Operation Manual Twenty second Edition
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD/DVD that comes with the product contains operation manuals for IAI products.
Caution: The following functions are described in the separate operation manual. Title of operation manual/Overview Control number CC-Link Operation Manual 1 Refer to this operation manual if you are using an ACON, PCON or SCON-CA controller(s).
Table of Contents Safety Guide ··································································································· 1 1. Overview ··································································································· 8 2. Interface Specifications ················································································ 9 3. X-SEL-J/K/P/Q/JX/KX/PX/QX····································································· 10 3.
3.2.2 CC-Link board ···································································································· 47 (1) Names of each part ··························································································· 47 (2) Rotary switches ································································································· 48 (3) Display of monitor LEDs ···················································································· 49 3.2.
5.7 CSP file······························································································ 101 5.8 Troubleshooting ··················································································· 102 6. RCS-C and E-Con······················································································ 103 6.
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 5 4 Operation Description Installation and Start Teaching Description (4) Safety Measures When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
No. 6 7 Operation Description Trial Operation Automatic Operation Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
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 Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
1. Overview 1. Overview CC-Link is an abbreviation of Control & Communication Link and is one of the open field network standards. IAI controllers shown below are available for the connection to CC-Link. Model XSEL-J/K/P/Q Type Remote device station Characteristics The X-SEL's I/O data can be processed as bit data or word data. For each of input and output points, max. 256 points are available.
2. Interface Specifications Communication Cable Length Baud rate [Mbps] (Note 1) Total Cable Length [m] Connector (Controller side) (Note 2) Note 1 Note 2 Specification CC-Link Ver1.10 10 / 5 / 2.5 / 0.625 / 0.
X-SEL -J/K/P/Q/JX/KX/PX/QX 3. The CC-Link compatible X-SEL controller has the following two types: a: Remote device station: Number of I/O points = Max. 256 points each 3. X-SEL-J/K/P/Q/JX/KX/PX/QX b: Remote I/O station: Number of I/O points = 16 points each 3.1 Remote device station 3.1.
(*1) The CC-Link board installation position is the same as Fig. 3-1-1 for four axes specifications. (*2) The CC-Link board installation position is the same as Fig. 3-1-2. (*3) The CC-Link board installation position is the same as Fig. 3-1-3. The CC-Link board installation position for five axes and six axes specifications are the same as the four axes specification. (Note): 16 points each for input and output among I/O points are in the system area of the remote device station, therefore, these 3.
(2) General type (K type) 䖃 The CC-link board is inserted into the standard slot (I/O 1: leftmost). 䖃 Either of an expansion I/O board 䖃 When an expansion I/O board (*1) (*1) or SIO board (*2) can be inserted into the expansion slot. is not used, it is not required to supply 24V DC to the I/O 24V power 3. X-SEL-J/K/P/Q/JX/KX/PX/QX connector. CC-Link board Expansion slot 㻌 Fig.
(3) P/Q type 䖃 A CC-Link board is mounted on the field network board installation position.
3.1.2 CC-Link board 3.
(2) Rotary switches The following can be carried out by rotary switches: a. Setting of station number b. Setting of communications speed Setting of station number 3. X-SEL-J/K/P/Q/JX/KX/PX/QX a. In the CC-Link, a maximum of 64 stations can be connected. The station number is set in the 1 to 64 range by the two rotary switches. SA 10: Sets the tens place. SA 1: Sets the ones place.
b. Setting of communications speed 3. X-SEL-J/K/P/Q/JX/KX/PX/QX The communications speed is set by the rotary switch BR. (3) Rotary switch selection number Communications speed 0 156 kbps 1 625 kbps 2 2.5 Mbps 3 5 Mbps 4 10 Mbps Setting to 5 or more prohibited Error Display of monitor LEDs The four LEDs mounted on the front of the board can indicate the board operating state and network condition.
3.1.3 Setting of I/O parameters (assignment of I/O ports) The X-SEL I/O ports used in the CC-LINK are set. X-SEL allows a variety of settings of different I/O ports with I/O parameters. (For further information, refer to the X-SEL Controller Operation Manual.) The typical setting methods are shown below in this Manual. Basically, the I/O parameter No. 1 sets the I/O port assignment type to fixed assignment, and sets the I/O port (1) Board installation positions (slots) and parameter numbers a.
C. P/Q type 3. X-SEL-J/K/P/Q/JX/KX/PX/QX CC-Link Parameter No. 16 No. 17 No. 18 18 Standard I/O Parameter No. 2 No. 3 No. 10 CC-Link Standard I/O Expansion I/O Parameter No. 16 Parameter No. 2 Parameter No. 6 No. 17 No. 3 No. 7 No. 18 No. 10 No. 11 Parameter No. 4 Parameter No. 8 No. 5 No. 9 No. 11 No.
(2) Factory-configured parameters of J/K type (standard setting) No. 1 Parameter name I/O port assignment type Input range Set value 0 – 20 1 Remarks * The ports only in the continuous installation range from slot 1 are assigned for safety.) 2 Standard I/O: -1 – 599 000 -1 – 599 300 0 + (multiples of 8) (Invalid for negative values) Input port start No. (I/O 1) 3 Standard I/O: Output port start No. (I/O 1) 4 Expansion I/O 1 fixed assignment -1 – 599 -1 time: Input port start No.
(3) Factory-configured parameters of P/Q type No. 1 Parameter name I/O port assignment type Input range Set value 0 – 20 1 Remarks 0: Fixed assignment 1: Automatic assignment (Priority: Network I/F 3. X-SEL-J/K/P/Q/JX/KX/PX/QX module slot 1 (Standard I/O) -, * The ports only in the continuous installation range from slot 1 are assigned for safety.
3.1.4 J/K type controller parameter setting examples (1) CC-Link connection of standard I/O ports This is a setting for the case where 16 points for each I/O port from the head of the X-SEL standard I/O port are used other than I/O ports. 3. X-SEL-J/K/P/Q/JX/KX/PX/QX X-SEL (J type) Not used (None for single axis and two axes) Input port No. 000 – 015 Output port No. 300 – 315 X-SEL (K type) Input port No. 000 – 015 Not used Output port No.
X-SEL J/K type controller I/O parameter No. 1 Parameter name Default (reference) Input range Setting 1 0 – 20 1 I/O port assignment type Remarks 0: Fixed assignment 3. X-SEL-J/K/P/Q/JX/KX/PX/QX 1: Automatic assignment (Priority: slot 1 䇶) * The ports only in the continuous installation range from slot 1 are assigned for safety.) 2 Standard I/O: 000 -1 – 599 000 0 + (multiples of 8) (Invalid for negative values) 300 -1 – 599 300 300 + (multiples of 8) Input port start No.
