EtherNet/IP Operation Manual, Fourth Edition ACON-C/CG PCON-C/CG/CA/CFA SCON-CA IAI America Inc.
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.
Table of Contents Safety Guide ....................................................................................................................................................1 Handling Precautions ......................................................................................................................................8 1. Overview.................................................................................................................................................9 1.
3.6 Communicating with the Master Station......................................................................................93 3.6.1 Operation Modes and Corresponding PLC I/O Areas........................................................93 3.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) ............................................................95 3.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8).............................99 3.6.
5.2 Example of Connection Settings with Keyence’s Master ......................................................... 276 5.2.1 Connection Example ....................................................................................................... 276 5.2.2 Setting the Controller....................................................................................................... 276 5.2.3 Setting the PLC .....................................................................................................
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 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.
No. 4 Operation Description 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.
No. 4 5 4 Operation Description Installation and Start Teaching Description (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.
No. 6 7 Operation Description Trial Operation 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.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other 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 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 Symbol Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
Handling Precautions 1. It is recommended that the baud rate be set based on auto negotiation. Make sure the link setting of the EtherNet/IP unit matches the communication mode set for the connected switching hub. If not, the link becomes unstable and communication cannot be performed properly. It is recommended to enable auto negotiation using an appropriate ACON or PCON parameter.
1. Overview (Note 1) For detailed explanations of EtherNet/IP, refer to the operation manual for the programmable controller (hereinafter referred to as “PLC”) in which the master unit is installed. Use this operation manual along with operation manual of each controller. Usage other than the ones described in this operation manual is prohibited. x System Configuration Example Master (PLC) EtherNet/IP Master CPU Unit Hub ACON PCON SCON-CA slave, etc. PCONCA/CFA IN/OUT slave, etc. 9 1.
1. Overview 1.1 EtherNet/IP Specifications Item Specification Communication standards IEC61158 (IEEE802.3) Baud rate 10BASE-T/100 BASE-T (Auto negotiation setting is recommended.) Communication cable length Refer to EtherNet/IP specifications (The distance between the hub and each node must be within 100 m Note 1) Number of connections Varies depending on the master unit. Applicable node address 0.0.0.0 to 255.255.255.
2. 2.1 ACON-C/CG, PCON-C/CG Operation Modes and Functions Operation Modes and Main Functions Remote I/O mode Position/ Simplified direct value mode Half direct value mode Full direct value mode Remote I/O mode 2 Number of occupied bytes 2 8 16 32 12 Position data setup operation X c(*1) c c X Speed and acceleration direct setup X X c c X Pressing operation c c c c c Current position read X c c c c Current speed read X X c c X Operation with the position No.
2. ACON-C/CG, PCON-C/CG [2] Position/simplified direct value mode: In this operation mode, EtherNet/IP communication is used to select and command movements that have been predefined in the controller’s position data table. Alternatively, this mode also allows the target position to be established directly. For “Speed”, “Acceleration/Deceleration” and “Positioning Band”, use the values already registered on the position data. The settable No. of position data items is max 768 points.
[4] Full direct value mode: In this operation mode, all values regarding position control (“Target Position,” "Speed” and "Acceleration/Deceleration,” etc.) are directly established. Number of occupied bytes: 32 bytes ACON or PCON applicable to EtherNet/IP 2. ACON-C/CG, PCON-C/CG Target position: 100.00 mm Positioning band: 0.10 mm Speed setup: 100.0 mm/s Acceleration: 0.30 G Deceleration: 0.30 G Pressing current value: 50% Load current threshold: 0 Zone +: 50.00 mm Zone -: 30.
2.2 Model Numbers The Model numbers of ACON and PCON applicable to EtherNet/IP are described as follows. 2.
2.3 EtherNet/IP Interface 2.3.1 Names of the Parts 2. ACON-C/CG, PCON-C/CG The names of each section related to EtherNet/IP are described as follows. Status LEDs 05 .'& /5 .
