansion System status register SSSE 47(61) 110 47(189) 238

Note 1 Dedicated for PCON-CA/CFA, SCON-CA and ERC3

Reference page Address

RTU ASCII

192

149

276

171

173 300

298

174

(61)

(189)

(61)

(189)

102

301

212

230

4. Communication

Modbus

[hex]

901E

901F to 97FF

9800

9801 to 98FF

9900 Target position coordinate specification register PCMD 9902 Positioning band specification register INP 9904 Speed specification register VCMD

9906

4. Communicationn

9907 Push-current limiting value PPOW 9908

9909 to FFFF

Area name Description Symbol

Controller monitor information category Reserved for system Position command category Reserved for system Numerical value command category

Reserved for system

Force feedback data (SCON-CA only) FBFC (61) 112 (189) 240

Position movement command register POSR 35 149 35 276

Acceleration/deceleration speed specification

Control flag specification register CTLF

ACMD

Reference page Address

RTU ASCII

153

155 282

156 283

157

280

284

(1) Data of alarm detail code (Address = 0500H) (ALA0)

Bitᴾ Symbolᴾ Nameᴾ Functionᴾ

Modbus

15 - Alarm detail code 32768 14 - Alarm detail code 16384 13 12 - Alarm detail code 4096 11 10

9 8 7 - Alarm detail code 128 6 - Alarm detail code 64 5 4 - Alarm detail code 16 3 - Alarm detail code 8 2 - Alarm detail code 4 1 0

Alarm detail code 8192

Alarm detail code 2048

Alarm detail code 1024

Alarm detail code 512

Alarm detail code 256

Alarm detail code 32

Alarm detail code 2

Alarm detail code 1

It shows the alarm detail code numbers.ᴾ It is output when an alarm is issued that possesses an alarm detail code. It shows 0 alarm generated or an alarm is generated but it possesses no alarm detail code.ᴾ Alarm detail codes are read out in binary codes.ᴾ Check in the operation manual for the controller for the content of an alarm detail code as well as an alarm code.ᴾ

ᴾ

(2) Data of alarm address (Address = 0501H) (ALA0)

Bit Symbol Name Functionᴾ

15 - Alarm address 32768 14 - Alarm address 16384 13 12 - Alarm address 4096 11 10

9 8 7 - Alarm address 128 6 - Alarm address 64 5 4 - Alarm address 16 3 - Alarm address 8 2 - Alarm address 4 1 0

Alarm address 8192

Alarm address 2048

Alarm address 1024

Alarm address 512

Alarm address 256

Alarm address 32

Alarm address 2

Alarm address 1

It shows the alarm address.ᴾ The stored virtual address is output when a value stored in the virtual domain is the cause of the generated alarm. It shows FFFF or an alarm is generated but the virtual domain is not the cause of it.ᴾ Alarm address are read out in binary codes.ᴾ

when either there is no alarm generated

when either there is no

4. Communication

ᴾ

(3) Data of alarm code (Address = 0503H) (ALA0)

Bit Symbol Name Functionᴾ

Modbus

15 - Alarm code 32768 14 - Alarm code 16384 13 12 - Alarm code 4096 11 10

9 8 7 - Alarm code 128 6 - Alarm code 64 5 4 - Alarm code 16 3 - Alarm code 8 2 - Alarm code 4 1

4. Communicationn

Note Address = 0502H always returns 0.

Alarm code 8192

Alarm code 2048

Alarm code 1024

Alarm code 512

Alarm code 256

Alarm code 32

Alarm code 2

Alarm code 1

It shows the alarm code numbers.ᴾ It is output when an alarm is issued. When any alarm is not issued, it is “0 Alarm code are read out in binary codes.ᴾ For the detail of an alarm code, check in the operation manual of the controller.ᴾ

ᴾ

”.ᴾ

ᴾ

(4) Data of alarm occurrence time (Address = 0504H) (ALA0)

Bitᴾ Symbolᴾ Name Functionᴾ

Modbus

Alarm occurrence time 2147202832

Alarm occurrence time 1073601416

Alarm occurrence time 536800708

Alarm occurrence time 268400354

Alarm occurrence time 134200177

Alarm occurrence time 67108864

Alarm occurrence time 33554432

Alarm occurrence time 16777216

Alarm occurrence time 8388608

Alarm occurrence time 4194304

Alarm occurrence time 2097152

Alarm occurrence time 1048576

Alarm occurrence time 524288

Alarm occurrence time 262144

Alarm occurrence time 131072

Alarm occurrence time 65536

Alarm occurrence time 32768

Alarm occurrence time 16384

Alarm occurrence time 8192

Alarm occurrence time 4096

Alarm occurrence time 2048

Alarm occurrence time 1024

Alarm occurrence time 512

Alarm occurrence time 256

Alarm occurrence time 128

Alarm occurrence time 64

Alarm occurrence time 32

Alarm occurrence time 16

Alarm occurrence time 8

Alarm occurrence time 4

Alarm occurrence time 2

Alarm occurrence time 1

It outputs the time of the alarm issuance. [1] For the models that are equipped with the calendar

function (RTC), when RTC is set effective, it shows the time of alarm issuance.

[2] When RTC is set ineffective or for the models that is

not equipped with RTC, it shows the time [msec] passed since the power to the controller is turned on.

Ɣ How alarm issuance time is calculated in 1) The data of alarm issuance time shows the seconds passed from the origin time (00hr:00min:00sec 1January2000). Passed second from the origin time is expressed with S, passed minute with M, passed hour with H, passed day with D and passed year with Y, and the calculation is conducted with a formula as shown below:

ᴾ S=ᴾ Data of read alarm issuance time ᴾ M=ᴾ S/60(decimal fraction to be rounded down) ᴾ H=ᴾ M/60(decimal fraction to be rounded down) ᴾ D=ᴾ H/24(decimal fraction to be rounded down) ᴾ Y=ᴾ D/365.25(decimal fraction to be rounded down) ᴾ L(Leap year)= Y/4(decimal fraction to be rounded up)

Assuming the second of alarm issuance time is SA, minute is MA, hour is HA, passed day in this year is DA and year is YA, the time can be calculated with a formula as shown below:

ᴾ SA=ᴾ Remainder of S/60 ᴾ MA=ᴾ Remainder of M/60 ᴾ HA=ᴾ Remainder of H/24 ᴾ DA=ᴾ D-(Y×365+L)

Year and day can be figured out by subtracting the number of days in each month from DA.

ᴾ YA=ᴾ Y+2000ᴾ (A.D.)

Example) Assuming alarm issuance time data is 172C1B8B (1) Convert into decimal numberᾉᴾ

S= 172C1B8B (2) Calculate M, H, D, Y and L.

ᴾ M=ᴾ 388766603/60= 6479443 ᴾ H=ᴾ 6479443/60= 107990 ᴾ D=ᴾ 107990/24= 4499 ᴾ Y=ᴾ 4499/365.25= 12 ᴾ L=ᴾ 12/4= 3

(3)

Figure out SA, MA, HA and DA.

ᴾ SA=ᴾ Remainder of 388766603/60= 23 ᴾ MA=ᴾ Remainder of 6479443/60= 43 ᴾ HA=ᴾ Remainder of 107990/24= 14 ᴾ DA=ᴾ 4499-(12×365+3)

=ᴾ (116 days has passed in this year and the time of

Year and day = 117 – {31 (Jan) – 29 (Feb) – 31 (Mar)} = 26 (since the number becomes a negative if

ᴾ YA=ᴾ 12+2000= 2012

;

 388766603

alarm issuance is on the day 117.)

days in April is subtracted, the time of alarm issuance is on 26April)

4. Communication

As figured out with the calculation above, the time of alarm issuance is 14:43:23 26Apr2012.

(5) Data of device control register 1 (Address = 0D00H) (DRG1)

Bit Symbol Name Function

15 EMG EMG operation

14 SFTY Safety speed command 0: Disable safety speed

13 - Cannot be used 12 SON Servo ON command 0: Servo OFF

4. Communicationn

11 to 9 Cannot be used

8 ALRS Alarm reset command 0: Normal

7 BKRL Brake forced-release

6 - Cannot be used 5 STP Pause command 0: Normal

4 HOME Home return command 0: Normal

3 CSTR Positioning start

2 to 0 - Cannot be used

specification

command

Modbus

0: Emergency stop not actuated 1: Emergency stop actuated Changing this bit to 1 will switch the controller to the emergency stop mode. Take note that the drive source will not be cut off. (The ALM LED on the controller will not illuminate.)

1: Enable safety speed Changing this bit to 1 will limit the speeds of all movement commands to the speed specified by user parameter No. 35, “Safety speed.”

1: Servo ON Changing this bit to 1 will turn the servo ON. However, the following conditions must be satisfied:

x Device status register 1 (5.3.11 or 6.4.11): The EMG status bit is 0. x Device status register 1 (5.3.11 or 6.4.11: The major failure status is 0. x Device status register 2 (5.3.12 or 6.4.12): The enable status bit is 1. x System status register (5.3.9 or 6.4.9): The auto servo OFF status is 0.

1: Alarm will reset Present alarms will be reset upon detection of a rising edge for this bit (this bit: 0 o 1). Note, however, that if any of the causes for the alarm has not been removed, the same alarm will be generated again. If a rising edge is detected for this bit (this bit: 0 o 1) during a pause, the remaining travel will be canceled. 0: Normal 1: Forcibly release brake You can forcibly release the brake by setting this bit to 1.

1: Pause command All motor movement is inhibited while this bit is 1. If this bit turns 1 while the actuator is moving, the actuator will decelerate to a stop. When the bit is set to 0 again thereafter, the actuator will resume the remaining travel. If this bit is turned 1 while the actuator is performing a home return, the movement command is held until the actuator reverses upon contact. When the bit turns 0 thereafter, the actuator will complete the remaining home return operation automatically. However, make sure you perform a home return again after the actuator reverses upon contact.

1: Home return command Home return will start when a rising edge is detected for this bit (this bit: 0 o

1). Once the home return is completed, the HEND bit will become 1. You can input a home return command again even if the actuator has already completed a home return. 0: Normal 1: Position start command When a rising edge is detected for this bit (this bit: 0 o 1), the actuator will move to the target position of the position number stored in the position number specification register (POSR:0D03 complete will not be output even when the actuator enters the positioning band (return to the normal status by writing 0 to this bit). If this command is executed before home return has been performed at least once after the power was turned on (the HEND bit is 0), the actuator will perform home return and then start moving to the target position. * Set the target position, speed, etc., in the position table of the controller

beforehand.

). If this bit remains 1, a position

(6) Data of device control register 2 (Address = 0D01H) (DRG2)

Bit Symbol Name Function

15 - Cannot be used 14 JISL Jog/inch switching 0: Jog

13 - Cannot be used 12 - Cannot be used 11 MOD Teaching mode command 0: Normal operation mode

10 TEAC Position data load

command

9 JOG+ Jog+ command 0: Normal

8 JOG- Jog- command 0: Normal

7 ST7 Start position 7

6 ST6 Start position 6

5 ST5 Start position 5

4 ST4 Start position 4

3 ST3 Start position 3

2 ST2 Start position 2

1 ST1 Start position 1

0 ST0 Start position 0

1: Inching When this bit is 0, the jog operation is selected. When this bit is 1, the inching operation is selected. If this bit turns 1 while the actuator is jogging, the actuator will accelerate to a stop. While the actuator is inching, turning this bit 0 will have no effect and the actuator will continue with the inching operation. The setting of this bit is not reflected in any jog/inching operation set from the teaching tool.

1: Teaching mode Changing this bit to 1 will switch the controller to the teaching mode. 0: Normal 1: Position data load command The current position data will be written to the position number specified by the position number specification register if 1 is written to this bit while the 11th bit of the teach mode command is 1 (teaching mode). The current position data is loaded to the position data line specified by the position number specification register. If the position number under which the data is loaded is an empty position, meaning that no data is currently set, the data fields other than target position (such as positioning band, etc.) will be automatically populated by the default values of the respective parameters. Make sure that after this bit is set to 1, it will remain 1 for at least 20 ms.

1: Jog+ command x The actuator jogs in the direction opposite home as long as this bit is 1 if the 14th JISL bit is 0. The speed and acceleration/deceleration match the specifications in user parameter No. 26 “PIO jog speed” and rated acceleration/deceleration speed. If this bit is set to 0 or the 8th bit of the jog-command is changed to 1, the actuator will decelerate to a stop. x If a positive edge (this bit: 0 o 1) is detected for the jog+ command while the 14th JISL bit is 0, the actuator inches in the direction opposite home. The speed, travel and acceleration/deceleration speed match the specifications in user defined parameter No. 26 (PIO jog speed), user parameter No. 48 (PIO inching distance) and rated jog acceleration/deceleration, respectively.