(2) Combined use of CC-Link board and I/O board a. The following is the setting in the case where automatic assignment allocates 256 points each for input and output to the CC-Link board as the standard I/O ports as well as 32 points for input and 16 points for output to the expansion I/O board IA-103-X-32 from the subsequent I/O port numbers. The J type has the same setting. 3. X-SEL-J/K/P/Q/JX/KX/PX/QX Input port No. 256 – 287 Output port No. 556 – 571 Input port No. 000 – 255 Output port No.
X-SEL J/K type controller I/O parameter No. 1 Parameter name Default (reference) Input range Setting 1 0 – 20 1 I/O port assignment type Remarks 0: Fixed assignment 3. X-SEL-J/K/P/Q/JX/KX/PX/QX 1: Automatic assignment (Priority: slot 1 䇶) * The ports only in the continuous installation range from slot 1 are assigned for safety.
b. The following is the setting in the case where fixed assignment makes the expansion I/O board IA-103-X-32 (input: 32 points, output: 16 points) used as the standard I/O ports and 256 points each for input and output assigned to the CC-Link board as the general I/O ports. The J type has the same setting. 3. X-SEL-J/K/P/Q/JX/KX/PX/QX Input port No. 000 – 031 Output port No. 300 – 315 Input port No. 032 – 287 Output port No.
X-SEL J/K type controller I/O parameter No. 1 Parameter name Default (reference) Input range Setting 1 0 – 20 0 I/O port assignment type Remarks 0: Fixed assignment 3. X-SEL-J/K/P/Q/JX/KX/PX/QX 1: Automatic assignment (Priority: slot 1 䇶) * The ports only in the continuous installation range from slot 1 are assigned for safety.
3.1.5 P/Q type controller setting examples (1) Setting examples when only CC-Link is used The following is the setting in the case where only 16 ports for each input and output from the first of the I/O port 3. X-SEL-J/K/P/Q/JX/KX/PX/QX are used for the CC-Link board and other input and output ports are not used as the same as the case of the X-SEL standard I/O board (50-pin connector). Not used Input port No. 000 – 015 Output port No.
X-SEL P/Q type controller I/O parameter No. 1 Parameter name Default (reference) Input range Setting 0 0 – 20 0 I/O port assignment type Remarks 0: Fixed assignment 3. X-SEL-J/K/P/Q/JX/KX/PX/QX 1: Automatic assignment (Priority: Network I/F module slot 1 (Standard I/O) -, * The ports only in the continuous installation range from slot 1 are assigned for safety.
(2) Setting examples when CC-Link board and I/O board are used in combination a. The following is the setting in the case where automatic assignment allocates 256 points each for input and output to the CC-Link board from the first standard I/O port to the standard I/O board from the subsequent I/O port No. 3. X-SEL-J/K/P/Q/JX/KX/PX/QX Input port No. 256 – 287 Output port No. 556 – 571 Input port No. 000 – 255 Output port No.
X-SEL P/Q type Controller I/O Parameter No. 1 Parameter name Default (reference) Input range Setting 0 0-20 0 I/O port assignment type Remarks 0: Fixed assignment 1: Automatic assignment (Priority: Network I/F 3. X-SEL-J/K/P/Q/JX/KX/PX/QX module slot 1 (Standard I/O) -, * The ports only in the continuous installation range from slot 1 are assigned for safety.
b. The following is the setting in the case where the standard I/O board IA-103-X32 (input: 32 points, output: 16 points) is used as the standard I/O ports and 256 points each for input and output is assigned to the CC-Link board as the general I/O ports. 3. X-SEL-J/K/P/Q/JX/KX/PX/QX Input port No. 000 – 031 Output port No. 300 – 315 Input port No. 032 – 287 Output port No.
X-SEL P/Q type Controller I/O Parameter No. 1 Parameter name Default (reference) Input range Setting 0 0-20 0 I/O port assignment type Remarks 0: Fixed assignment 1: Automatic assignment (Priority: Network I/F 3. X-SEL-J/K/P/Q/JX/KX/PX/QX module slot 1 (Standard I/O) -, * The ports only in the continuous installation range from slot 1 are assigned for safety.
3.1.6 X-SEL I/O port numbers The standard I/O port numbers of X-SEL are shown below. The X-SEL port numbers and functional assignment can be changed with I/O parameters. (For further information, refer to the X-SEL Controller Operation Manual.) Input Port No.
3.1.7 Correspondence between X-SEL I/O port number and PLC address PLC sets the X-SEL CC-Link board as a remote device. The number of occupied stations of the remote device varies according to the setting of the number of I/O points on the X-SEL side. 3. X-SEL-J/K/P/Q/JX/KX/PX/QX The table below indicates the correspondence between the I/O port number and PLC address according to the settings of I/O parameters No. 14 and No. 15. (The following is a case where the I/O parameters No. 2 and No.
(3) When the number of I/O points is set to 208 or more and 256 or less: Configured as three remote devices. (Three stations occupied) I/O parameter No. 14 No. 15 X-SEL side DI (Port No.
3.1.8 Data in remote registers Addresses in PLC are assigned to the remote I/O addresses and remote register areas that correspond to the station number set on the CC-Link board and the number of occupied stations set by the PLC parameter, in steps of 16 points (one word) in order of X-SEL port number. 3. X-SEL-J/K/P/Q/JX/KX/PX/QX Setting the I/O parameter No.
(2) Transmission and receipt of signals in remote I/O areas The transmission and receipt of signals in remote I/O areas are irrelevant to the setting of the I/O parameter No. 120. 䖃: On, 䕿: OFF ON/OFF 3. X-SEL-J/K/P/Q/JX/KX/PX/QX X-SEL port No.
(3) Transmission and receipt of signals in remote register areas The I/O parameter No. 120 allows the data in one word (16 bits) to be transmitted by reversing the order of the higher-order byte (higher-order 8 bits) and the lower-order byte (lower-order 8 bits). (a) When the I/O parameter No. 120 is set to “1” 3. X-SEL-J/K/P/Q/JX/KX/PX/QX 䖃: On, 䕿: OFF X-SEL port No.