2.3.2 Monitor LED Indications 2. ACON-C/CG, PCON-C/CG The slave condition (each controller), as well as network condition, can be checked using the two LEDs, MS and NS, provided on the front panel of the controller. The description of each is explained in the following table. Name Display color ٤ (Green) ٤ (Green) NS ٤ (Red) ( ڏRed) ٤ (Green) NS ( ڏGreen) ٤ (Red) ( ڏRed) 16 ٤ : Illuminating, : OFF, ڏ: Flashing Explanation The power is turned off or IP address is not yet set.
2.4 Wiring Example 2.4.1 Connection Diagram 2. ACON-C/CG, PCON-C/CG PLC (EtherNet/IP master unit) Hub Ethernet cable* Ethernet cable* Ethernet cable* Other slaves ACON/PCON ACON/PCON * Ethernet cable: Straight cable of category 5e or above, 100 m max (Aluminum tape and braided double-shielded cable are recommended.) (Note) Terminal processing is not required. 2.4.
2. ACON-C/CG, PCON-C/CG 2.5 Setting Using the teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the controller to “MANU” side. The versions of teaching tool compatible with EtherNet/IP are as follows: x RC PC-compatible software: V8.02.00.00 or later x CON-T/TG: V1.10 or later x CON-PT/PD/PG: V1.20 or later x RCM-E/P: V2.20 (Planned) 2.5.1 Operation Mode Selecting Set parameter No. 84 “FMOD: Field bus operation mode.” [Refer to 2.
2.5.4 Setting the Subnet Mask Set parameter No. 141, “SNMK: Subnet mask.” Set the same value you have set in the master unit and other slaves (on the same network). [Refer to 2.9, “EtherNet/IP Parameters.”] 2. ACON-C/CG, PCON-C/CG Settable range: 0.0.0.0 to 255.255.255.255 (The factory setting is 255.255.255.0.) 2.5.5 Setting the Default Gateway If necessary, set parameter No. 142, “DFGW: Default gateway.” [Refer to 2.9, “EtherNet/IP Parameters.”] Settable range: 0.0.0.0 to 255.255.255.
2.6 Communicating with the Master Station 2. ACON-C/CG, PCON-C/CG 2.6.1 Operation Modes and Corresponding PLC I/O Areas The addresses allocated for each operation mode are described as follows. x PLC output o ACON/PCON input (* “n” indicates the first output address of each axis.
x ACON/PCON outputoPLC input side (* “n” indicates the first input address of each axis.) (Note) The Occupied area shows the area to be occupied with the operation mode setting. Therefore, this area cannot be used for any other purpose. Also, exercise caution to avoid node address duplication. 21 2.
2. ACON-C/CG, PCON-C/CG 2.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) In this operation method, EtherNet/IP communications is used to mimic the operation of hardware PIO (24V I/O). Set the position data using compatible teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. The I/O specifications for the PIO pattern are described as follows. (Refer to operation manual for the controller main body for more information.
(1) PLC address configuration (* “n” indicates the first address of each axis.) ACON/PCON side DO (Port No.) 0 to 15 PLC side input address (bytes) n+0, n+1 (2) I/O signal allocation for each axis The I/O signals of each axis consist of one input word (1 word = 2 bytes) and one output word in the I/O areas. x This is controlled by ON/OFF bit signals from the PLC. PCL output Address (* “n” indicates the first output address of each axis.
(3) I/O signal assignment The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to operation manual for the controller main body for more information.) 2. ACON-C/CG, PCON-C/CG ACON Category PLC output o ACON input ACON output o PLC input Positioning mode 0 Port No.