1: Jog- command x The actuator jogs in the direction of home as long as this bit is 1 if the 14th JISL bit is 0. The speed and acceleration/deceleration speed match the specifications in user parameter No. 26 “PIO jog speed” and rated acceleration/deceleration speed. If this bit is set to 0 or the 9th bit of the jog-command is changed to 1, the actuator will decelerate to a stop. x If a positive edge (this bit: 0 o 1) is detected for the jog+ command while the 14th JISL bit is 0, the actuator inches in the direction of home. The speed, travel and acceleration/deceleration speed match the specifications in user defined parameter No. 26 (PIO jog speed), user parameter No. 48 (PIO inching distance) and rated jog acceleration/deceleration, respectively. (If either of these bits is enabled) The actuator moves to the position of the specified position number. These bits are only valid when PIO patterns 4 or 5 (solenoid valve mode) is selected. The move is started if either of the ST0 to ST7 bits is set to 1 (this bit: 0 o 1). If a position other than the enabled start poison is selected, the alarm “085 Position No. error at moving” is generated. You can select the signal input method as “Level” or “Edge” in user parameter No. 27, “Movement command type.” If multiple positions are entered at the same time, the smallest number takes the priority.

Modbus

4. Communication

(7) Data of position number specification registers (Address = 0D03H) (POSR)

Position movement command register details (Address = 9800

Bit Symbol Name Function

15 - Cannot be used 14 - Cannot be used 13 - Cannot be used 12 - Cannot be used 11 - Cannot be used 10 - Cannot be used

9 PC512 Position command bit 512 8 PC256 Position command bit 256 7 PC128 Position command bit 128 6 PC64 Position command bit 64 5 PC32 Position command bit 32 4 PC16 Position command bit 16 3 PC8 Position command bit 8 2 PC4 Position command bit 4 1 PC2 Position command bit 2

4. Communicationn

0 PC1 Position command bit 1

Modbus

) (POSR)

These bits indicate position numbers to be moved using binary codes. Note that the maximum position number varies depending on the model and PIO pattern. [When address = 0D03

After specifying a position number, set the CSTR (start signal) of device control register 1 to 1, and the actuator will move to the specified position. [Refer to 5.5.1 or 6.6.1.]

[When address = 9800

This register is such that once a position number is specified, the actuator will move to the specified position. You need not set the CSTR (start signal).

is used]

(8) Data of total moving count (Address = 8400H) (TLMC)

Bit Symbol Name Function

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10

Total moving count

9 8 7 6 5 4 3 2 1 0

Total moving count

2147202832 1073601416

536800708 268400354 134200177

67108864 33554432 16777216

8388608 4194304 2097152 1048576

524288 262144 131072

65536 32768 16384

8192 4096 2048 1024

512 256 128

64 32 16

8 4 2 1

It shows the total moving count. Total moving count are read out in binary codes. * Corresponding Model: PCON-CA/CFA, SCON-CA,

ERC3

Modbus

4. Communication

ᴾ

(9) Data of total moving distance (Address = 8402

Bit Symbol Name Function

) (ODOM)

Modbus

4. Communicationn

13 12 11 10

9 8 7 6 5 4 3 2 1 0

Total moving distance

2147202832 Total moving distance

1073601416 Total moving distance

536800708 Total moving distance

268400354 Total moving distance

134200177 Total moving distance

67108864 Total moving distance

33554432 Total moving distance

16777216 Total moving distance

8388608 Total moving distance

4194304 Total moving distance

2097152 Total moving distance

1048576 Total moving distance

524288 Total moving distance

262144 Total moving distance

131072 Total moving distance

65536 Total moving distance

32768 Total moving distance

16384

Total moving distance 8192

Total moving distance 4096

Total moving distance 2048

Total moving distance 1024

Total moving distance 512

Total moving distance 256

Total moving distance 128

Total moving distance 64

Total moving distance 32

Total moving distance 16

Total moving distance 8

Total moving distance 4

Total moving distance 2

Total moving distance 1

It shows the total moving distance. Total moving distance are read out in binary codes. * Corresponding Model: PCON-CA/CFA, SCON-CA,

ERC3

Modbus

(10) Data of present time (Address = 841AH(SCON-CA), 8420H(PCON-CA/CFA) (TIMN)

Bit Symbol Name Function

Present time 2147202832

Present time 1073601416

Present time 536800708

Present tiime 268400354

Present time 134200177

Present time 67108864

Present time 33554432

Present time 16777216

Present time 8388608

Present time 4194304

Present time 2097152

Present time 1048576

Present time 524288

Present time 262144

Present time 131072

Present time 65536

Present time 32768

Present time 16384

Present time 8192

Present time 4096

Present time 2048

Present time 1024

Present time 512

Present time 256

Present time 128

Present time 64

Present time 32

Present time 16

Present time 8

Present time 4

Present time 2

Present time 1

It outputs the time of the present time issuance. [1] For the models that are equipped with the calendar

function (RTC), when RTC is set effective, it shows the time of alarm issuance.

[2] When RTC is set ineffective or for the models that is

not equipped with RTC, it shows the time [msec] passed since the power to the controller is turned on.

Ɣ How present time is calculated in 1) The data of present time shows the seconds passed from the origin time (00hr:00min:00sec 1January2000). Passed second from the origin time is expressed with S, passed minute with M, passed hour with H, passed day with D and passed year with Y, and the calculation is conducted with a formula as shown below:

Assuming the second of time is SA, minute is MA, hour is HA, passed day in this year is DA and year is YA, the time can be calculated with a formula as shown below:

ᴾ SA=ᴾ Remainder of S/60 ᴾ MA=ᴾ Remainder of M/60 ᴾ HA=ᴾ Remainder of H/24 ᴾ DA=ᴾ D-(Y×365+L)

Year and day can be figured out by subtracting the number of days in each month from DA.

ᴾ YA=ᴾ Y+2000ᴾ (A.D.)

Example) Assuming present time data is 172C1B8B

;

(1) Convert into decimal numberᾉ S= 172C1B8B

 388766603

(2) Calculate M, H, D, Y and L.

ᴾ M=ᴾ 388766603/60= 6479443 ᴾ H=ᴾ 6479443/60= 107990 ᴾ D=ᴾ 107990/24= 4499 ᴾ Y=ᴾ 4499/365.25= 12 ᴾ L=ᴾ 12/4= 3

(3)

Figure out SA, MA, HA and DA.

ᴾ SA=ᴾ Remainder of 388766603/60= 23 ᴾ MA=ᴾ Remainder of 6479443/60= 43 ᴾ HA=ᴾ Remainder of 107990/24= 14 ᴾ DA=ᴾ 4499-(12×365+3)

=ᴾ (116 days has passed in this year and the time of

alarm issuance is on the day 117.) Year and day = 117 – {31 (Jan) – 29 (Feb) – 31 (Mar)} = 26 (since the number becomes a negative if

days in April is subtracted, the time of present is

on 26April)

ᴾ YA=ᴾ 12+2000= 2012

As figured out with the calculation above, the

4. Communication

present time is 14:43:23 26Apr2012.

(11) Data of total FAN driving time (Address = 842EH (TFAN)

Bit Symbol Name Function

Modbus

31 30 29 28 27 26 25 24 23 22 21 20 19 - Total FAN driving time 524288 18 - Total FAN driving time 262144 17 - Total FAN driving time 131072

4. Communicationn

16 - Total FAN driving time 65536 15 - Total FAN driving time 32768 14 - Total FAN driving time 6384 13 - Total FAN driving time 8192 12 11 - Total FAN driving time 2048 10 - Total FAN driving time 1024

9 - Total FAN driving time 512 8 - Total FAN driving time 256 7 - Total FAN driving time 128 6 - Total FAN driving time 64 5 - Total FAN driving time 32 4 - Total FAN driving time 16 3 - Total FAN driving time 8 2 - Total FAN driving time 4 1 - Total FAN driving time 2 0 - Total FAN driving time 1

Total FAN driving time 2147202832 Total FAN driving time 1073601416 Total FAN driving time 536800708 Total FAN driving time 268400354 Total FAN driving time 134200177 Total FAN driving time 67108864 Total FAN driving time 33554432 Total FAN driving time 16777216 Total FAN driving time 8388608 Total FAN driving time 4194304 Total FAN driving time 2097152 Total FAN driving time 1048576

Total FAN driving time 4096

It shows the Total FAN driving time * Corresponding Model: PCON-CFA

total FAN driving time

are read out in binary codes.

[sec].

(12) Data of device status register 1 (Address = 9005H) (DSS1)

Bit Symbol Name Function

15 EMGS EMG status 0: Emergency stop not actuated

14 SFTY Safety speed enabled

status

13 PWR Controller ready status 0: Controller busy

12 SV Servo ON status 0: Servo OFF

11 PSFL Missed work part in

push-motion operation

10 ALMH Major failure status 0: Normal

9 ALML Minor failure status 0: Normal

8 ABER Absolute error status 0: Normal

7 BKRL Brake forced-release

status

6 - Cannot be used 5 STP Pause status 0: Normal

4 HEND Home return

completion status

3 PEND Position complete

status

2 CEND Load cell calibration

complete

1 CLBS Load cell calibration

status

0 - Cannot be used

1: Emergency stop actuated This bit indicates whether or not the controller is currently in the emergency stop mode due to an emergency stop input, cutoff of the drive source, etc. 0: Safety status disabled 1: Safety status enabled Enable/disable the safety speed of the controller using the “safety speed command bit” of device control register 1.

1: Controller ready This bit indicates whether or not the controller can be controlled externally. Normally this bit does not become 0 (busy).

1: Servo ON The servo ON status is indicated. After a servo ON command is issued, this bit will remain 0 until the servo ON delay time set by a parameter elapses. If the servo cannot be turned ON for some reason even after a servo ON command is received, this bit will remain 0. The RC controller does not accept any movement command while this bit is 0. 0: Normal 1: Missed work part in push-motion operation This bit turns 1 when the actuator has moved to the end of the push band without contacting the work part (= the actuator has missed the work part) according to a push-motion operation command. Operation commands other than push-motion do not change this bit.

1: Major failure alarm present This bit will turn 1 if any alarm at the cold start level or operation cancellation level is generated. Alarms at the operation cancellation level can be reset by using an alarm reset command, but resetting alarms at the cold start level requires turning the power supply off and then on again.

1: Minor failure alarm present This bit will turn 1 when a message level alarm is generated.

1: Absolute error present This bit will turn 1 if an absolute error occurs in case the absolute specification is set. 0: Brake actuated 1: Brake released This bit indicates the status of brake operation. Normally the bit remains 1 while the servo is ON. Even when the servo is OFF, changing the “brake forced-release command bit” in device control register 1 to 1 will change this bit to 1.

1: Pause command active This bit remains 1 while a pause command is input. If the PIO/Modbus Switch Setting (5.4.16 or 6.5.16) is PIO enabled, paused PIO signals are monitored (set the switch to AUTO in case of RC controllers with a mode toggle switch). If Modbus is enabled, the Pause Commands (5.4.6 or 6.5.6) are monitored. 0: Home return not yet complete 1: Home return complete This bit will become 1 when home return is completed. In case the absolute specification is set, the bit is set to 1 from the startup if absolute reset has been completed. If a movement command is issued while this bit is 0, an alarm will generate. 0: Positioning not yet complete 1: Position complete This bit turns 1 when the actuator has moved close enough the target position and entered the positioning band. It also turns 1 when the servo turns on after the actuator has started, because the controller recognizes that the actuator has completed a positioning to the current position. This bit will also become 1 during the push-motion operation as well as at the completion. 0: Calibration not yet complete 1: Calibration complete This bit turns 1 when the load cell calibration command (CLBR) has been successfully executed. 0: Calibration not yet complete 1: Calibration complete Regardless of whether or not a load cell calibration command has been issued, this bit is 1 as long as a calibration has completed in the past.