(b) When the I/O parameter No. 120 is set to “0” 䖃: On, 䕿: OFF X-SEL port No. (Input) 䖃 䕿 Hexadecimal data 䕿 䕿 䕿 䕿 8 䕿 䖃 䖃 䖃 1 䖃 䖃 䕿 䕿 F 䕿 䕿 0 PLC: RWwn (Output) F E D C B A 9 8 7 6 5 4 3 2 1 0 ON/OFF 䖃 䖃 䖃 䖃 䕿 䕿 䕿 䕿 䖃 䕿 䕿 䕿 䕿 䕿 䕿 䖃 Hexadecimal data F 0 3. X-SEL-J/K/P/Q/JX/KX/PX/QX ON/OFF 079 078 077 076 075 074 073 072 071 070 069 068 067 066 065 064 8 1 X-SEL port No.
Reference 䕔 When the number of I/O points is set to 112 or more and 192 or less: two stations are occupied Addresses in PLC are assigned to the remote I/O addresses and remote register areas that correspond to the station number set by the rotary switch and the number of occupied stations set by the PLC parameter, in 3. X-SEL-J/K/P/Q/JX/KX/PX/QX order of port number. (1) Remote I/O PLC (Output) (Input) (Input) Port No. (Output) Port No.
Reference (2) Remote register a. When the I/O parameter No. 120 is set to “1” PLC (Input) Port No. 3. X-SEL-J/K/P/Q/JX/KX/PX/QX (Input) (Output) (Output) Port No. RWrn and RWwn are the remote register addresses in PLC that correspond to the station number N.
Reference b. When the I/O parameter No. 120 is set to “0” PLC (Output) 3. X-SEL-J/K/P/Q/JX/KX/PX/QX (Input) (Input) Port No. (Output) Port No. Station No. N Station No. N+1 RWrm and RWwm are the remote register addresses in PLC that correspond to the station number. The remote register is comprised of one word (16 bits), but the data order of the higher-order 8 bits (higher-order byte) and the lower-order 8 bits (lower-order byte) is reversed under this setting. Take caution.
3.1.9 CSP file When using the GX Configurator-CC (manufactured by Mitsubishi Electric Corporation), download the CSP file from our Web site shown below if required. Web site: http://www.iai-robot.co.jp 3. X-SEL-J/K/P/Q/JX/KX/PX/QX The CSP file to be used is different according to the number of ports used (number of I/O ports) set by the I/O parameters No. 14 and No. 15 of X-SEL. File name Number of ports used in X-SEL Description HMS-ABS-CCL_1.csp For one remote device (one station) HMS-ABS-CCL_2.
3.2 Remote I/O station 3.2.1 Models The CC-Link compatible X-SEL controller handled as the remote I/O station has three types as shown below. 3. X-SEL-J/K/P/Q/JX/KX/PX/QX The single CC-Link board allows communications through 16 points each for input and output. The model of X-SEL varies according to the installation positions and number of boards. 䖃 CC-Link board, 䕿 Standard I/O board No.
3. X-SEL-J/K/P/Q/JX/KX/PX/QX Standard I/O board CC-Link board Expansion slots Fig. 3-2-2 Standard I/O board CC-Link board Fig.
(*1) CC-Link board Model: IANT-3204-CC16 (*2) Expansion I/O board 3.
3.2.2 CC-Link board (1) Names of each part CC-Link communications connector 3.
(2) Rotary switches The following can be carried out by rotary switches: a. Setting of station number b. Setting of communications speed 3. X-SEL-J/K/P/Q/JX/KX/PX/QX a. Setting of station number In the CC-Link only with remote I/O stations, up to 64 units can be connected. The station number is set in the 1 to 64 range by the two rotary switches. SA 10: Sets the tens place. SA 1: Sets the ones place.
b. Setting of communications speed The communications speed is set by the rotary switch BR. Communications speed 0 156 kbps 1 625 kbps 2 2.5 Mbps 3 5 Mbps 4 10 Mbps Setting to 5 or more prohibited Error Display of monitor LEDs The four LEDs mounted on the front of the board can indicate the board operating state and network condition.
3.2.3 Setting of I/O parameters (assignment of I/O ports) The X-SEL I/O ports used in the CC-Link are set. X-SEL allows a variety of settings of different I/O ports with I/O parameters. (For further information, refer to the X-SEL Controller Operation Manual.) The typical setting methods are shown below in this Manual. 3. X-SEL-J/K/P/Q/JX/KX/PX/QX Basically, the I/O parameter No. 1 sets the I/O port assignment type to fixed assignment by setting the I/O port address for each I/O slot.
(2) Factory-configured parameters A: X-SEL-K䕕-䕕-CC1-䕕 B: X-SEL-K䕕-䕕-CC2-䕕 C: X-SEL-K䕕-䕕-CC3-䕕 Set value 1 Parameter name I/O port assignment type Input range A B C 0 – 20 0 0 0 3. X-SEL-J/K/P/Q/JX/KX/PX/QX No. Remarks 0: Fixed assignment 1: Automatic assignment (Priority: slot 1 䇶) * The ports only in the continuous installation range from slot 1 are assigned for safety.
(3) a. CC-Link connection with standard I/O ports When only three CC-link boards are used The following is the setting of a case where standard I/O ports are assigned to the CC-Link boards from the 3. X-SEL-J/K/P/Q/JX/KX/PX/QX first port without using a standard I/O board. Input port No. 000 – 015 Output port No. 300 – 315 Input port No. 016 – 031 Output port No. 316 – 331 Input port No. 032 – 047 Output port No.
X-SEL I/O parameter No. 1 Parameter name Default (reference) Input range Setting 1 0 – 20 01 I/O port assignment type Remarks 0: Fixed assignment 1: Automatic assignment (Priority: slot 1 䇶) * The ports only in the continuous installation 2 Standard I/O fixed assignment time: -1 -1 – 599 -1 -1 -1 – 599 -1 0 + (multiples of 8) (Invalid for negative values) Input port start No. (I/O 1) 3 Standard I/O fixed assignment time: Output port start No.
d. When a standard I/O board is used as general I/O When a standard I/O board is used as general I/O (input: 32 points, output: 16 points) with the setting of a, the number becomes 048 for the I/O parameter No. 2, 348 for No. 3, and 1 for No. 10 in the table on the 3. X-SEL-J/K/P/Q/JX/KX/PX/QX previous page for the following assignments: Input port No. 000 – 015 Output port No. 300 – 315 Input port No. 016 – 031 Output port No. 316 – 331 Input port No. 032 – 047 Output port No.
(4) General I/O connection of CC-Link boards The following is a case where a standard I/O board is used as standard I/O ports and 48 points each for input and output are assigned to three CC-link boards as general I/O ports: 3. X-SEL-J/K/P/Q/JX/KX/PX/QX Input port No. 064 – 079 Output port No. 348 – 363 Input port No. 048 – 063 Output port No. 332 – 347 Input port No. 032 – 047 Output port No. 316 – 331 Standard I/O board Input port No. 000 – 031 Output port No.