ACON ACON output o PLC input Electromagnetic valve mode 2 5 Symbol Signal name ST0 Start position 0 ST1 Start position 1 ST2 Start position 2 Unavailable BKRL Forced brake release Operating mode RMOD selector Unavailable RES SON Reset Servo ON command Retracting end movement command 0 Retracting end movement command 1 Retracting end movement command 2 0 PM1 PE0 Position 0 complete LS0 1 PM2 PE1 Position 1 complete LS1 2 PM4 PE2 Position 2 complete LS2 3 4 5 6 7 8 PM8 PM16 PM32 PM64 PM128
2. ACON-C/CG, PCON-C/CG PCON Category PLC output o PCON input PCON output o PLC input Port No. 0 Parameter No. 25 setting Teaching mode 1 Positioning mode 0 Symbol Signal name Symbol Signal name Symbol PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 3 PC8 4 PC16 PC16 5 PC32 PC32 6 - 7 - 8 - 9 BKRL 10 RMOD 11 Command position No. PC4 PC8 PC4 PC8 PC16 Command position No.
PCON Category PCON output o PLC input Parameter No.
2.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8) 2. ACON-C/CG, PCON-C/CG In this operation mode, EtherNet/IP communication is used to select and command movements that have been predefined in the controller’s position data table. Alternatively, through use of a PMOD signal, this mode also allows the target position to be established directly. For the speed, acceleration/deceleration and positioning band, etc.
PLC output Address (* "n" indicates the first output address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Target position (lower word) n+2, n+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Specified position number n+6, n+7 Control signal 29 2.
PLC input Address (* “n” indicates the first input address of each axis.) 2. ACON-C/CG, PCON-C/CG 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Completed position No.
PLC output 31 2. ACON-C/CG, PCON-C/CG (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Bit Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.40mm”, set it as “2540”. Target 32-bit 2.8 (1) If the value larger than the value (0.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type 2. ACON-C/CG, PCON-C/CG Current position Bit 32-bit Symbol - PLC input Completed position No. PM1 to 16-bit (Simple PM512 alarm code) EMGS b14 PWR b13 ZONE2 b12 ZONE1 Zone 1:“ON” for the current position within the zone set range Position zone: PZONE This signal turns ON when the current position is inside the specified position zone.
2.6.4 Half Direct Value Mode (Number of Occupied Bytes: 16) (1) PLC address configuration. (* "n" indicates the first address of each axis.) Parameter ACON/PCON side PLC side output ACON/PCON side No.
2. ACON-C/CG, PCON-C/CG (2) I/O signal allocation for each axis The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
PLC output Address (* “n” indicates the first output address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+2, n+3 Target position (Upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Positioning band (lower word) n+6, n+7 Positioning band (upper word) n+8, n+9 Speed n+10, n+11 Acceleration/ deceleration n+12, n+13 Pressing current-limitin n+14, n+15 Control signal 35 2.
PLC input Address (* “n” indicates the first input address of each axis.) 1 word = 2 bytes =16 bits 2. ACON-C/CG, PCON-C/CG n+0, n+1 Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type PLC output Positioning band 32-bit data 32-bit data Symbol Contents Details - 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”. If the value larger than the value (0.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) PLC output 2. ACON-C/CG, PCON-C/CG Signal type Bit Contents 16-bit integer Specify the current-limiting value to be used during pressing operation. Pressing 16-bit The allowable specification range is 0 (0%) to 255 (100%). current-limiting data The actual settable range varies depending on each actuator. value (Refer to the catalog or operation manual for the actuator.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type 32-bit data Symbol - Command current 32-bit data - Current speed 32-bit data - Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading: 000003FFH=1023 (decimal) =10.23mm * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2. 32-bit integer The electrical current presently specified by a command is indicated.
2. ACON-C/CG, PCON-C/CG 2.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32) This is the operation mode with all the values (target position, speed, etc.) set up directly using values from PLC. Set each value in the I/O area. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
Set value Pressing current-limiting value z Set the load current threshold. The load current threshold is expressed using 1-word (16 bits) binary data. The figures from 0 (0%) to 255 (100%) can be set in PLC. (Refer to the graph of pressing current-limiting value (above graph).) z Zone Boundary “+” and Zone Boundary “–“ are expressed using 2-word (32 bits) binary data. The figures from -999999 to +999999 can be set in PLC.