Modbus

4. Communication

(13) Data of device status register 2 (Address = 9006H) (DSS2)

Bit Symbol Name Function

Modbus

15 ENBS Enable 0: Disable condition(Operation Stop, Servo OFF)

14 - Cannot be used 13 LOAD Load output judgment

12 TRQS Torque level status 0: Normal

4. Communicationn

11 MODS Teaching mode status 0: Normal operation mode

10 TEAC Position-data load

9 JOG+ Jog+ status 0: Normal

8 JOG- Jog- status 0: Normal

7 PE7 Position complete 7

6 PE6 Position complete 6

5 PE5 Position complete 5

4 PE4 Position complete 4

3 PE3 Position complete 3

2 PE2 Position complete 2

1 PE1 Position complete 1

0 PE0 Position complete 0

status

command status

1: Enable condition (normal operation) It shows the condition of the enable switch when a teaching tool that is equipped with an enable switch (dead man’s switch) is connected to a model that has the enable function equipped.

(Note) It is fixed to 1 when in AUTO Mode or for a model without the enable

function being equipped.

0: Normal 1: Load output judgment If a load current threshold or check range (individual zone boundaries: only supported by PCON-CF) is set when a movement command is issued, this bit indicates whether or not the motor current has reached the threshold inside the check range. This bit maintains the current value until the next position command is received.

1: Torque level achieved This bit turns 1 when the current has reached a level corresponding to the specified push torque during a push-motion operation. Since this bit indicates a level, its status will change when the current level changes.

1: Teaching mode This bit becomes 1 when the teaching mode is selected by the “teach mode command bit” of device control register 2. 0: Normal 1: Position data load complete Setting the “position-data load command bit” in device control register 2 to 1 will change this bit to 0. This bit will turn 1 once position data has been written to the EEPROM successfully.

1: “Jog+” command active This bit becomes 1 while the “jog+ command bit” of device control register 2 is selected.

1: “Jog-“ command active This bit becomes 1 while the “jog- command bit” of device control register 2 is selected. These bits output a position complete number as a binary value in PIO pattern 4 or 5 (solenoid valve mode). Each of these bits turns 1 when the actuator has completed a position movement and become close enough to the target position by entering the positioning band according to a position movement command (ST0 to ST7 in device control register 2). Although the bit turns 0 once the servo is turned OFF, when the servo is turned ON again the bit will turn 1 if the actuator is still within the positioning band of the specified command position data. Moreover, they will become 1 when push-motion is completed or missed in push-motion operation.

(14) Data of expansion device status register (Address = 9007H) (DSSE)

Bit Symbol Name Function

15 EMGP Emergency stop status 0: Emergency stop input OFF

14 MPUV Motor voltage low status 0: Normal

13 RMDS Operation mode status 0: AUTO mode

12 - Cannot be used 11 GHMS Home return status 0: Normal

10 PUSH Push-motion operation

in progress

9 PSNS Excitation detection

status

8 PMSS PIO/Modbus switching

status

7 - Cannot be used 6 Cannot be used 5 MOVE Moving signal 0: Stopped

4 - Cannot be used 3 - Cannot be used 2 - Cannot be used 1 Cannot be used 0 - Cannot be used

1: Emergency stop input ON This bit indicates the status of the emergency stop input port.

1: Motor drive source cut off This bit becomes 1 if there is no input from the motor drive power supply.

1: Home return This bit remains 1 for as long as home return is in progress. This bit will be 0 in other cases. 0: Normal 1: Push-motion operation in progress This bit remains 1 while the actuator is performing a push-motion operation (excluding an approach operation. It will turn 0 under the following conditions:

1. The actuator has missed the push motion operation.

2. The actuator has paused.

3. The next movement command has been issued.

4. The servo has turned OFF. 0: Excitation detection not yet complete

1: Excitation detection complete PCON/ERC2, ERC3 Series controllers perform excitation detection at the first servo ON command received after the controller has started. This bit becomes 1 when excitation detection is completed. This bit remains 0 if the excitation detection has failed. Even after a successful detection, the bit will return to 0 when a software reset is performed. This bit becomes 1 if pole sensing is performed with the first servo ON command after startup and the operation is completed in case of ACON series controllers. On SCON Series controllers, this bit is always 0. 0: PIO commands enabled 1: PIO command disabled The result of switching according to the PIO/Modbus switching setting explained in 5.4.16 or 6.5.16, or the current status, is indicated.

1: Moving This bit indicates whether or not the actuator is moving (conditions during home return and push-motion operation included). This bit remains 0 while the actuator is paused.

Modbus

4. Communication

(15) Data of system status registers (Address = 9008H) (STAT)

Bit Symbol Name Function

30 to 18 - Cannot be used

17 ASOF Auto servo OFF 0: Normal

16 AEEP

4. Communicationn

15 to 5 - Cannot be used

4 RMDS Operation mode status 0: AUTO mode

3 HEND Home return completion

2 SV Servo status 0: Servo OFF

1 SON Servo command status 0: Servo OFF

0 MPOW Drive source ON 0: Drive source cut off

BATL Absolute Battery Voltage

Drop (for SCON only)

Nonvolatile memory being accessed

status

Modbus

0: In normal conditionᴾ ᴾ 1: Battery voltage drop It becomes 1 once the voltage of the absolute battery reaches below the alarm level. The operation of the axes can be held even if this bit is showing 1 as far as Critical Failure Status Bit in Device Status Register 1 is showing 0.

1: Auto servo OFF If “Auto servo OFF delay time” is set with a parameter of the RC controller, this bit becomes 1 when the servo is turned OFF automatically after the specified time has elapsed following the position complete. 0: Normal 1: Nonvolatile memory being accessed This bit turns 1 as soon as the nonvolatile memory in the RC controller is accessed to read or write the controller’s parameter position table, etc. The bit becomes 0 when the access is completed or a timeout error occurs.

1: MANU mode This bit becomes 1 when the RC controller is in the MANU mode. Note that the controller is always in the MANU mode in cases of models not equipped with an operation mode switch (ERC2, PCON-SE/CY and ACON-SE/CY). 0: Home return not yet complete 1: Home return completion This bit will become 1 when home return is completed. In case the absolute specification is set, the bit is set to 1 from the startup if absolute reset has been completed. If a movement command is issued while this bit is 0, an alarm will generate.

1: Servo ON This bit indicates the servo ON/OFF command status. This bit will turn 1 when the following conditions are met: x The EMG status bit in device status register 1 is 0.

[Refer to 5.3.11 or 6.4.11.]

x The major failure status bit in device status register 1 is 0.

[Refer to 5.3.11 or 6.4.11.]

x The enable status bit in device status register 2 is 1.

[Refer to 5.3.12 or 6.4.12.]

x The auto servo OFF status in the system status register is 0.

[Refer to 5.3.14 or 6.4.14.]

1: Normal This bit will turn 0 when the motor drive-source cutoff terminal is released.

(16) Data of special port monitor registers (Address = 9012H) (SIPM)

Bit Symbol Name Function

15 - Cannot be used 14 NP Command pulse NP signal

status 13 - Cannot be used 12 PP Command pulse PP signal

status 11 - Cannot be used 10 - Cannot be used

9 - Cannot be used 8 MDSW Mode switch status 0: AUTO mode

7 - Cannot be used 6 - Cannot be used 5 - Cannot be used 4 BLCT Belt breakage sensor

(SCON only)

3 HMCK Home-check sensor monitor 0: Sensor OFF

2 OT Overtravel sensor monitor 0: Sensor OFF

1 CREP Creep sensor monitor 0: Sensor OFF

0 LS Limit sensor monitor 0: Sensor OFF

This bit indicates the status of the command pulse NP signal.

This bit indicates the status of the command pulse PP signal.

0: Belt broken 1: Normal

1: Sensor ON On a model equipped with a home-check sensor function, this bit indicates the status of sensor input. It is always 0 on any other model.

1: Sensor ON This bit indicates the status of the overtravel sensor signal in the encoder connector. It is always 0 on a model not equipped with an overtravel sensor.

1: Sensor ON This bit indicates the status of the creep sensor signal in the encoder connector. It is always 0 on a model not equipped with a creep sensor.

1: Sensor ON This bit indicates the status of the limit sensor signal in the encoder connector. It is always 0 on a model not equipped with a limit sensor.

Modbus

4. Communication

(17) Data of zone status register (Address = 9013H) (ZONS)

Bit Symbol Name Function 15 - Cannot be used 14 LS2 Limit sensor output monitor 2

13 LS1 Limit sensor output monitor 1

4. Communicationn

12 LS0 Limit sensor output monitor 0

11 - Cannot be used 10 - Cannot be used

9 - Cannot be used 8 ZP Position zone output

7 - Cannot be used 6 - Cannot be used 5 - Cannot be used 4 - Cannot be used 3 - Cannot be used 2 - Cannot be used 1 Z2 Zone output monitor 2 0: Out of range

0 Z1 Zone output monitor 1 0: Out of range

(PCON-C/CG/CA/CFA,

ACON-C/CG,

SCON

PIO pattern 5)

(PCON-C/CG/CA/CFA,

ACON-C/CG,

SCON

PIO pattern 5)

(PCON-C/CG/CA/CFA,

ACON-C/CG,

SCON

PIO pattern 5)

monitor

Modbus

0: Out of range 1: In range The negative boundary of the positioning band is obtained by subtracting the positioning band size from target position No. 2 while the positive boundary of the positioning band is obtained by adding the positioning band size to target position No. 2. This bit will become 1 when the current position is within the band and 0 when it is outside the band. This bit becomes effective upon home return completion. It remains effective even while the servo is OFF. 0: Out of range 1: In range The negative boundary of the positioning band is obtained by subtracting the positioning band size from target position No. 1 while the positive boundary of the positioning band is obtained by adding the positioning band size to target position No. 1. This bit remains 1 as long as the current position is within these boundaries. This bit will become 1 when the current position is within the band and 0 when it is outside the band. This bit becomes effective upon home return completion. It remains effective even while the servo is OFF. 0: Out of range 1: In range The negative boundary of the positioning band is obtained by subtracting the positioning band size from target position No. 0 while the positive boundary of the positioning band is obtained by adding the positioning band size to target position No. 0. This bit remains 1 as long as the current position is within these boundaries. This bit will become 1 when the current position is within the band and 0 when it is outside the band. This bit becomes effective upon home return completion. It remains effective even while the servo is OFF.

0: Out of range 1: In range This bit remains 1 while the current position is within the zone range specified for each position and becomes 0 when it is outside the range. This bit becomes effective upon home return completion. It remains effective even while the servo is OFF.

1: In range This bit remains 1 while the current position is within the range where the zone boundary 2 parameter is set and becomes 0 when it is outside the range. This bit becomes effective upon home return completion. It remains effective even while the servo is OFF.

1: In range This bit remains 1 while the current position is within the range where the zone boundary 1 parameter is set and becomes 0 when it is outside the range. This bit becomes effective upon home return completion. It remains effective even while the servo is OFF.

(18) Data of position number status register (Address = 9014H) (POSS)

Bit Symbol Name Function

15 - Cannot be used 14 - Cannot be used 13 - Cannot be used 12 - Cannot be used 11 - Cannot be used 10 - Cannot be used

9 PM512 Position complete number

status bit 512

8 PM256 Position complete number

status bit 256

7 PM128 Position complete number

status bit 128

6 PM64 Position complete number

status bit 64

5 PM32 Position complete number

status bit 32

4 PM16 Position complete number

status bit 16

3 PM8 Position complete number

status bit 8

2 PM4 Position complete number

status bit 4

1 PM2 Position complete number

status bit 2

0 PM1 Position complete number

status bit 1

These bits indicate position numbers for which positioning has been completed (valid in cases other than PIO patterns 4 and 5 (solenoid valve mode)). The position complete is read as binary code. It becomes possible to read position complete numbers when the current position gets close to the target position (within the positioning band in either the positive or negative directions). 0 is read in other cases. Although all the bits will change to 0 once the servo turns OFF, the position complete becomes valid again if the current position is still inside the positioning band when the servo is turned ON subsequently. In push-motion, the position complete numbers can be read at both the completion and miss of push-motion.

Modbus

4. Communication

(19) Data of expansion system status register (Address = 9015H) (SSSE)

Bit Symbol Name Function

15 - Cannot be used ᴾ 14 - Cannot be used ᴾ 13 - Cannot be used ᴾ 12 - Cannot be used ᴾ 11 ALMC Cold start level alarm 0: Normal

9 8 RTC RTC (calendar) function

7 6

4. Communicationn

5 4 3 2 1 0

ᴾ

Cannot be used ᴾ

㧙

Cannot be used

㧙

use

Cannot be used

㧙

Cannot be used

㧙

Cannot be used

㧙

Cannot be used

㧙

Cannot be used

㧙

Cannot be used

㧙

Cannot be used

㧙

Cannot be used

㧙

Modbus

1: Cold level start alarm in occurrence It becomes 1 when the cold start level alarm is being occurred. It is necessary to cancel the cause of the alarm issuance and reboot the power in order to resume the operation.