X-SEL I/O parameter No. 1 Parameter name Default (reference) Input range Setting 0 0 – 20 0 I/O port assignment type Remarks 0: Fixed assignment 3. X-SEL-J/K/P/Q/JX/KX/PX/QX 1: Automatic assignment (Priority: slot 1 䇶) * The ports only in the continuous installation range from slot 1 are assigned for safety.) 2 Standard I/O fixed assignment -1 -1 – 599 000 0 + (multiples of 8) (Invalid for negative values) -1 -1 – 599 300 300 + (multiples of 8) time: Input port start No.
(5) X-SEL I/O port numbers The standard I/O port numbers of X-SEL are shown below. The X-SEL port numbers and functional assignment can be changed with I/O parameters. (For further information, refer to the X-SEL Controller Operation Manual.) Input Port No.
Reference Addresses in PLC are assigned to the remote I/O addresses that correspond to the station number set by the 3. X-SEL-J/K/P/Q/JX/KX/PX/QX rotary switch and the station number set by the PLC parameter, in steps of 16 points in order of port number. (Input) (Input) Port No. (Output) (Output) Port No. Station No. N Station No. N+1 Xnn and Ynn+1 are the addresses in PLC that correspond to the station number N.
3.3 Troubleshooting When a problem occurs in the CC-Link, check the operating condition with the table below. When the ERR LED lights or flashes, or when the green LED turns off abnormally during communications, check (or reset) connections of the power and communications cables, setting of rotary switches, and setting of parameters before turning on the power to the controller main unit again. 3.
4. XSEL-R/S/RX/SX/RXD/SXD XSEL-P8/Q8/PX8/QX8 (Named temporarily) When utilizing CC-Link fieldbus with the XSEL-R/S/RX/SX/RXD/SXD controller, the I/O data is handled as either bit data or wordwhich data. are Theapplicable fieldbus I/O is mapped to input and as output ports in or theword XSEL XSEL-P8/Q8/PX8/QX8, fordata CC-Link, deal the I/O data the bit data data, controller. and operate while reflecting the data. Station”. Note Set the Station Data for the Master Station to “ver 1, Remote Device Station”. 4.
2) Monitor LED indications The board operation status and network condition are obtained with the two LEDs located in the front of the communication board. : Illuminating LLED ED Color × : OFF Illumination Status Orange orange × STATUS0 L RUN 4.3 Green green Indication Description (Detailed Explanation) Data reception error Communication Setting Error (Station Number Setting/ Baud rate setting, etc.) The station No.
[1] Network Setting Check Confirm Confirm that the 2nd digit of I/O Parameter No. 25 225Network NetworkI/FI/FModule ModuleControl Controlsetting settingisisshowing “1” (CC-Link). showing “1” (CC-Link). No. 4. XSEL-R/S/RX/SX/RXD/SXD 225 Parameter name Network I/F Module Control Default 1* Input Range 10H to 13H Unit - Remarks bits 4-7(2nd digit): Network I/F Module 2type 0: Not Mounted 1:CC-Link 2:DeviceNet 3:PROFIBUS [2] I/O Port Port Allocation AllocationType Type Setting I/O Parameter No.
[3] CC-Link Board Use Setting Set “1” (Monitoring: use CC-Link board) to I/O Parameter No. 235. No. Parameter name Network I/F Module 2 Error Error 235 Monitoring Default Input Range (Reference) 1 0 to 5 Unit - Remarks 0: No Monitoring (Not to monitor condition of link to PLC (master)) 1: Monitoring No.
[7] I/O Port Top Number Setting Set the top port number of the port range used in I/O Parameters No. 233 to 234. Note The port numbers assigned here are the starting input and output port numbers. Add the number of ports assigned in parameters 231 and 232 to determine the I/O range. The values entered into these parameters must be evenly divisible by 8 (EX: 300). No. Parameter name 4. XSEL-R/S/RX/SX/RXD/SXD Network I/F Module Extension Input Port 2Start Input Start I/F No.Module in 233 No.
4.4 Setting example (1) Example for when using only CC-Link It is how to establish the setting when using using CC-Link CC-Link to to 16 16 points ports of ofeach eachinput inputand and output output from from the the top top of the standard I/O ports, and no other I/O port (for I/O board, etc.) is to be used. 4. XSEL-R/S/RX/SX/RXD/SXD Standard Input Port No.0 to 15 Standard Output Port No.300 to 315 (CC-Link board) Not Applicable (I/O board) I/O Parameters No.
No. 10 10 Parameter name Standard I/O Error Monitoring. (I/O1) Standard I/O Error Monitoring (I/O1) 4.
0: No Monitoring (Not to monitor condition Remarks of link to PLC (master)) 1: Monitoring 0: No Monitoring (Not to monitor CC-Link nodeofaddress range: 0 to 5 1 condition link to PLC (master)) 0 to 64 Optional 1 toMonitoring 64 1: 0: 156Kbps CC-Link node address range: Follow 0 to 64 Optional 1:to 625Kbps 1 64 master 2: 2.5Mbps 0 to 4 0: 156Kbps unit Follow 3: 5Mbps 1: 625Kbps setting master 4: 10Mbps 2: 2.
(2) Example for when using CC-Link and I/O Board 1 together 4. XSEL-R/S/RX/SX/RXD/SXD It is how to establish the setting when using using CC-Link CC-Link to to 256 256 ports pointsofofeach eachinput inputand andoutput outputfrom fromthe thetop of extended I/OI/O ports and ports for and output) output)totothe the topthe of the extended ports andassigning assigningthe theI/O I/Oboard board (48 (48 points for each each input and standard I/O ports. Extended Input Ports No.
No. 10 10 Parameter name Standard I/O Error Monitoring. (I/O1) Standard I/O Error Monitoring (I/O1) Default Input (Reference) Range 1 1 0 to 5 Unit 1 0 to 5 1 0 0 to 256 0 No. of Network I/F Module 1 Remote Input Ports No. No. of of Network Network I/F I/F Module Module 11 14 15 Remote Remote Input Input Ports Ports No. No. of of Network Network I/F I/F Module Module 11 15 Output Input Port Start Ports No. in Network 16 Remote I/F Port Start No. in Network Input 16 No.
I/F Module 2 No. Network Parameter name 235 Error Monitoring Network I/F Module 2 235 Network I/F Module 2 237 Error Monitoring Node Address 237 238 Network I/F Module 2 Node Address Network I/F Module 2 4.