PLC output Address (* “n” indicates the first output address of each axis.) 1 word = 2 bytes =16 bits 2. ACON-C/CG, PCON-C/CG n+0, n+1 Target position (lower word) n+2, n+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
Address (* “n” indicates the first output address of each axis.) 1 word = 2 bytes =16 bits n+16, n+17 When the zone boundary is shown using the negative figure, it is expressed using the complement of 2.
2. ACON-C/CG, PCON-C/CG PLC input Address (* “n” indicates the first input address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Bit Symbol - Positioning band 32-bit data - Speed 32-bit data - Zone boundary+ /Zone boundary– 32-bit data - PLC output 32-bit data 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is–999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address 2. ACON-C/CG, PCON-C/CG Acceleration Deceleration Bit Symbol 16-bit data Function 16-bit integer Specify the acceleration and deceleration at which to move the actuator. The unit is 0.01G and settable range is 1 to 300. (Example) When it is “0.30G”, set it as “30”. If a move command is issued by specifying “0” or any value exceeding the maximum acceleration or deceleration, an alarm will occur.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Bit b5 b4 - Function Unavailable b3 INC b2 DIR b1 PUSH b0 - Incremental Command: Absolute position commands are issued when this signal is OFF, and incremental position commands are issued when the signal is ON.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit Current position 32-bit data Command current 32-bit data Current speed 32-bit data Alarm code 16-bit data b15 b14 b13 b12 PLC input 2. ACON-C/CG, PCON-C/CG Signal type b11 b10 Status signal b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 48 Symbol Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal) =10.
2.6.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
(1) PLC address configuration (* “n” indicates the first address of each axis.) 2. ACON-C/CG, PCON-C/CG Parameter No.84 4 ACON/PCON side DI and input register Port No.0 to 15 Occupied area PLC side output address (bytes) n, n+1 n+2, n+3 n+4, n+5 n+6, n+7 n+8, n+9 n+10, n+11 ACON/PCON side DO and output register Port No.
PLC input Address (* “n” indicates the first input address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 2. ACON-C/CG, PCON-C/CG Controller output port number n+2, n+3 Unavailable n+4, n+5 Current position (lower word) n+6, n+7 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
The signal allocation for the Command current and Current position is shown in the following table. Signal type Bit Symbol Contents Details 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal) Current 32-bit data =10.23mm position * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2. 32-bit integer The value of electrical current specified by the current command is indicated.
2.6.7 I/O Signal Controls and Function (1) Controller ready (PWR) PLC input signal When the controller can control the system after the power is applied, it is turned “ON”. Ŷ Function Regardless of the alarm or servo conditions, when the controller initialization is completed normally after the power is applied and the controller can control the system, it is turned “ON”. Even in the alarm condition, when the controller can control the system, it is turned “ON”.
2. ACON-C/CG, PCON-C/CG (5) Servo ON command (SON) PLC output signal Operation preparation end (SV) PLC input signal When the SON signal is turned ON, the servo will turn ON. When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON, the Status Indicator LED (Refer to 2.3, "EtherNet/IP Interface”) on the front surface of the controller illuminates in green. The “SV” signal is synchronized with this LED.
(PLC o ACON, PCON) (ACON, PCON o PLC) (ACON, PCON o PLC) (ACON, PCON o PLC) (ACON, PCON o PLC) Actuator operation Mechanical end Stop at the home position Caution: In the Remote I/O mode, Remote I/O mode 2 and Position/Simplified Direct Value Mode, when the positioning command is issued without performing the home return operation after the power is applied, the positioning is performed after the automatic home return operation.
2. ACON-C/CG, PCON-C/CG (7) Positioning start (CSTR): Used in the position/simple direct mode PLC output signal This signal is processed at the startup (ON edge) and the positioning is performed to the target position with the specified position No. or set using the PLC's target position register. Whether if the target position with the specified position No.