0:RTC (calendar) function not in use 1: RTC (calendar) function use * Corresponding Model: ERC3, PCON-CA/CFA

4.3.3 Structure of Modbus Status Registers

The layout of the Modbus status registers is shown below.

ᴾ

ᵎᵎᵎᵎ

ᵦ

ᴾ

ᵎᵏᵎᵎᵦᴾ

῍ᴾ

ᵎᵏᵎᵤᵦᴾ ᵎᵏᵏᵎᵦᴾ

῍ᴾ

ᵎᵏᵏᵤᵦᴾ ᵎᵏᵐᵎᵦᴾ

῍ᴾ

ᵎᵏᵐᵤᵦᴾ ᵎᵏᵑᵎᵦᴾ

῍ᴾ

ᵎᵏᵑᵤᵦᴾ ᵎᵏᵒᵎᵦᴾ

῍ᴾ

ᵎᵏᵒᵤᵦᴾ ᵎᵏᵓᵎᵦᴾ

῍ᴾ

ᵎᵏᵓᵤᵦᴾ ᵎᵏᵔᵎᵦᴾ

῍ᴾ

ᵎᵏᵔᵤᵦᴾ ᵎᵏᵕᵎᵦᴾ

῍ᴾ

ᵎᵏᵕᵤᵦᴾ ᵎᵏᵖᵎᵦᴾ

῍ᴾ

ᵎᵏᵖᵤᵦᴾ

ᴾ (Reserved for system)

ᵎᵒᵎᵎᵦᴾ

῍ᴾ

ᵎᵒᵎᵤᵦᴾ ᵎᵒᵏᵎᵦᴾ

῍ᴾ

ᵎᵒᵏᵤᵦᴾ ᵎᵒᵐᵎᵦᴾ

῍ᴾ

ᵎᵒᵐᵤᵦᴾ ᵎᵒᵑᵎᵦᴾ

῍ᴾ

ᵎᵒᵑᵤᵦᴾ

ᴾ

ᵤᵤᵤᵤᵦᴾ

(Reserved for system)

Device status register 1

[DSS1]

Device status register 2

[DSS2]ᴾ

Expansion device status register

[DSSE]ᴾ

Position number status register

[POSS]ᴾ

Zone status register

[ZONS]ᴾ

Input port monitor register

[DIPM]ᴾ

Output port monitor register

[DOPM]ᴾ

Special input port register

[SIPM]ᴾ

Expansion system status registerᴾ

[SSSE]

Device control register 1

[DRG1]ᴾ

Device control register 2

[DRG2]ᴾ

Expansion device control register

[DRGE]ᴾ

Position number specification register

[POSR]ᴾ

(Reserved for system)

(Note)

Modbus

ᴾ

4. Communication

ᴾ

Note Areas reserved for the system cannot be used for communication.

4.3.4 Data of Modbus Status Registers

Modbus

[HEX]

0000 to 0CFF

0100 EMG status EMGS 0101 Safety speed enabled status SFTY 0102 Controller ready status PWR 0103 Servo ON status SV 0104 Missed work part in push-motion operation PSFL 0105 Major failure status ALMH 0106 Minor failure status ALML 0107 Absolute error status ABER 0108 Brake forced-release status BKRL 0109 Cannot be used 010A Pause status STP 010B Home return status HEND 010C Position complete status PEND

4. Communicationn

010D Load cell calibration complete CEND 010E Load cell calibration status CLBS 010F 0110 Cannot be used 0111 Cannot be used 0112 Load output judgment status LOAD 0113 Torque level status TRQS 0114 Teaching mode status MODS 0115 Position-data load command status TEAC 0116 Jog+ status JOG+ 0117 Jog- status JOG0118 Position complete 7 PE7 0119 Position complete 6 PE6 011A Position complete 5 PE5 011B Position complete 4 PE4 011C Position complete 3 PE3 011D Position complete 2 PE2 011E Position complete 1 PE1 011F 0120 Emergency stop status EMGP 0121 Motor voltage low status MPUV 0122 Operation mode status RMDS 0123 Cannot be used 0124 Home return status GHMS 0125 Push-motion operation in progress PUSH 0126 Excitation detection status PSNS 0127 PIO/Modbus switching status PMSS 0128 Cannot be used 0129 Cannot be used 012A Moving signal MOVE 42 42

012B to 012F

Area name Description Symbol

Reserved for system Device status register 1 (DSS1)

Cannot be used

Device status register 2 (DSS2)

Position complete 0 PE0

Expansion device status register (DSSE)

Cannot be used

Reference page Address

RTU ASCII

(88) (216)

40 40

(90)

(218)

(92) (220)

42 42

Modbus

Area name Description Symbol

[HEX]

0130 to 0135

0136 Position complete number status bit 512 PM512 0137 Position complete number status bit 256 PM256 0138 Position complete number status bit 128 PM128

Position number status register (POSS)

Cannot be used

Reference page Address

RTU ASCII

(108)

(236)

0139 Position complete number status bit 64 PM64 013A Position complete number status bit 32 PM32 013B Position complete number status bit 16 PM16 013C Position complete number status bit 8 PM8 013D Position complete number status bit 4 PM4 013E Position complete number status bit 2 PM2 013F 0140 Cannot be used 0141 Limit sensor output monitor 2 LS2 0142 Limit sensor output monitor 1 LS1

Zone status register (ZONS)

Position complete number status bit 1 PM1

(106)

(234)

45 45

0143 Limit sensor output monitor 0 LS0

0144 to 0146

Cannot be used

0147 Position zone output monitor ZP 45 45

0148 to 014D

014E Zone output monitor 2 Z2 014F

0150 to 015F

0160 to 016F

0170 Cannot be used 0171 Command pulse NP signal status NP 44 44 0172 Cannot be used 0173 Command pulse PP signal status PP 44 44

0174 to 0176

Input port monitor register (DIPM) Output port monitor register (DOPM) Special input port monitor register (SIPM)

Cannot be used

45 Zone output monitor 1 Z1 PIO connector pin numbers 20A (IN15) to 5A

80 208

(IN0)

PIO connector pin numbers 16B (OUT15) to

84 212

1B (OUT0)

(104)

(232)

Cannot be used

0177 Mode switch status MDSW 44 44

0178 to 017A

Cannot be used

017B Belt breakage sensor monitor BLCT 44 44 017C Home-check sensor monitor HMCK

44 017D Overtravel sensor OT 017E Creep sensor CREP 017F

0180 to 0183

0184

0185 to 0186

0187

0188 to 018F

0190 to 03FF

Expansion system status register (SSSE)

Reserved for system

Limit sensor LS Cannot be used (10) (238)

Cold start level alarm

ALMO 47 47

Cannot be used RTC in use (Dedicated for ERC3 and PCON-CA/CFA)

RTC 47 47

Cannot be used

4. Communication

Modbus

[HEX]

0400 EMG operation specification EMG 0401 Safety speed command SFTY 0402 Cannot be used 0403 Servo ON command SON 33 33

0404 to 0406

0407 Alarm reset command ALRS 0408 Brake forced-release command BKRL 0409 Cannot be used 040A Pause command STP 040B Home return command HOME 040C Positioning start command CSTR

040D to 040F

0410 Cannot be used 0411 Jog/inch switching JISL 34 34

0412 to 0413

0414 Teaching mode command MOD 0415 Position data load command TEAC

4. Communicationn

0416 Jog+ command JOG+ 0417 Jog command JOG0418 Start position 7 ST7 0419 Start position 6 ST6 041A Start position 5 ST5 041B Start position 4 ST4 041C Start position 3 ST3 041D Start position 2 ST2 041E Start position 1 ST1 041F

0420 to 0425

0426 Load cell calibration command CLBR 142 270 0427 PIO/Modbus switching specification PMSL 144 272

0428 to 042B

042C Deceleration stop STOP 146 274

042D to 042F 0430 to 0435

0436 Position command bit 512 PC512 0437 Position command bit 256 PC256 0438 Position command bit 128 PC128 0439 Position command bit 64 PC64 043A Position command bit 32 PC32 043B Position command bit 16 PC16 043C Position command bit 8 PC8 043D Position command bit 4 PC4 043E Position command bit 2 PC2 043F

0440 to FFFF

Area name Description Symbol

Device control register 1 (DRG1)

Cannot be used

Device control register 2 (DRG2)

Cannot be used

Start position 0 ST0

Expansion device control register (DRGE)

Cannot be used

Position number specification register (POSR)

Cannot be used

Position command bit 1 PC1

Reserved for system

Reference page Address

RTU ASCII

(149) (276)

33 33

(149)

(276)

(149)

(276)

5 Modbus RTU

Modbus

5. Modbus RTU

Modbus

5.1 Message Frames (Query and Response)

Start Address Function code Data CRC Check End

Silent

interval

(1) Start

This field contains a silent interval (non communication time) of 3.5 characters or longer. (1 character = 10 bits) Example: In case of 9600 bps, (10 x 3.5) bits x 1/9600 bps = 3.65 ms Note If the response timeout error occurs, change parameter No. 45, “Silent interval

(2) Address

This field specifies the addresses of connected RC controllers (01 Address = axis number + 1

1 byte 1 byte n byte 2 byte

multiplier” or No. 17, “Min. delay for activating local transmitter” using the IAI teaching tool as required.

to 10H).

Silent

interval

5. Modbus RTU

Caution: The address is not equal to the corresponding axis number: be careful when

making settings.

(3) Function

The table below summarizes the function codes and functions that can be used with RC controllers.

Code [Hex]

Name Function

01H Read Coil Status Read coils/DOs. 02H Read Input Status Read input statuses/DIs. 03

Read Holding Registers Read holding registers.

04H Read Input Registers Read input registers. 05 06

Force Single Coil Write one coil/DO.

Preset Single Register Write holding register.

07H Read Exception Status Read exception statuses.

0FH Force Multiple Coils Write multiple coils/DOs at once.

Preset Multiple Registers Write multiple holding registers at once.

11H Report Slave ID Query a slave’s ID. 17H Read / Write Registers Read/write registers.

Note This manual explains about mark function codes. (Reference) The ROBONET gateway supports three types of function codes (03H, 06Hand

10H). [Please refer to the separate ROBONET Operation Manual.]

Modbus

(4) Data

Use this field to add data specified by a function code. It is also allowed to omit data if data addition is not specified by a function code.

(5) CRC check

In the RTU mode, an error check field confirming to the CRC method is automatically

(Note)

included in order to check contents of all messages. Moreover, checking is carried out regardless of the parity check method of individual characters in messages. The CRC check consists of 16-bit binary values. The CRC value is calculated by the sender that appends the CRC field to a message. The recipient recalculates the CRC value again while receiving the message, and compares the calculation result against the actual value received in the CRC field. If the two values do not match, an error will generate. (Note) When using a PC or a PLC not supporting Modbus are used as the host, it is

necessary to create a function for calculating CRC.

Programs written in C language are included in 10, “CRC Check Calculation.” Generation polynomial equation: x 16 + x15 + x2 + 1 (CRC-16 method)

(Reference) CRC calculation is automatically carried out with the FINS command supporting

Modbus RTU communication of the PLC CJ1 series made by Omron.

(6) End

This field contains a silent interval (non communication time) of 3.5 characters or longer.

(Note) If the response timeout error occurs, change parameter No. 45, “Silent interval

multiplier” or No. 17, “Min. delay for activating local transmitter” using the IAI’s teaching tools as required.

(7) Broadcast

It is possible to send a query containing same data to all connected axes by specifying the address 00

. In this case, no response is returned from an RC controller.

Note, however, that the function codes etc. that can be used with this function are limited; care should be taken when using the function. Please check the function codes that can be used in 5.2, “List of RTU Mode Queries.”

5. Modbus RTU

RC controller (slave)

PLC (master)

Address = 00H (command all axes)

RC controller (slave)

Fig. 5.1

5. Modbus RTU

Modbus

Caution The sizes of send/receive buffers are set to 256 bytes for an RC controller, respectively. Make

sure to keep the messages small enough such that messages sent from the host side do not exceed the receive buffer and data requests do not exceed send buffer.

Modbus

5.2 List of RTU Mode Queries

FC: Function code PIO: Parallel I/O (input/output of an I/O connector) The circle marks in the Combination use with PIO and Broadcast columns indicate queries that can be combined with PIO and in broadcast communication, respectively.