(3) Example for when using CC-Link and I/O Board 1 together setting when when using using CC-Link CC-Link to to 192 192 ports pointsofofeach eachinput inputand andoutput outputfrom fromthe thetop It is how to establish the setting topthe of the extended ports and assigningthe theI/O I/Oboard board (48 (48 ports pointsfor for each each input and of extended I/OI/O ports and assigning and output) output)totothe the standard I/O ports. Standard Input Port No.192 to 239 Standard Output Port No.
No. 10 10 Parameter name Standard I/O Error Monitoring. (I/O1) Standard I/O Error Monitoring (I/O1) 4.
Default Input (Reference) 1 0Range to 5 1 0 0 0 0 0: No Monitoring (Not to monitor condition Remarks of link to PLC (master)) 1: Monitoring 0: No Monitoring (Not to monitor 0 to 5 1 condition link to PLC (master)) CC-Link nodeofaddress range: 0 to 64 Optional 1: 1 toMonitoring 64 0: 156Kbps CC-Link node address range: Follow 0 to 64 Optional 1 64 1:to 625Kbps master 2: 2.5Mbps 0 to 4 0: 156Kbps unit Follow 3: 5Mbps 1: 625Kbps setting master 4: 10Mbps 2: 2.
4.5 Standard I/O Ports of XSEL Controller For the standard I/O ports of XSEL controller, it is is possible possible to to change change the the specified specified functions functions except except for for the general-purposed I/O with the the I/O I/O parameters. parameters. [Refer [Refer to tothe theinstruction instructionmanual manualfor forthe theXSEL-P8/Q8 XSEL-R/S/ controller for morecontroller information.] RX/SX/RXD/SXD for more information.] Settings of Standard I/O Ports at Delivery 4.
4.6 How to Handle XSEL I/O Port Numbers and PLC Addresses In XSEL 'sCC-Link CC-Linkboard board remote device station. In PLC, the XSEL’s is is setset asas thethe remote device station. of occupied remote device stations varies, depending point setting on the The number The occupied remote device stations varies, depending onon thethe I/OI/O point setting on the XSEL side.
(3) When the number of I/O points is set to 208 or more and 256 or less (three stations are occupied) I/O I/O Point Point Input Input Port Port Number Number on on XSEL XSEL 000 to 015 000 to 015 016 to 031 016 to 031 032 to 047 032 to 047 048 to 063 048 to 063 064 079 064 to to 079 080 095 080 to to 095 096 111 096 to to 111 112 127 112 to to 127 128 143 128 to to 143 144 159 144 to to 159 160 175 160 to 175 176 to 191 176 191 192 to 207 192 207 208to 208 to 223 223 224 to 239 224 239 240 to 255 240 255
(4) Assignment of System Area Signals Domain Signals Station Ready Ready that that is is used used in in the the system system domain. area.
When the number of I/O points is set to 112 or more and 192 or less: two stations are occupied Addresses in PLC are assigned to the remote I/O addresses and remote register areas that correspond to the station number set by the rotary switch and the number of occupied stations set by the PLC parameter, in order of port number. (1) Remote I/O 4. XSEL-R/S/RX/SX/RXD/SXD PLC (Output) (Input) (Input) Port No. (Output) Port No.
(2) Remote register a. When the I/O parameter No. 120 is set to “1” PLC (Input) (Output) 4. XSEL-R/S/RX/SX/RXD/SXD (Input) Port No. (Output) Port No. RWrn and RWwn are the remote register addresses in PLC that correspond to the station number N.
4.7 Troubleshooting 4. XSEL-R/S/RX/SX/RXD/SXD 1) In case it is not possible to connect the network, check the current condition on the display of monitoring LEDs of CC-Link Board. [Refer to Section Section 1.10] 4.2] Check the settings of the XSEL controller and the settings of the master unit referring to the instruction manuals of the master unit. 2) When an alarm is issued, an alarm code gets output to the panel window of the XSEL controller.
No. Error name Fieldbus error (FBRS link error) D5E Fieldbus error (Mail BOX response) D5F Network I/F Module Class Mismatch Error D75 Fieldbus Parameter Error D77 Fieldbus error (Exception) E1F I/O Assignment Parameter Error E20 I/O Duplication Assignment Error E21 I/O Assignment Number Overflow Error E8F Fieldbus logic error 81 5. Tabletop Robot TT D5D Contents and Treatment This occurs when the network connection is not established.
5 4. Tabletop Robot TT TT is handled as a remote device station. 5 4.1 Models Model: TT-䕕-I-䕕-CC 5. Tabletop Robot TT Number of Network I/O points MAX: 240/240 CC-Link Standard I/O CC-Link board is installed on the field network board installation position. (Note) 16 points each for input and output among I/O points are in the system area, therefore, these points cannot be used. For further information, please refer to “Section 4.5 Correspondence between the TT I/O port No. and PLC addresses.
54.2 CC-Link board (1) Names of each part TT type 5.
(2) Rotary switches The following can be carried out by rotary switches: a. Setting of station number b. Setting of communications speed a. Setting of station number In the CC-Link only with remote I/O stations, up to 64 units can be connected. The station number is set in the 1 to 64 range by the two rotary switches. SA 10: Sets the tens place. 5. Tabletop Robot TT SA 1: Sets the ones place.
b. Setting of communications speed The communications speed is set by the rotary switch BR. Communications speed 0 156 kbps 1 625 kbps 2 2.5 Mbps 3 5 Mbps 4 10 Mbps Setting to 5 or more prohibited Error Display of monitor LEDs The four LEDs mounted on the front of the board can indicate the board operating state and network condition.
54.3 Setting of I.O parameters (assignment of I/O ports) The TT I/O ports used in the CC-Link are set. 5. Tabletop Robot TT (1) Board installation positions (slots) and parameter numbers Standard I/O CC-Link Parameter No. 14 No. 15 The factory-configured number for each input port and output port used in the CC-Link is set to 64 points.
(2) No. 1 Factory-configured parameters of TT type Parameter name Default (reference) Input range 0 Reference I/O port assignment type Remarks 0: Fixed assignment only 2 Standard I/O fixed assignment time: 000 Input port start No. 3 Standard I/O 1 fixed assignment time: Standard I/O 2 fixed assignment time: 300 300+(multiples of 8)(Invalid for negative values) 32 Reference 0+(multiples of 8)(Invalid for negative values) only 316 -1 48 -1-599 348 -1 5.