(10) Positioning completion signal (PEND) PLC input signal This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed. Speed Target position Travel Time Positioning band When the servo-motor is turned ON from OFF condition, the positioning is performed with the position set as the target position.
2. ACON-C/CG, PCON-C/CG (12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE2) PLC input signal Position zone (PZONE) PLC input signal These signals are turned ON when the current position of the actuator is within the set area and turned OFF when the current position is out of the set area. [1] Zone 1, Zone 2 The zone is set using the user parameters. The Zone 1 Signal is set using the parameter No. 1 “Zone Boundary 1 “+” Side” and No. 2 “Zone Boundary 1 “–“ Side”.
[1] Jog operation Jog operation can be performed when the jog/inch switching (JISL) signal is OFF. While the “JOG+” is turned “ON”, the movement direction is to the opposite of the home and when it is turned “OFF”, the actuator is decelerated and stopped. While the JOG – is ON, the actuator will operate in the direction of home and when it is turned OFF, it is decelerated to a stop. The operation is performed based on the set values of the following parameters.
2. ACON-C/CG, PCON-C/CG (14) Jog-speed/inch-distance switching (JVEL) PLC output signal This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. The relationship is as follows. JVEL signal Jog operation: JISL=OFF OFF Parameter No. 26, “Jog speed” ON Parameter No. 47, “Jog speed 2” Inch operation: JISL=ON Parameter No. 26, “Jog speed” Parameter No. 48, “Inch distance” Parameter No.
(17) Position data import command (PWRT) PLC output signal Position data import complete (WEND) PLC input signal The PWRT signal is available when the teaching mode signal (MODES) is turned “ON”. Turn the PWRT signal ON (*1), and the data of the current position will be written to the “Position” field under the position number set to the specified position number resister of the PLC (*2). When the data writing is completed, the WEND signal is turned “ON”.
2. ACON-C/CG, PCON-C/CG (19) Operating mode selector (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal The operation mode is selected with the RMOD signal and the MODE switch located on the front surface of the controller. Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal. The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are described as follows.
(23) Pressing and a miss (PSFL) PLC input signal In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning band or set using the PLC's positioning band register, but it was not pushed against the work part, this signal is turned “ON”. (Refer to Item (2) Operation in Half direct value mode in “2.8 Operation” for the setting timing for this signal) 2.
2. ACON-C/CG, PCON-C/CG (26) Load output judgment (LOAD) PLC input signal Dedicated PCON function This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be known if the set load threshold is reached during the pressing operation. The load threshold and check range are set by the PLC and the LOAD signal will turn ON when the command torque (motor current) exceeds the threshold inside the check range.
2. ACON-C/CG, PCON-C/CG (27) Torque level (TRQS) PLC input signal Dedicated PCON function This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning band), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON” or "OFF.
2. ACON-C/CG, PCON-C/CG (28) Stopping control mode (SMOD) PLC output signal Dedicated PCON function One of the pulse motor general characteristics is that that the holding current in the stop mode is larger than that for the AC servo-motor. Because of this, when the stop time is longer at the standby position, the measure to reduce the power consumption at the stop mode is taken as one of the energy saving measures. SMOD=ON: Full Servo Control System is used in the standby condition.
(29) Acceleration/deceleration mode (MOD1ޔMOD0) PLC output signal Dedicated ACON function This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command. Trapezoid pattern MOD0 OFF ON OFF ON Pattern name Trapezoid pattern S-shaped motion First-order lag filter Unavailable Remarks Factory setting 2.
2. ACON-C/CG, PCON-C/CG Caution: [1] [2] [3] [4] [5] Even if a position command or direct value command with S-shaped motion setting is issued when the actuator is running, S-shaped motion control will not be executed. Issue these commands when the actuator is stopped. When the index mode is set on the rotary actuator, S-shaped motion is not executed, and, instead, trapezoid control will be executed. Set the acceleration/deceleration speed so that the time for each will be within two seconds.