FC Function Symbol Function Summary

Multiple FC03

Alarm detail description reading

03 Total moving count

reading

03 Total moving

distance reading

Present time reading

03 Total FAN driving

time reading Current position

read Present alarm code

read I/O port input status

read I/O port output

status read

None

ALA0 ALC0 ALT0

TLMC This bit reads the Total moving count.

ODOM

TIMN

TFAN

PNOW

ALMC

DIPM

DOPM

This function can be used to successively read multiple registers that use function 03. This bit reads the alarm codes, alarm addresses, detail codes and alarm occurrence time (passed time) that lately occurred.

This bit reads the Total moving distance in units of 1 m.

This bit reads the present time. (Dedicated for PCON-CA/CFA and SCON-CA)

This bit reads the Total FAN driving time. (Dedicated for PCON-CFA ) This function reads the current actuator position in units of 0.01 mm. This function reads alarm codes that are presently detected. This function reads the ON/OFF statuses of PIO input ports. This function reads the ON/OFF statuses of PIO output ports. This function reads the following 12 statuses: [1] Emergency stop [2] Safety speed enabled/disabled [3] Controller ready [4] Servo ON/OFF [5] Missed work part in push-motion

Controller status signal read 1

(device status 1)

(Operation preparation status)

DSS1

operation [6] Major failure [7] Minor failure [8] Absolute error [9] Brake [10] Pause [11] Home return completion [12] Position complete [13] Load cell calibration complete [14] Load cell calibration status

Combination

with PIO

{

Broad-

cast

Page

5. Modbus RTU

Modbus

FC Function Symbol Function Summary

5. Modbus RTU

Controller status signal read 2 (device status 2)

(Operation preparation 1 status)

Controller status signal read 3

(extended device status) (Operation preparation 2 status)

Controller status signal read 4

(System status) (Controller status)

Current speed read

Current read

Deviation read

Total power on time read

Special input port input signal status read

(Sensor input status)

DSS2

DSSE

STAT

VNOW

CNOW

DEVI

STIM

SIPM

This function reads the following 15 statuses: [1] Enable [2] Load output judgment (check-range

load current threshold) [3] Torque level (load current threshold) [4] Teaching mode (normal/teaching) [5] Position data load (normal/complete) [6] Jog+ (normal/command active) [7] Jog- (normal/command active) [8] Position complete 7 [9] Position complete 6 [10] Position complete 5 [11] Position complete 4 [12] Position complete 3 [13] Position complete 2 [14] Position complete 1 [15] Position complete 0 This function reads the following 9 statuses: [1] Emergency stop (emergency stop input

port) [2] Motor voltage low [3] Operation mode (AUTO/MANU) [4] Home return [5] Push-motion operation in progress [6] Excitation detection [7] PIO/Modbus switching [8] Position-data write completion status [9] Moving This function reads the following 7 statuses: [1] Automatic servo OFF [2] Nonvolatile memory being accessed [3] Operation mode (AUTO/MANU) [4] Home return completion [5] Servo ON/OFF [6] Servo command [7] Drive source ON (normal/cut off)

This function reads the current actuator speed in units of 0.01 mm/sec.

This function reads the motor-torque current command value of the actuator in mA.

This function reads the deviation over a 1-ms period in pulses.

This function reads the total time in msec since the controller power was turned on.

This function reads the following 8 statuses: [1] Command pulse NP [2] Command pulse PP [3] Mode switch [4] Belt breakage sensor [5] Home check sensor [6] Overtravel sensor [7] Creep sensor [8] Limit sensor

Combination

with PIO

{

Broad-

cast

Page

100

102

104

Modbus

FC Function Symbol Function Summary

This function reads the following 6 statuses: [1] LS2 (PIO pattern solenoid valve mode

[3-point type] [2] LS1 (PIO pattern solenoid valve mode

Zone output signal

read

Positioning

completed position number read

Controller status

signal read 5

Force feedback data

write Safety speed

enable/disable switching

05 Servo ON/OFF SON

05 Alarm reset ALRS

Forced brake

release

05 Pause STP This function issues a pause command.

05 Home return HOME

Positioning

operation start

05 Jog/inch switching JISL

Teaching mode

command Position data load

command

05 Jog+ command JOG+

05 Jog- command JOG-

ZONS

POSS

SSSE

FBFC

SFTY

BKRL

CSTR

MOD

TEAC

[3-point type] [3] LS0 (PIO pattern solenoid valve mode

[3-point type] [4] Position zone [5] Zone 2 [6] Zone 1 This function reads the following 9 statuses: [1] Position complete number bit 256 [2] Position complete number bit 128 [3] Position complete number bit 64 [4] Position complete number bit 32 [5] Position complete number bit 16 [6] Position complete number bit 8 [7] Position complete number bit 4 [8] Position complete number bit 2 [9] Position complete number bit 1

This function reads the following 2 statuses: [1] Cold start level alarm occurred/not

occurred [2] RTC (calendar) function used/not used (ERC3, PCON-CA/CFA type only)

The current measurement on the load cell is read in units of 0.01 N.

This function issues a command to enable/disable the safety speed.

This function issues a command to turn the servo ON/OFF. This function issues a command to reset alarms/cancel the remaining travel. This function issues a command to forcibly release the brake.

This function issues a home return operation command. This signal starts a position number specified movement. This function switches between the jogging mode and the inching mode This function switches between the normal mode and the teaching mode This function issues a current position load command in the teaching mode. This function issues a jogging/inching command in the direction opposite home. This function issues a jogging/inching command in the direction of home.

Combination

with PIO

{

Broad-

106

108

110

cast

112

{

Page

116

118

120

122

124

126

128

130

132

134

136

138

5. Modbus RTU

Modbus

FC Function Symbol Function Summary

05 Deceleration stop STOP

5. Modbus RTU

Indeterminable

Start position 0 to 7 <<ST0 to ST7>> move command

Load cell calibration command

PIO/Modbus switching setting

ST0 to

ST7

CLBR Calibrate the load cell.

PMSL

Direct control information write

Numerical movement command

Position data table write

None

Exception response None

This function specifies position numbers effective only in the solenoid valve mode. The actuator can be operated with this command alone

(note)

This function issues a command to enable/disable PIO external command signals.

This function can decelerate the actuator to a stop. Change (write) the content of the controller’s register. This function can be used to send the target position, positioning band, speed, acceleration/deceleration, push, and control setting in a single message to operate the actuator. Normal movement, relative movement and push-motion operation are supported. This function can be used to change all data of the specified position number for the specified axis. This response will be returned when the message contains invalid data.

Combination

with PIO

Broad-

cast

{

Page

140

142

144

146

149

153

171

306

Modbus

5.3. Data and Status Reading (Queries Using Code 03)

5.3.1 Reading Consecutive Multiple Registers

(1) Function

These registers read the contents of registers in a slave.

This function is not supported in broadcast communication.

(2) Start address list

With RC Series controllers, the sizes of send/receive buffers are set to 256 bytes, respectively. Accordingly, a maximum of 125 registers’ worth of data consisting of 251 bytes (one register uses two bytes), except 5 bytes (slave address + function code + number of data bytes + error check) of the above 256 bytes, can be queried in the RTU mode. In other words, all of the data listed below (total 21 registers) can be queried in a single communication. It is also available to refer to multiple registers of the addresses in a row at one time of sending and receiving.

Address [H] Symbol Name Sign Register size Byte

0500 ALA0 Alarm detail code 0501 ALA0 Alarm address 0502 - Always 0

0503 ALC0 Alarm code 0504,0505 ALT0 Alarm occurrence time 8400,8401 TLMC Total moving count 8402,8403 ODOM Total moving distance

841A,841B TIMN Present time(dedicated for SCON-CA)

8420,8421 TIMN

842E,842F TFAN

9000, 9001 PNOW Current position monitor

9002 ALMC Present alarm code query 1 2

9003 DIPM Input port query 1 2

9004 DOPM Output port monitor query 1 2

9005 DSS1 Device status query 1 1 2

9006 DSS2 Device status query 2 1 2

9007 DSSE Expansion device status query 1 2

9008, 9009 STAT System status query 2 4 900A, 900B VNOW Current speed monitor 900C, 900D CNOW Current ampere monitor

900E, 900F DEVI Deviation monitor

9010, 9011 STIM System timer query 2 4

9012 SIPM Special input port query 1 2 9013 ZONS Zone status query 1 2 9014 POSS Position complete number status query 1 2 9015 SSSE Expansion system status register 1 2

901E FBFC Force feedback data monitor

Note 1 Dedicated for PCON-CA/CFA, SCON-CA and ERC3

Present time (dedicated for PCON-CA/CFA) Total fan driving time (dedicated for PCON-CFA)

(Note1)

1 2 1 2

- 1 2 1 2 2 4 2 4 2 4 2 4

2 4

{

{ { {

{

2 4

2 4 2 4 2 4

2 4

5. Modbus RTU

(3) Query format

(4) Response format

5. Modbus RTU

Number of data bytes [H] 1 Total number of bytes of

Modbus

In a query message, specify the address of the register from which to start reading data, and number of bytes in registers to be read. 1 register (1 address) = 2 bytes = 16-bit data

Field RTU mode

8-bit data

Start None Silent interval Slave address [H] Arbitrary 1 Axis No. + 1 (01H to 10H) Function code [H] 03 1 Register reading code

Start address [H] Arbitrary 2 Refer to 5.3.1 (2),

Number of registers [H] Arbitrary 2 Refer to the start address

Error check [H] CRC (16 bits) 2

End None Silent interval

Total number of bytes 8

Field RTU mode

8-bit data

Start Silent interval Slave address [H] Arbitrary 1 Axis No. + 1 (01H to 10H) Function code [H] 03 1 Register reading code

Data 1 [H] Number of bytes of

Data 2 [H] Number of bytes of

Data 3 [H] Number of bytes of

Data 4 [H] Number of bytes of

: : : :

Error check [H] CRC (16 bits) 2 Silent interval

End None

Total number of bytes 256 max.

Number of data items

(number of bytes)

Number of data items

(number of bytes)

query

Remarks

”Start address list”

list.

Remarks

registers specified in the

query

(5) Query sample

A sample query that queries addresses 9000 z Query (silent intervals are inserted before and after the query)

01 03 90 00 00 0A E8 CD

Field RTU mode

Start Silent interval Slave address [H] 01 Function code [H] 03

Start address [H] 9000

Number of registers [H] 000A (10 registers)

Error check [H] E8CD (in accordance with

End Silent interval

The response to the query is as follows.

z Response (silent intervals are inserted before and after the response)

01 03 14 00 00 00 00 00 00 00 00 6E 00 60 18 80 00 23 C7 00 00 00 19 18 A6

Field RTU mode

Start Silent interval Slave address [H] 01 Function code [H] 03

Number of data bytes [H] 14 (20 bytes = 10 registers)

Data 1 [H] 00 00 00 00 (current position monitor) Data 2 [H] 00 00 (present alarm code query) Data 3 [H] 00 00 (input port query) Data 4 [H] 6E 00 (output port query) Data 5 [H] 60 18 (device status 1 query) Data 6 [H] 80 00 (device status 2 query) Data 7 [H] 23 C7 (expansion device status query) Data 8 [H] 00 00 00 19 (system status query)

Error check [H]

End Silent interval

Note If the response example is simply an example and will vary depending on

various conditions.

to 9009H of a controller of axis No. 0 is shown below.

8-bit data

CRC calculation)

8-bit data

18A6 (in accordance with CRC calculation)

Modbus

5. Modbus RTU

5.3.2 Alarm Detail Description Reading <<ALAO, ALCO, ALTO>>

(1) Function

(2) Query format

Number of registers [H] 2 0006 Reading addresses 0500H to

Total number of bytes 8

5. Modbus RTU

(3) Response format

Number of data bytes [H] 1 0C Reading 6 registers = 12

Total number of bytes 17

Note 1 The contents of data differ for the case when the model is equipped with RTC (calendar)

[1] It shows the alarm occurrence time. [2] It shows the time [msec] passed since the power

Modbus

This bit reads the alarm codes, alarm detail codes and alarm occurrence time that last occurred.

When any alarm is not issued, it is “0

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H) Function code [H] 1 03 Register reading

Start address [H] 2 0500 Alarm detail code

Error check [H] 2 CRC (16 bits)

End None Silent interval

A response message contains 16 bits of data per register.