(3) Parameter setting examples of tabletop robot TT This is the setting in a case where 240 points for each input and output is assigned to the CC-Link board as the general I/O port. The I/O port start No. of the TT is fixed. Input port start No. 48 Output port start No. 348 The number of ports used is set every 16 points. In addition, the port start No. is predetermined, therefore, the 5. Tabletop Robot TT maximum number of ports for each input and output is 240 points.
TT type I/O parameters No. 1 Parameter name I/O port assignment type Default (reference) Input range Setting 0 Reference 0 Remarks 0: Fixed assignment only 2 Standard I/O fixed assignment time: 000 Input port start No. 3 Standard I/O 1 fixed assignment time: 300 Standard I/O 2 fixed assignment time: 300 only 32 Input port start No. 5 Reference Reference -1 Expansion I/O 1 fixed assignment time: 0+(multiples of 8)(Invalid for negative values) 316 Output port start No.
54.4 I/O port numbers of TT The following table shows I/O port numbers of TT. (For further information, please refer to the “Operation Manual of Tabletop Robot TT.”) 5. Tabletop Robot TT Port No. Port No.
5.
4.5 Correspondence between I/O port numbers and PLC addresses of TT 5 In the PLC, the CC-Link board of TT is set as a remote device. The number of occupied stations of the remote device according to the setting of the I/O points on the TT side changes. The following table shows the relationships between I/O port numbers and addresses of the PLC according to the setting of the I/O parameter No. 14 and No. 15. Note: 5. Tabletop Robot TT (1) For I/O parameter No. 14 and No.
(3) When the number of I/O points is set to 208 or more and 256 or less: Configured as three remote devices. (Three stations occupied) I/O parameter No. 14 No. 15 TT side DI (Port No.
4.6 Data in remote registers 5 Addresses in PLC are assigned to the remote I/O addresses and remote register areas that correspond to the station number set on the CC-Link board and the number of occupied stations set by the PLC parameter, in steps of 16 points (one word) in order of TT port number. Setting the I/O parameter No.
(2) Transmission and receipt of signals in remote I/O areas The transmission and receipt of signals in remote I/O areas are irrelevant to the setting of the I/O parameter No. 120. 䖃: On, 䕿: OFF TT port No. (Input) ON/OFF 063 062 061 060 059 058 057 056 055 054 053 052 051 050 049 048 䖃 䖃 䖃 䕿 䕿 F 䕿 䕿 䖃 䕿 0 䕿 䕿 䕿 䕿 8 䕿 䖃 1 PLC: RYnn (Output) F E D C B A 9 8 7 6 5 4 3 2 1 0 ON/OFF 䖃 䖃 䖃 䖃 䕿 䕿 䕿 䕿 䖃 䕿 䕿 䕿 䕿 䕿 䕿 䖃 Hexadecimal data TT port No.
(3) Transmission and receipt of signals in remote register areas The I/O parameter No. 120 allows the data in one word (16 bits) to be transmitted by reversing the order of the higher-order byte (higher-order 8 bits) and the lower-order byte (lower-order 8 bits). (a) When the I/O parameter No. 120 is set to “1” 䖃: On, 䕿: OFF TT port No. (Input) 5.
(b) When the I/O parameter No. 120 is set to “0” 䖃: On, 䕿: OFF TT port No. (Input) ON/OFF 127 126 125 124 123 122 121 120 119 118 117 116 115 114 113 112 䖃 䕿 Hexadecimal data 䕿 䕿 䕿 䕿 8 䕿 䖃 䖃 䖃 1 䖃 䖃 䕿 䕿 F 䕿 䕿 0 F E D C B A 9 8 7 6 5 4 3 2 1 0 ON/OFF 䖃 䖃 䖃 䖃 䕿 䕿 䕿 䕿 䖃 䕿 䕿 䕿 䕿 䕿 䕿 䖃 Hexadecimal data TT port No.
Reference 䕔 When the number of I/O points is set to 112 or more and 192 or less: two stations are occupied Addresses in PLC are assigned to the remote I/O addresses and remote register areas that correspond to the station number set by the rotary switch and the number of occupied stations set by the PLC parameter, in order of port number. 5. Tabletop Robot TT (1) Remote I/O (Output) (Input) (Input) Port No. (Output) Port No.
Reference (2) Remote register a. When the I/O parameter No. 120 is set to “1” (Input) (Output) 5. Tabletop Robot TT (Input) Port No. (Output) Port No. RWrn and RWwn are the remote register addresses in PLC that correspond to the station number N.
Reference b. When the I/O parameter No. 120 is set to “0” (Output) 5. Tabletop Robot TT (Input) (Output) Port No. (Input) Port No. Station No. N Station No. N+1 RWrm and RWwm are the remote register addresses in PLC that correspond to the station number. The remote register is comprised of one word (16 bits), but the data order of the higher-order 8 bits (higher-order byte) and the lower-order 8 bits (lower-order byte) is reversed under this setting. Take caution.
54.7 CSP file When using the GX Configurator-CC (manufactured by Mitsubishi Electric Corporation), download the CSP file from our Web site shown below if required. Web site: http://www.iai-robot.co.jp The CSP file to be used is different according to the number of ports used (number of I/O ports) set by the I/O parameters No. 14 and No. 15 of TT. Description HMS-ABS-CCL_1.csp For one remote device (one station) HMS-ABS-CCL_2.csp For one remote device (two stations) HMS-ABS-CCL_3.
4.8 Troubleshooting 5 When a problem occurs in the CC-Link, check the operating condition with the table below and remove the cause. When the ERR LED lights or flashes, or when the green LED turns off abnormally during communications, check (or reset) connections of the power and communications cable, and setting of rotary switches before turning on the power to the controller main unit again. 5. Tabletop Robot TT 䕿: ON, 䖃: OFF, 䖂: Flashing RUN (Green) ERR (Red) SD RD (Green) (Green) 䕿 䖂 䖂 䕿 䕿 0.
65. RCS-C and E-Con 65.1 Models The following shows the CC-Link compatible RCS-C and E-Con, (1) RCS-C Model: RCS-C-䕕-䕕䕕-CC-䕕-䕕-䕕 I/O numbers: Input only: 8 points, Output only: 10 points 6.
5.2 CC-Link interface 6 (1) Names of each part Communications speed setting rotary switch 6.
(2) Rotary switches The following can be carried out by rotary switches: a. Setting of station number b. Setting of communications speed a. Setting of station number In the CC-Link only with remote I/O stations, up to 64 units can be connected. The station number is set in the 1 to 64 range by the two rotary switches. SA 10: Sets the tens place. SA 1: Sets the ones place. 6.
b. Setting of communications speed 6. RCS-C and E-Con The communications speed is set by the rotary switch BR. (3) Rotary switch selection number Communications speed 0 156 kbps 1 625 kbps 2 2.5 Mbps 3 5 Mbps 4 10 Mbps Setting to 5 or more prohibited Error Display of monitor LEDs The four LEDs mounted on the front of the board can indicate the board operating state and network condition.
5.3 Input and Output (I/O) 6 Input and output points for each RCS-C and E-Con are (1) RCS-C Input only: 8 points, output only: 11 points (2) E-Con Input only: 10 points, output only 13 points For further information of each signal, please refer to the “Operation Manual of the RCS Series ROBO Cylinder Controller RCS-C type” and “Operation Manual of E-Con Controller.” (1) RCS-C signal assignment Signal name Output port No.
(2) E-Con signal assignment Signal name Output port No.
Reference For both RCS-C and E-Con, bit addresses in the PLC are assigned to the remote I/O addresses that correspond to the station number set by the rotary switch and the number of stations set by the PLC parameter, in order of port number. (Output) (Input) 6. RCS-C and E-Con (Input) Port No. (Output) Port No. Station number Xnn and Ynn+1 are addresses in the PLC that correspond to the station number N.
65.4 Troubleshooting When a problem occurs in the CC-Link, check the operating condition with the table below to remove the cause. When the ERR LED lights or flashes, or when the green LED turns off abnormally during communications, check (or reset) connections of the power and communications cables, setting of rotary switches, and setting of parameters before turning on the power to the controller main unit again. 6.
6. SCON-C 7 Caution: The SCON-CA is a remote device station and not interchangeable with the SCON-C (remote I/O station). 7 6.1 Models The following figure shows a CC-Link compatible SCON-C. SCON Model: SCON-C-䕕䕕-CC-䕕-䕕 Number of I/O points: Input only: 16 points/Output only: 16 points 7.
6.2 CC-Link interface 7 (1) Names of each part Communications speed setting rotary switch Station number setting 7.
(2) Rotary switches The following can be carried out by rotary switches: a. Setting of station number b. Setting of communications speed a. Setting of station number In the CC-Link only with remote I/O stations, up to 64 units can be connected. The station number is set in the 1 to 64 range by the two rotary switches. SA 10: Sets the tens place. SA 1: Sets the ones place. Station number SA 10 SA 1 0 0 0 1 10 1 2 20 2 3 30 3 4 40 4 5 50 5 6 60 6 7 7 8 8 9 9 7.
b. Setting of communications speed 7. SCON-C The communications speed is set by the rotary switch BR. (3) Rotary switch selection number Communications speed 0 156 kbps 1 625 kbps 2 2.5 Mbps 3 5 Mbps 4 10 Mbps Setting to 5 or more prohibited Error Display of monitor LEDs The four LEDs mounted on the front of the board can indicate the board operating state and network condition.
6.3 I/O signal assignment 7 Number of I/O points for SCON: Input only: 16 points, Output only: 16 points The following table shows the detailed contents. There are 6 patterns according to the setting of parameter No. 25 (PIO Pattern selection) of SCON. For additional, for further information on each signal, refer to the “Operation Manual for SCON Controller.” Parameter No. 25 setting Port Classification No.
Parameter No. 25 setting 512 point mode Electromagnetic valve mode 1 Electromagnetic valve mode 2 4 5 3 Port Classification No.
7 6.4 CC-Link address assignation SCON is a one remote I/O station (one station occupied) (two words for each input and output). To which master station number the I/O ports of SCON is assigned is set by the rotary switch for setting the station number of SCON. Additionally, to which internal devices or addresses of PLC-CPU the buffer memory of the master station is assigned is set by the PLC network parameter.
The following figures shows a case where the master station buffer memory is set to the station number 3, in which the input port 0 is RY50, input port 15 is RY5F, output port 0 is RX40, and output port 14 is RX4F. SCON remote I/O station PLC-CPU Master station buffer memory Internal device Remote input (One station exclusive) Output port No. Station No. 1 Station No. 2 7. SCON-C Station No. 3 Station No. 64 Internal device Remote output (RY) Station No. 1 Station No. 2 Station No. 3 Station No.
6.5 Troubleshooting 7 When a problem occurs in the CC-Link, check the operating condition with the table below to remove the cause. When the ERR LED lights or flashes, or when the green LED turns off abnormally during communications, check (or reset) connections of the power and communications cables, setting of rotary switches, and setting of parameters before turning on the power to the controller main unit again.
87. ASEL䚸PSEL䚸SSEL There are the following types of ASEL, PSEL, SSEL applicable to CC-Link. Remote Device Station: No. of I/O points = Max. 256 points for each 8 7.1 Model No. 87.1.1 ASEL䚸PSEL Each model No. of ASEL or PSEL applicable to the CC-Link is described as follows. 8.
87.1.2 SSEL There are the following types of SSEL applicable to CC-Link. For 1-axis SSEL-C-1-䕕-CC-䕕 For 2-axis SSEL-C-2-䕕-CC-䕕 External Dimensions 8.
8 7.2 CC-Link Interface (1) Names of the Parts z ASEL䚸PSEL z SSEL Status LED 8. ASEL, PSEL, SSEL CC-Link Communication Connector (2) Status LED Indication The CC-Link board operation status and network status can be obtained using the two LEDs located on the front surface of the controller.
7.3 I/O Parameter Setting 8 Using the I/O parameters, set the Station No., Communication Speed, and I/O port, etc., for ASEL, PSEL or SSEL used in the CC-Link. (1) Network Type Setting The I/O Parameter No. 225 “Network I/F Module Control” has been set to “1H” (CC-Link) when the unit is delivered. (The setting is not necessary) (2) Station No. Setting Using the I/O parameter No.226 "Network I/F Module Communication Attribute 1", set the station No. The setting range is from 1 to 64.
(4) I/O Port Allocation Using the following I/O parameters, set the physical I/O port quantity and port allocation for ASEL, PSEL or SSEL, used on the CC-Link system. No. 1: I/O Port Allocation Type No. 14: No. of Network I/F Module Remote Input Ports No. 15: No. of Network I/F Module Remove Output Ports Refere to "7.4" Item. No. 16: Network I/F Module Fix-Allocated Input Port Start No. No. 17: Network I/F Module Fix-Allocated Output Port Start No.
ASEL, PSEL and SSEL Network Related I/O Parameter List No. 1 14 15 16 17 Parameter Name I/O Port Allocation Type No. of Network I/F Module Remote Input Ports No. of Network I/F Module Remote Output Ports Input Port Start No. in Network I/F Module Fix-Allocation Output Port Start No.