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H) Function code [H] 1 03 Register reading

Data 1 [H] 4 Alarm detail code

Data 2 [H] 4 Alarm code Alarm code Data 3 [H] 4 Alarm occurrence

Error check [H] 2 CRC (16 bits)

End None Silent interval

function and RTC is effective [1] and the case when RTC is ineffective or the model is not equipped with RTC [2].ᴾ

”. [Refer to 4.3.2 (1) to (3) for detail]

RTU mode

8-bit data

RTU mode

8-bit data

Alarm detail code(0500H) [Hex]

Alarm address

(Note1)

time

was turned on.ᴾ

Remarks

0505

Remarks

bytes

Alarm address(0501H) [Hex

[Hex]

Alarm occurrence time

[Hex]

]

(4) Query sample

A sample query that reads the contents of last occurred alarm (addresses 0500 controller with axis No. 0 is shown below. z Query (silent intervals are inserted before and after the query)

01 03 05 00 00 06 C5 04

Field RTU mode

8-bit data

Start Silent interval Slave address [H] 01 Function code [H] 03

Start address [H] 0500

Number of registers [H] 0006

Error check [H] C504 (in accordance with

CRC calculation)

End Silent interval

The response to the query is as follows. z Response (silent intervals are inserted before and after the response)

01 03 0C 00 00 FF FF 00 00 00 E8 17 2C 64 3F 2D CD

Field RTU mode

8-bit data

Start Silent interval Slave address [H] 01 Function code [H] 03

Number of data bytes [H] 0C (12 bytes = 6 registers)

Data 1 [H] 00 00 (Alarm detail code) Data 2 [H] FF FF (Alarm address) Data 3 [H] 00 00 00 E8 (Alarm code) Data 4 [H] 17 2C 64 3F (Alarm occurrence time)

Error check [H]

2DCD (in accordance with CRC calculation)

End Silent interval

Modbus

to 0505H) of a

5. Modbus RTU

Alarm detail code: 0000HxxxxNo detail code Alarm address: FFFF Alarm code: 00E8 Alarm occurrence time: 172C643F

xxxDisable (no detail code)

=0E8xxxEncoder AB phase break error

(conversion) 2012/04/26 19:53:35 [Conversion is

refer to the Section 4.3.2(3)]

Note 1 The data of the response example is simply an example and will vary depending on

various conditions.

Note 2 For the detail of an alarm code, check in the instruction manual of the each

controller.

5.3.3 Total moving count Reading <<TLMC>>

(1) Function

(2) Query format

Number of registers [H] 2 0002 Reading addresses 8400H to

Total number of bytes 8

5. Modbus RTU

(3) Response format

Number of data bytes [H] 1 04 Reading 2 registers = 4 bytes

Total number of bytes 9

Modbus



This bit reads the total moving count. [Refer to Section 4.3.2(8)]

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H) Function code [H] 1 03 Register reading

Start address [H] 2 8400 Total moving count

Error check [H] 2 CRC (16 bits)

End None Silent interval

A response message contains 16 bits of data per register.

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H) Function code [H] 1 03 Register reading

Data 1 [H] 2 Total moving count Total moving count

Data 2 [H] 2 Total moving count Total moving count

Error check [H] 2 CRC (16 bits)

End None Silent interval

RTU mode

8-bit data

RTU mode

8-bit data

Remarks

8401

Remarks

(0500H)

[Hex] (

most significant digit

(0501H)

[Hex](least significant digit

)

(4) Query sample

A sample query that reads the total moving count (addresses 8400 axis No. 0 is shown below. z Query (silent intervals are inserted before and after the query)

01 03 84 00 00 02 EC FB

Field RTU mode

8-bit data

Start Silent interval Slave address [H] 01 Function code [H] 03

Start address [H] 8400

Number of registers [H] 0002

Error check [H] ECFB (in accordance with

CRC calculation)

End Silent interval

The response to the query is as follows. z Response (silent intervals are inserted before and after the response)

01 03 04 00 00 02 1F BA 9B

Field RTU mode

8-bit data

Start Silent interval Slave address [H] 01 Function code [H] 03

Number of data bytes [H] 04 (4 bytes = 2 registers)

Data 1 [H] 00 00 Data 2 [H] 02 1F

Error check [H]

End Silent interval

BA9B (in accordance with CRC calculation)

Modbus

to 8401H) of a controller with

5. Modbus RTU

The Total moving count is “21FH” o Convert into decimal number o 543[times]

Note The data of the response example is simply an example and will vary depending on

various conditions.

Modbus

5.3.4 Total moving distance Reading <<ODOM>> (in 0.01 mm units)

(1) Function

This bit reads the total moving distance in units of 1m.

(2) Query format

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H) Function code [H] 1 03 Register reading

Start address [H] 2 8402 Total moving distance

Number of registers [H] 2 0002 Reading addresses 8402H to

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 8

RTU mode

8-bit data

Remarks

8403

5. Modbus RTU

(3) Response format

Number of data bytes [H] 1 04 Reading 2 registers = 4 bytes

A response message contains 16 bits of data per register.

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H) Function code [H] 1 03 Register reading

Data 1 [H] 2 Total moving distance

Data 2 [H] 2 Total moving distance

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 9

RTU mode

8-bit data

Remarks

Total moving distance [Hex]

(most significant digit)

Total moving distance [Hex]

(least significant digit)

(4) Query sample

A sample query that reads the total moving distance (addresses 8402 with axis No. 0 is shown below. z Query (silent intervals are inserted before and after the query)

01 03 84 02 00 02 4D 3B

Field RTU mode

8-bit data

Start Silent interval Slave address [H] 01 Function code [H] 03

Start address [H] 8402

Number of registers [H] 0002

Error check [H] 4D3B (in accordance with

CRC calculation)

End Silent interval

The response to the query is as follows. z Response (silent intervals are inserted before and after the response)

01 03 04 00 00 40 9E 4A 5B

Field RTU mode

8-bit data

Start Silent interval Slave address [H] 01 Function code [H] 03

Number of data bytes [H] 04 (4 bytes = 2 registers)

Data 1 [H] 00 00 Data 2 [H] 40 9E

Error check [H]

End Silent interval

4A5B (in accordance with CRC calculation)

Modbus

to 8403H) of a controller

5. Modbus RTU

The Total moving distance is “0000409EH” o Convert into decimal number o 16542 m

Note The data of the response example is simply an example and will vary depending on

various conditions.

5.3.5 Present Time Reading <<TIMN>>

ᴾ

(1) Function

(2) Query format

Number of registers [H] 2 0002 Reading addresses 8402H to

5. Modbus RTU

(3) Response format

Number of data bytes [H] 1 04 Reading 2 registers = 4 bytes

Modbus

This bit reads the present time. [Dedicated for PCON-CA/CFA and SCON-CA]

Field Number of data items

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H) Function code [H] 1 03 Register reading

Start address [H] 2 Refer to remarks 841A: SCON-CA

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 8

A response message contains 16 bits of data per register.

Field Number of data items

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H)

Function code [H] 1 03 Register reading

Data [H] 4 Present Time Refer to (4) for conversion at

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 9

(number of bytes)

RTU mode

8-bit data

RTU mode

8-bit data

Remarks

8420: PCON-CA/CFA

8403

Remarks

time.

Modbus

ί4ὸᴾ

Conversion of Read Data into Time

The read data output the current time by the setting on the controller.ᴾ

1) For the models that are equipped with the calendar function (RTC), when RTC is set effective, it shows the time of alarm issuance.

2) When RTC is set ineffective or for the models that is not equipped with RTC, it shows the time [msec] passed since the power to the controller is turned on.

1) How present time is calculated

The data of present time shows the seconds passed from the origin time (00hr:00min:00sec 1January2000). Passed second from the origin time is expressed with S, passed minute with M, passed hour with H, passed day with D and passed year with Y, and the calculation is conducted with a formula as shown below:

Assuming the second of time is SA, minute is MA, hour is HA, passed day in this year is DA and year is YA, the time can be calculated with a formula as shown below:

ᴾ SA=ᴾ Remainder of S/60 ᴾ MA=ᴾ Remainder of M/60 ᴾ HA=ᴾ Remainder of H/24 ᴾ DA=ᴾ D-(Y×365+L)

Year and day can be figured out by subtracting the number of days in each month from DA. ᴾ YA=ᴾ Y+2000ᴾ (A.D.)

5. Modbus RTU

Example) Assuming present time data is 172C1B8B [Procedure 1] Convert into decimal number:ᴾ S= 172C1B8B

;

388766603

[Procedure 2] Calculate M, H, D, Y and L.

ᴾ M=ᴾ 388766603/60= 6479443 ᴾ H=ᴾ 6479443/60= 107990 ᴾ D=ᴾ 107990/24= 4499 ᴾ Y=ᴾ 4499/365.25= 12 ᴾ L=ᴾ 12/4= 3

[Procedure 3] Figure out SA, MA, HA and DA.

ᴾ SA=ᴾ Remainder of 388766603/60= 23 ᴾ MA=ᴾ Remainder of 6479443/60= 43 ᴾ HA=ᴾ Remainder of 107990/24= 14 ᴾ DA=ᴾ 4499-(12×365+3)

=ᴾ (116 days has passed in this year and the time of alarm issuance is on the day 117.) Year and day= 117 – {31 (Jan) – 29 (Feb) – 31 (Mar)} = 26 (since the number becomes a negative if days in April is subtracted, the time of present is on 26April) ᴾ YA=ᴾ 12+2000= 2012 As figured out with the calculation above, the present time is 14:43:23 26Apr2012.

2) How to Calculate Passed Timeᴾ

Example) Assuming the current time data is E1B8B Convert into decimal number:ᴾ E1B8B

924555

:ᴾ

ᴾ

Therefore, it means 924555msec (15min. 24sec. 555) has passed since the power was turned on.ᴾ

(5) Query sample

5. Modbus RTU

Modbus

A sample query that reads the present time of PCON-CA (addresses 8420 controller with axis No. 0 is shown below. z Query (silent intervals are inserted before and after the query)

01 03 84 20 00 02 ED 31

Field RTU mode

8-bit data

Start Silent interval Slave address [H] 01 Function code [H] 03

Start address [H] 8420

Number of registers [H] 0002

Error check [H] ED31 (in accordance with

CRC calculation)

End Silent interval

The response to the query is as follows. z Response (silent intervals are inserted before and after the response)

01 03 04 17 2C 1B 8B 74 D9

Field RTU mode

8-bit data

Start Silent interval Slave address [H] 01 Function code [H] 03

Number of data bytes [H] 04 (4 bytes = 2 registers)

Data 1 [H] 17 2C 1B 8B

Error check [H]

End Silent interval

74D9 (in accordance with CRC calculation)

to 8421H) of a

Current time is 14h:43m:23s April 26, 2012.

Note The data of the response example is simply an example and will vary depending on

various conditions.

Modbus

5.3.6 Total FAN Driving Time Reading <<TIMN>>

(1) Function

This bit reads the Total FAN driving time (in 1 sec units) [Dedicated for PCON-CFA]

(2) Query format

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H) Function code [H] 1 03 Register reading

Start address [H] 2 842E Total FAN driving time

Number of registers [H] 2 0002 Reading addresses 842EH to

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 8

(3) Response format

A response message contains 16 bits of data per register.

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H)

Function code [H] 1 03 Register reading

Number of data bytes [H] 1 04 Reading 2 registers = 4 bytes

Data 1 [H] 2 Total FAN driving time Total FAN driving time

Data 2 [H] 2 Total FAN driving time Total FAN driving time

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 9

RTU mode

8-bit data

RTU mode

8-bit data

Remarks

842F

Remarks

[Hex]

(most significant digit)

[Hex]

(least significant digit)

5. Modbus RTU

(4) Query sample

5. Modbus RTU

A sample query that reads the total FAN driving time (addresses 842E with axis No. 0 is shown below. z Query (silent intervals are inserted before and after the query)

01 03 84 2E 00 02 8C F2

Field RTU mode

8-bit data

Start Silent interval Slave address [H] 01 Function code [H] 03

Start address [H] 842E

Number of registers [H] 0002

Error check [H] 8CF2 (in accordance with

CRC calculation)

End Silent interval

The response to the query is as follows. z Response (silent intervals are inserted before and after the response)

01 03 04 00 00 02 AF BB 2F

Field RTU mode

8-bit data

Start Silent interval Slave address [H] 01 Function code [H] 03

Number of data bytes [H] 04 (4 bytes = 2 registers)

Data 1 [H] 00 00 Data 2 [H] 02 AF

Error check [H]

End Silent interval

BB2F (in accordance with CRC calculation)

to 842FH) of a controller

Modbus

The total FAN driving time is “000002AFH” o Convert into decimal number o 687[sec]

Note The data of the response example is simply an example and will vary depending on

various conditions.