8 7.4 I/O Port Nos. and Corresponding PLC Addresses ASEL, PSEL PSEL or or SSEL SSEL CC-Link CC-Link board boardisisset setas asthe theremote remotedevice devicestation. station.The Thenumber numberofofoccupied occupiedremote remote In PLC, ASEL, device stations varies, depending on the I/O point setting on the ASEL, PSEL and SSEL side. when I/O I/O parameter parameter No. No. 11 is is set set to to “0”, “0”, No. No.16 16to to“0” “0”and andNo. No.
(3) In the case that I/O Points setting is larger than 208 and smaller than 256 points: They are configured as three remote devices (No. of Occupied Stations: Three Stations) No.14 No.
(4) In the case of using it in the SSEL Positioner Mode: Regardless of the settings for the I/O parameter No. 1, No. 16 and No. 17, the Nos. starting from “0” are allocated to the physical input ports and Nos. starting from “300” to the physical output ports. Then, the Input Port No. 0 to No. 23 and Output Port No. 300 to No. 30 are used as in the I/O Port Table for Each Controller described from the next page. At that time, make sure to set the values for the I/O parameter No. 14 and No.
ASEL Positioner Mode I/O Port Table Port Classification Classification No. Output Output DC-S-C1 Compatible Mode Position No.1000 16 Position Input 10 Input 10 Position Input 7 First Axis Jog Input 17 Position Input 11 Input 11 Position Input 8 Second Axis Jog + ⎯ 18 Position Position Input Input 12 12 Input 12 12 Position Input Input 9 9 Second Axis Axis Jog Jog - 18 Input Position Second ⎯ 19 Position Position Input Input 13 13 Input 13 13 Position Input Input 10 10 Inching (0.01mm) (0.
PSEL Positioner Mode I/O Port Table 8. ASEL, PSEL, SSEL Classification Port No. Input Positioner Mode 16 Position Input 10 Input 10 Position Input 7 17 18 19 20 21 22 23 Position Input 11 Position Input 12 Position Input 13 Error Reset Input 11 Input 12 Input 13 Input 14 Input 15 Input 16 Error Reset Position Input 8 Position Input 9 Position Input 10 Position Input 11 Position Input 12 Position Input 13 Error Reset DC-S-C1 Compatible Mode Position No.
SSEL Positioner Mode I/O Port Table Classification Port No. 16 17 18 19 20 21 22 3 Input 4 5 6 7 8 9 10 11 12 13 14 15 300 301 302 303 Output 304 305 306 307 DC-S-C1 Compatible Mode Position No.1000 Position Input 10 Input 10 Position Input 7 First Axis Jog Input No.2000 Position Input 11 Input 11 Position Input 8 Second Axis Jog + Position Input No.4000 Position Input 12 Input 12 Position Input 9 Second Axis Jog - Position Input No.8000 Position Input 13 Input 13 Position Input 10 Inching (0.
Reference 䕔In the case that the setting for the I/O Point is 112 points or larger and 192 points or smaller: The addresses in the PLC, are allocated in the order of port No., to the remote I/O addresses and remote register corresponding to the set station No. and the No. of occupied stations set using the PLC parameters. (1) Remote I/O (Output) 8. ASEL, PSEL, SSEL (Input) ASEL, PSEL, SSEL (Input) Port No. (Output) Port No.
Reference (2) Remote register (Input) (Output) 8. ASEL, PSEL, SSEL ASEL, PSEL, SSEL (Input) Port No. (Output) Port No. RWrn/RWwn shows the Remote register address in the PLC corresponding to the station No.
8 7.5 Trouble Shooting With the Status LED (STATUS 0/1) on the front surface of the board, the CC-Link board operation status and network status can be obtained. When any CC-Link trouble occurs, confirm the operation status based on the 8. ASEL, PSEL, SSEL Table in Item 7.2 (2) and remove the cause.
98. Communications with Master station The following is a case where X-SEL I/O port addresses are assigned from the first one of each port. This is an example in which the two remote device stations occupied (X-SEL) are used. 9 8.1 Remote I/O Two words are used for one station on the PLC side. RCS-C/E-Con/SCON/X-SEL Remote I/O station (Station No. 1: one station Master station occupied) X-SEL Remote device station (Station No. 2: Two stations occupied) 9.
Buffer address Remote input Output port No. For station 1 Output port No. For station 2 For station 3 For station 4 *1 In the case of X-SEL (Remote I/O station) Output port: 300-315 For station 5 *2 Cannot be used because this is a system area. For station 6 For station 7 For station 8 9. Communications with Master station For station 9 Master station Buffer address Remote input Input port No. For station 1 Input port No.
9 8.2 Remote register (1) Master station X-SEL (Remote device station) Four words are used for one station. Master station Buffer address RCS-C/E-Con/SCON/X-SEL Remote I/O station (Station No. 1: one station occupied) X-SEL Remote device station (Station No. 2: Two stations occupied) Remote register For station 1 Output port No. For station 2 For station 3 9.
(2) Master station X-SEL (Remote device station) Four words are used for one station. Master station Buffer address RCS-C/E-Con/SCON/X-SEL Remote I/O station (Station No. 1: one station occupied) X-SEL Remote device station (Station No. 2: Two stations occupied) Remote register For station 1 Input port No. For station 2 9.
9. Common Items and Others 10. 10. 9.1 Communications cable For CC-Link communications cable, CC-Link Ver.1.10 compatible dedicated cable (FANC-SBH, FANC-SB, etc.,) is used. 10. 9.2 Connection of communications cable connector Connect the communications cable according to the following connector table: Pin No. Signal name Application 1 DA Communications line 2 DB Communications line 3 DG Ground 4 SLD Shield 5 FG Ground SLD and FG are internally connected. 10. 9.
9.4 Useful functions for X-SEL controller adjustment 10. (1) When a standard or expansion I/O board is installed onto the K-type controller, X-SEL can individually be started up without connection of the 24V DC power for I/O. (2) When a CC-Link board is installed, X-SEL can individually be started up without establishment of the network. In either case, set the relevant I/O parameters of No. 10 to No. 13 to “0: Non-monitoring.
Change History Revision Date November 2011 Description of Revision Twenty first Edition and ContentsACON changed in PCON. Safety Guide • Deleted Caution notes added for when working with two or more persons • Deleted ACON and PCON. July 2012 Twenty second Edition • Contents changed in Safety Guide • Part Number "J/K/P/Q/JX/KX/PX/QX" added on "3. X-SEL" • 4.
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Manual No.: ME0123-22A (July 2012) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