Modbus

5.3.7 Current Position Reading <<PNOW>> (in 0.01 mm units)

(1) Function

This bit reads the current position in units of 0.01 mm. The sign is effective.

(2) Query format

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H) Function code [H] 1 03 Register reading

Start address [H] 2 9000 Current position monitor

Number of registers [H] 2 0002 Reading addresses 9000H to

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 8

(3) Response format

A response message contains 16 bits of data per register.

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H)

Function code [H] 1 03 Register reading

Number of data bytes [H] 1 04 Reading 2 registers = 4 bytes

Data 1 [H] 2 In accordance with

Data 2 [H] 2 In accordance with

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 9

RTU mode

8-bit data

RTU mode

8-bit data

the current position

data

the current position

data

Remarks

9001

Remarks

Current position data [Hex]

(most significant digit)

Current position data [Hex]

(least significant digit)

5. Modbus RTU

(4) Query sample

5. Modbus RTU

A sample query that reads the current position (addresses 9000

to 9001H) of a controller with axis

No. 0 is shown below. z Query (silent intervals are inserted before and after the query)

01 03 90 00 00 02 E9 0B

Field RTU mode

8-bit data

Start Silent interval Slave address [H] 01 Function code [H] 03

Start address [H] 9000

Number of registers [H] 0002

Error check [H] E90B (in accordance with

CRC calculation)

End Silent interval

The response to the query is as follows. z Response (silent intervals are inserted before and after the response)

01 03 04 00 00 0B FE 7C 83

Field RTU mode

8-bit data

Start Silent interval Slave address [H] 01 Function code [H] 03

Number of data bytes [H] 04 (4 bytes = 2 registers)

Data 1 [H] 00 00 Data 2 [H] 0B FE

Error check [H]

7C83 (in accordance with CRC calculation)

End Silent interval

Modbus

The current position is “00000BFEH” o Convert into decimal number o 3070 (x 0.01 mm) o The current position is 30.7 mm. Example 2) : If the current position is read “FFFFFFF5 FFFFFFFF

– FFFFFFF5H + 1 (make sure to add 1) o

” (negative position) o

Convert into decimal number o 11 (x 0.01 mm) o The current position is -0.11 mm

Note The data of the response example is simply an example and will vary depending on

various conditions.

Modbus

5.3.8 Present Alarm Code Reading <<ALMC>>

(1) Function

This query reads the code indicating the normal status or alarm status of the controller. In the normal status, 00 [For details on alarm codes, refer to the operation manual for each controller.]

(2) Query format

Field Number of data items

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H) Function code [H] 1 03 Register reading

Start address [H] 2 9002 Present alarm code

Number of registers [H] 2 0001 Reading address 9002

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 8

(3) Response format

A response message contains 16 bits of data per register.

Field Number of data items

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H)

Function code [H] 1 03 Register reading

Number of data bytes [H] 1 02 Reading 1 register = 2 bytes

Data 1 [H] 2 Alarm code Alarm code [Hex]

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 7

is stored.

(number of bytes)

RTU mode

8-bits data

RTU mode

8-bits data

Remarks

5. Modbus RTU

(4) Query sample

5. Modbus RTU

Modbus

A sample query that reads the alarm code (address 9002 shown below. z Query (silent intervals are inserted before and after the query)

01 03 90 02 00 01 08 CA

Field RTU mode

Start Silent interval Slave address [H] 01 Function code [H] 03

Start address [H] 9002

Number of registers [H] 0001

Error check [H] 08CA (in accordance with

CRC calculation)

End Silent interval

The response to the query is as follows. z Response (silent intervals are inserted before and after the response)

01 03 02 00 E8 B8 0A

Field RTU mode

Start Silent interval Slave address [H] 01 Function code [H] 03

Number of data bytes [H] 02 (2 bytes = 1 register)

Data 1 [H] 00 E8

Error check [H]

End Silent interval

B80A (in accordance with CRC calculation)

) of a controller with axis No. 0 is

8-bit data

The most important alarm presently detected is “0E8”H, which is a phase A/B open alarm. [For details on alarm codes, refer to the operation manual that comes with each controller.]

Note The data of the response example is simply an example and will vary depending on

various conditions.

Modbus

5.3.9 I/O Port Input Signal Status Reading <<DIPM>>

(1) Function

This query reads the port input value of the RC controller regardless of the PIO pattern. The status of the port to which a signal is currently input as recognized by the RC controller is read.

(2) Query format

Field

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H) Function code [H] 1 03 Register reading

Start address [H] 2 9003 Input port monitor register

Number of registers [H] 2 0001 Reading address 9003

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 8

(3) Response format

A response message contains 16 bits of data per address.

Field

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H)

Function code [H] 1 03 Register reading

Number of data bytes [H] 1 02 Reading 1 register = 2 bytes

Data 1 [H] 2 Port input value Port input value [Hex]

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 7

Number of data items

(number of bytes)

Number of data items

(number of bytes)

RTU mode

8-bit data

RTU mode

8-bit data

Remarks

5. Modbus RTU

(4) Query sample

5. Modbus RTU

A sample query that reads the current position (address 9003

) of a controller with axis No. 0 is

shown below.

z Query (silent intervals are inserted before and after the query)

01 03 90 03 00 01 59 0A

Field RTU mode

8-bit data

Start Silent interval Slave address [H] 01 Function code [H] 03

Start address [H] 9003

Number of registers [H] 0001

Error check [H] 590A (in accordance with

CRC calculation)

End Silent interval

The response to the query is as follows. z Response (silent intervals are inserted before and after the response)

01 03 02 90 00 D4 44

Field RTU mode

8-bit data

Start Silent interval Slave address [H] 01 Function code [H] 03

Number of data bytes [H] 02 (2 bytes = 1 register)

Data 1 [H] 90 00

Error check [H]

D444 (in accordance with CRC calculation)

End Silent interval

Modbus

The input data area address is “9000”H, o Convert into binary number “1001000000000000.”

n n

INT15 -------------------- INT 1

Note The data of the response example is simply an example and will vary depending on

various conditions.

Modbus

(5) Port assignment [For details, refer to the operation manual that comes with each RC controller]

Write the port assignment of PIO patterns to each RC controller. 0 indicates that response data is always 0.

ERC2(PIO Type) ERC3(PIO Type) Port

IN0 PC1 ST0 PC1 PC1 PC1 ST0 PC1 IN1 PC2 ST1 PC2 PC2 PC2 ST1 PC2 IN2 PC4 ST2 PC4 PC4 PC4 ST2 PC4 IN3 HOME 0 PC8 PC8 HOME 0 PC8 IN4 CSTR RES CSTR CSTR CSTR RES CSTR IN5 *STP *STP *STP *STP *STP *STP *STP IN6 0 0 0 0 0 0 0 IN7 0 0 0 0 0 0 0 IN8 0 0 0 0 0 0 0 IN9 0 0 0 0 0 0 0 IN10 0 0 0 0 0 0 0 IN11 0 0 0 0 0 0 0 IN12 0 0 0 0 0 0 0 IN13 0 0 0 0 0 0 0 IN14 0 0 0 0 0 0 0 IN15 0 0 0 0 0 0 0

PIO

pattern 0

PIO

pattern 1

PIO

pattern 2

PIO

pattern 3

PIO

pattern 0

PIO

pattern 1

PIO

pattern 2

5. Modbus RTU

PCON-C/CG/CF/CA/CFA

Port

IN0 PC1 PC1 PC1 PC1 ST0 ST0 SON SON SON IN1 PC2 PC2 PC2 PC2 ST1 ST1 RES TL TL IN2 PC4 PC4 PC4 PC4 ST2 ST2 HOME HOME HOME IN3 PC8 PC8 PC8 PC8 ST3 0 TL RES RES/

IN4 PC16 PC16 PC16 PC16 ST4 0 CSTR 0 0 IN5 PC32 PC32 PC32 PC32 ST5 0 DCLR 0 0 IN6 0 MODE PC64 PC64 ST6 0 BKRL 0 0 IN7 0 JISL PC128 PC128 0 0 RMOD 0 0 IN8 0 JOG+ 0 PC256 0 0 0 0 0 IN9 BKRL JOG- BKRL BKRL BKRL BKRL 0 0 0 IN10 RMOD RMOD RMOD RMOD RMOD RMOD 0 0 0 IN11 HOME HOME HOME HOME HOME 0 0 0 0 IN12 *STP *STP *STP *STP *STP 0 0 0 0 IN13 CSTR CSTR/

IN14 RES RES RES RES RES RES 0 0 0 IN15 SON SON SON SON SON SON 0 0 0

PIO

pattern 0

PIO

pattern 1

PWRT

PIO

pattern 2

CSTR CSTR 0 0 0 0 0

PIO

pattern 3

PIO

pattern

PIO

pattern

PIO pattern 6

(Pulse Train

PCON-

CA/CFA

Mode)

PCON-PL/PO

PIO

pattern

PIO

DCLR

5. Modbus RTU

Modbus

ACON-C/CG ACON-PL/PO Port

IN0 PC1 PC1 PC1 PC1 ST0 ST0 SON SON IN1 PC2 PC2 PC2 PC2 ST1 ST1 TL TL IN2 PC4 PC4 PC4 PC4 ST2 ST2 HOME HOME IN3 PC8 PC8 PC8 PC8 ST3 0 RES RES/

IN4 PC16 PC16 PC16 PC16 ST4 0 0 0 IN5 PC32 PC32 PC32 PC32 ST5 0 0 0 IN6 0 MODE PC64 PC64 ST6 0 0 0 IN7 0 JISL PC128 PC128 0 0 0 0 IN8 0 JOG+ 0 PC256 0 0 0 0 IN9 BKRL JOG- BKRL BKRL BKRL BKRL 0 0 IN10 RMOD RMOD RMOD RMOD RMOD RMOD 0 0 IN11 HOME HOME HOME HOME HOME 0 0 0 IN12 *STP *STP *STP *STP *STP 0 0 0 IN13 CSTR CSTR/

IN14 RES RES RES RES RES RES 0 0 IN15 SON SON SON SON SON SON 0 0

PIO

pattern 0

PIO

pattern 1

PWRT

PIO

pattern 2

CSTR CSTR 0 0 0 0

PIO

pattern 3

PIO

pattern

PIO

pattern

PIO

pattern 0

pattern 1

DCLR

PIO

SCON-C/CA SCON-CA SCON-

C/CA

Port

IN0 PC1 PC1 PC1 PC1 ST0 ST0 PC1 ST0 SON IN1 PC2 PC2 PC2 PC2 ST1 ST1 PC2 ST1 RES IN2 PC4 PC4 PC4 PC4 ST2 ST2 PC4 ST2 HOME IN3 PC8 PC8 PC8 PC8 ST3 0 PC8 ST3 TL IN4 PC16 PC16 PC16 PC16 ST4 0 PC16 ST4 CSTR IN5 PC32 PC32 PC32 PC32 ST5 0 0 0 DCLR IN6 0 MODE PC64 PC64 ST6 0 0 0 BKRL IN7 0 JISL PC128 PC128 0 0 0 0 RMOD IN8 0 JOG+ 0 PC256 0 0 CLBR CLBR 0 IN9 BKRL JOG- BKRL BKRL BKRL BKRL BKRL BKRL 0 IN10 RMOD RMOD RMOD RMOD RMOD RMOD RMOD RMOD 0 IN11 HOME HOME HOME HOME HOME 0 HOME HOME 0 IN12 *STP *STP *STP *STP *STP 0 *STP *STP 0 IN13

IN14 RES RES RES RES RES RES RES RES 0 IN15 SON SON SON SON SON SON SON SON 0

PIO

pattern 0

CSTR

PIO

pattern 1

CSTR/ PWRT

PIO

pattern 2

CSTR CSTR 0 0 CSTR 0

PIO

pattern 3

PIO

pattern

PIO

pattern

PIO

pattern

PIO

Pattern 0

(

Pulse Train

Mode)

Modbus

5.3.10 I/O Port Output Signal Status Reading<<DOPM>>

(1) Function

This query reads the port output value of the RC controller regardless of the PIO pattern.

(2) Query format

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H) Function code [H] 1 03 Register reading

Start address [H] 2 9004 Output port monitor register

Number of registers [H] 2 0001 Reading addresses 9004

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 8

(3) Response format

A response message contains 16 bits of data per register.

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H) Function code [H] 1 03 Register reading

Number of data bytes [H] 1 02 Reading 1 register = 2 bytes

Data 1 [H] 2 D0 output value Port output value [Hex]

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 7

RTU mode

8-bit data

RTU mode

8-bit data

Remarks

5. Modbus RTU

(4) Query sample

5. Modbus RTU

Modbus

A sample query that output port (address 9004 z Query (silent intervals are inserted before and after the query)

01 03 90 04 00 01 E8 CB

Field RTU mode

Start Silent interval Slave address [H] 01 Function code [H] 03

Start address [H] 9004

Number of registers [H] 0001

Error check [H] E8CB (in accordance with

End Silent interval

The response to the query is as follows. z Response (silent intervals are inserted before and after the response)

01 03 02 68 00 97 84

Field RTU mode

Start Silent interval Slave address [H] 01 Function code [H] 03

Number of data bytes [H] 02 (2 bytes = 1 register)

Data 1 [H] 68 00

Error check [H]

End Silent interval

) of a controller of axis No. 0 is shown below.

8-bit data

CRC calculation)

8-bit data

9784 (in accordance with CRC calculation)

The input data area address is “6800”H, o Convert into binary number “0110100000000000.”

n n

INT15 -------------------- INT 1

Note The data of the response example is simply an example and will vary depending on

various conditions.

Modbus

(5) Port assignment [For details, refer to the operation manual that comes with each RC controller.]

Write the port assignment of PIO patterns to each RC controller. 0 indicates that response data is always 0.

ERC2(PIO Type) ERC3(PIO Type) Port

PIO

pattern 0

OUT0 PEND PE0 PEND PEND PEND PE0 PEND OUT1 HEND PE1 HEND HEND HEND PE1 HEND OUT2 ZONE PE2 ZONE ZONE

OUT3 *ALM *ALM *ALM *ALM *ALM *ALM *ALM OUT4 0 0 0 0 0 0 0 OUT5 0 0 0 0 0 0 0 OUT6 0 0 0 0 0 0 0 OUT7 0 0 0 0 0 0 0 OUT8 0 0 0 0 0 0 0 OUT9 0 0 0 0 0 0 0 OUT10 0 0 0 0 0 0 0 OUT11 0 0 0 0 0 0 0 OUT12 0 0 0 0 0 0 0 OUT13 0 0 0 0 0 0 0 OUT14 0 0 0 0 0 0 0 OUT15 0 0 0 0 0 0 0

ᴾ

PCON-C/CG/CF/CA/CFA PCON-

Port

PIO

pattern 0

PIO

pattern 1

OUT0 PM1 PM1 PM1 PM1 PE0 LS0 PWR SV SV

OUT1 PM2 PM2 PM2 PM2 PE1 LS1 SV INP INP/TLR OUT2 PM4 PM4 PM4 PM4 PE2 LS2 INP HEND HEND OUT3 PM8 PM8 PM8 PM8 PE3 0 HEND *ALM *ALM OUT4 PM16 PM16 PM16 PM16 PE4 0 TLR 0 0 OUT5 PM32 PM32 PM32 PM32 PE5 0 *ALM 0 0 OUT6 MOVE MOVE PM64 PM64 PE6 0 *EMGS 0 0 OUT7 ZONE1 MODES PM128 PM128 ZONE1 ZONE1 RMDS 0 0 OUT8 PZONE/

ZONE2

(Note)

PZONE/

ZONE1

(Note)

OUT9 RMDS RMDS RMDS RMDS RMDS RMDS ALM2 0 0 OUT10 HEND HEND HEND HEND HEND HEND ALM4 0 0 OUT11 PEND PEND/

WEND OUT12 SV SV SV SV SV SV *ALML OUT13 *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS 0 0 0 OUT14 *ALM *ALM *ALM *ALM *ALM *ALM ZONE1 0 0 OUT15 LOAD/

TRQS/

(Note)

ALML

(Note)

Note CA/CFA type only

PIO

pattern 1

PIO

pattern 2

PIO

pattern 3

PIO

pattern 0

ZONEᾀ

PIO

pattern 1

PIO

pattern 2

PE2 PZONE/

ZONE1

PCON-PL/PO

CA/CFA

(Note)

PIO pattern 6

(

Pulse Train

Mode)

PIO

pattern

ALM1 0 0

PIO

pattern 2

PZONE/

ZONE1

PIO

pattern 3

PM256 PZONE/

(Note)

PIO

pattern

ZONE2

(Note)

PIO

pattern

PZONE/

ZONE2

PEND PEND PEND 0 ALM8 0 0

(Note)

0 0

LOAD/

TRQS/

(Note)

ALML

LOAD/ TRQS/

ALML

(Note)

LOAD/ TRQS/

ALML

(Note)

ALML

(Note)

ZONE2 0 0

PIO

pattern

5. Modbus RTU

Modbus

ACON-C/CG ACON-PL/PO Port

OUT0 PM1 PM1 PM1 PM1 PE0 LS0 SV SV OUT1 PM2 PM2 PM2 PM2 PE1 LS1 INP OUT2 PM4 PM4 PM4 PM4 PE2 LS2 HEND HEND OUT3 PM8 PM8 PM8 PM8 PE3 0 *ALM *ALM OUT4 PM16 PM16 PM16 PM16 PE4 0 0 0 OUT5 PM32 PM32 PM32 PM32 PE5 0 0 0 OUT6 MOVE MOVE PM64 PM64 PE6 0 0 0 OUT7 ZONE1 MODES PM128 PM128 ZONE1 ZONE1 0 0 OUT8 PZONE PZONE PZONE PM256 PZONE PZONE 0 0 OUT9 RMDS RMDS RMDS RMDS RMDS RMDS 0 0 OUT10 HEND HEND HEND HEND HEND HEND 0 0 OUT11 PEND PEND/

OUT12 SV SV SV SV SV SV 0 0 OUT13 *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS 0 0 OUT14 *ALM *ALM *ALM *ALM *ALM *ALM 0 0 OUT15 TRQS 0 TRQS TRQS TRQS 0 0 0

PIO

pattern 0

PIO

pattern 1

WEND

PIO

pattern 2

PIO

pattern 3

PIO

pattern 4

PIO

pattern

PIO

pattern

INP/TLR

PEND PEND PEND 0 0 0

PIO

SCON-C/CA SCON-CA Port

PIO

pattern 0

PIO

pattern 1

PIO

pattern 2

PIO

pattern 3

PIO

pattern 4

PIO

pattern

PIO

pattern

PIO

pattern

SCON-C/CA

PIO pattern 0

(

Pulse Train

Mode

OUT0 PM1 PM1 PM1 PM1 PE0 LS0 PM1 PE0 PWR OUT1 PM2 PM2 PM2 PM2 PE1 LS1 PM2 PE1 SV OUT2 PM4 PM4 PM4 PM4 PE2 LS2 PM4 PE2 INP OUT3 PM8 PM8 PM8 PM8 PE3 0 PM8 PE3 HEND OUT4 PM16 PM16 PM16 PM16 PE4 0 PM16 PE4 TLR OUT5 PM32 PM32 PM32 PM32 PE5 0 TRQS TRQS *ALM OUT6 MOVE MOVE PM64 PM64 PE6 0 LOAD LOAD *EMGS OUT7 ZONE1 MODES PM128 PM128 ZONE1 ZONE1 CEND CEND RMDS OUT8 PZONE/

ONE2

(Note)

PZONE/

ZONE1

(Note)

PZONE/

ZONE1

PM256 PZONE/

(Note)

ZONE2

(Note)

PZONE/

ZONE2

(Note)

PZONE/

ZONE1

PZONE/

ZONE1

ALM1

OUT9 RMDS RMDS RMDS RMDS RMDS RMDS RMDS RMDS ALM2 OUT10 HEND HEND HEND HEND HEND HEND HEND HEND ALM4 OUT11 PEND PEND/

WEND

OUT12 SV SV SV SV SV SV SV SV *OVLW

PEND PEND PEND 0 PEND PEND ALM8

*ALML

(Note)

OUT13 *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS 0 OUT14 *ALM *ALM *ALM *ALM *ALM *ALM *ALM *ALM ZONE1 OUT15 *BALM *BALM *BALM *BALM *BALM *BALM *BALM *BALM ZONE2

Note CA type only

)

Modbus

5.3.11 Controller Status Signal Reading 1 <<DSS1>>

(1) Function

This bit reads the internal status of the controller. [Refer to 4.3.2 (12), “Data of device status register 1.”]

(2) Query format

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H) Function code [H] 1 03 Register reading

Start address [H] 2 9005 Device status register 1

Number of registers [H] 2 0001 Reading address 9005

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 8

(3) Response format

A response message contains 16 bits of data per address.

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H)

Function code [H] 1 03 Register reading

Number of data bytes [H] 1 02 Reading 1 register = 2 bytes

Data [H] 2 Status 1 Status 1 [Hex]

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 7

RTU mode

8-bit data

RTU mode

8-bit data

Remarks

5. Modbus RTU

(4) Query sample

5. Modbus RTU

Modbus

A sample query that reads the device status (address 9005 is shown below. z Query (silent intervals are inserted before and after the query)

01 03 90 05 00 01 B9 0B

Field RTU mode

Start Silent interval Slave address [H] 01 Function code [H] 03

Start address [H] 9005

Number of registers [H] 0001

Error check [H] B90B (in accordance with

CRC calculation)

End Silent interval

The response to the query is as follows. z Response (silent intervals are inserted before and after the response)

01 03 02 70 98 9C 2E

Field RTU mode

Start Silent interval Slave address [H] 01 Function code [H] 03

Number of data bytes [H] 02 (2 bytes = 1 register)

Data 1 [H] 70 98

Error check [H]

End Silent interval

9C2E (in accordance with CRC calculation)

) of a controller with axis No. 0

8-bit data

Note The data of the response example is simply an example and will vary depending on

various conditions.

Modbus

5.3.12 Controller Status Signal Reading 2 <<DSS2>>

(1) Function

This bit reads the internal status of the controller. [Refer to 4.3.2 (13), “Data of device status register 2.”]

(2) Query format

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H) Function code [H] 1 03 Register reading

Start address [H] 2 9006 Device status register 2

Number of registers [H] 2 0001 Reading address 9006

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 8

(3) Response format

A response message contains 16 bits of data per register.

Field Number of data items

(number of bytes)

Start None Silent interval Slave address [H] 1 Arbitrary Axis number + 1 (01H to 10H)

Function code [H] 1 03 Internal status of controller

Number of data bytes [H] 1 02 Reading 1 register = 2 bytes

Data [H] 2 Status 2 Status 2 [Hex]

Error check [H] 2 CRC (16 bits)

End None Silent interval

Total number of bytes 7

RTU mode

8-bit data

RTU mode

8-bit data

Remarks

5. Modbus RTU

(4) Query sample

5. Modbus RTU

Modbus

A sample query that reads the device status (address 9006 is shown below. z Query (silent intervals are inserted before and after the query)

01 03 90 06 00 01 49 0B

Field RTU mode

Start Silent interval Slave address [H] 01 Function code [H] 03

Start address [H] 9006

Number of registers [H] 0001

Error check [H] 490B (in accordance with

CRC calculation)

End Silent interval

The response to the query is as follows. z Response (silent intervals are inserted before and after the response)

01 03 02 80 00 D9 84

Field RTU mode

Start Silent interval Slave address [H] 01 Function code [H] 03

Number of data bytes [H] 02 (2 bytes = 1 register)

Data 1 [H] 80 00

Error check [H]

End Silent interval

D984 (in accordance with CRC calculation)

) of a controller with axis No. 0

8-bit data

Note The data of the response example is simply an example and will vary depending on

various conditions.

IAI America ROBO User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Table of Contents

Safety Guide

Handling Precautions

1 Overview

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

2 Specifications

2.1 Communication Mode

3 Preparation for Communication

3.1 In Case the Host Uses RS232C Interface

3.2 In Case the Host Uses RS485 Interface

3.3 Communication Connector Pin Assignment of PLC and PC (Reference)

3.4 Various Setting before Starting Communication

3.5 Setting Axis Numbers

3.6 Setting Controller Communication Speed

4 Communication

4.1 Message Transmission Timing

4.2 Timeout and Retry

4.3 Internal Addresses and Data Structure of RC Controller

5 Modbus RTU

5.1 Message Frames (Query and Response)

5.2 List of RTU Mode Queries

5.3. Data and Status Reading (Queries Using Code 03)