ASO1 OFF ASO0 OFF OFF ON ON OFF ON ON Functions Disabled Automatic Servo OFF Method Parameter No. 36 is valid for T Automatic Servo OFF Method Parameter No. 37 is valid for T Automatic Servo OFF Method Parameter No. 38 is valid for T Movement Command Servo Condition Actuator Moving 2. ACON-C/CG, PCON-C/CG (30) Stop Mode Selection (ASO1, ASO0) PLC Output Signal Select the stop mode for the duration before the movement to the next position after a positioning is completed.
2.7 I/O Signal Timings 2. ACON-C/CG, PCON-C/CG When any of the control signal is turned ON to perform the operation of the robot cylinder using the PLC's sequence program, the response (status) is returned to the PLC. The maximum response time is expressed using the following formula. Maximum response time (msec)䋽Yt+Xt+3+ command processing time (operation time, etc.
2.8 Operation (1) Operation in the position/simple-direct mode It is operated with the position data written in the PLC's register and the speed, acceleration /deceleration, positioning band and pressing current-limiting value, etc. set using the position table. z Example of operation (normal positioning operation) (Preparation) Set the position data items (speed, acceleration/deceleration, positioning band, etc) except for the target position item, in the position table.
[1] 2. ACON-C/CG, PCON-C/CG Set value of target position data [2] Specific position number * Positioning start [3] * Positioning completion [4] [5] [7] Current position [6] Moving Positioning band Actuator moving * T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
z Example of operation (normal positioning operation) For the general positioning operation, set the signal in Step 6 to “OFF”. When the remaining travel distance becomes within the range of the positioning band set in the position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”. 73 2.
[1] 2.
z Example of operation (normal positioning operation) For the general positioning operation, set the signal in Step 9 to “OFF”. When the remaining travel distance becomes within the range of the positioning band set in the position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”. 75 2.
[1] 2.
[9] Pressing specification 2. ACON-C/CG, PCON-C/CG [10] Push direction specification Positioning command [17] [11] * Positioning completion/ pressing and a miss PEND/PSFL [12] [13] [16] Current position [14] [15] Moving Pressing Actuator operation (Pressing) Positioning band Actuator operation (Normal positioning) *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
2. ACON-C/CG, PCON-C/CG (4) Data change during movement In the half direct mode or full direct mode, the value currently set to a given resister among the resisters for target position data, acceleration/deceleration data, speed data, positioning band and pressing current-limiting value, can be changed while the actuator is moving. After changing the data, turn “ON” the positioning command (DSTR) for more than tdpf.
EtherNet/IP Related Parameters Parameters relating to EtherNet/IP are No. 84, No. 86 to 87, No. 90 and No. 140 to 142. No. Category Symbol 1 83 84 86 87 90 140 141 142 Name 2. ACON-C/CG, PCON-C/CG Category: C: External interface parameter Default value set in the factory before delivery Refer to operation manual for the controller for the parameters No. 1 through No. 83. ~ 2.
z Network type (No.87 NTYP) The network module type is set for the parameter No. 87. Do not change the default value. 2. ACON-C/CG, PCON-C/CG z Field I/O format (No.90 FMIO) Addresses in the PLC are assigned in units of 16 points (2 bytes) based on the node address set in the controller and the occupied bytes in each operation mode. By changing the setting of parameter No.
(Example ii) Set value = “1” z indicates ON, while c indicates OFF 2.
2.
(Example iv) Set value = “3” z indicates ON, while c indicates OFF 2.
z IP address (No. 140: IPAD) Specify the IP address in parameter No. 140. 2. ACON-C/CG, PCON-C/CG Setting range: 0.0.0.0 to 255.255.255.255 (Factory setting: 192.168.0.1) (Note) When this parameter is set to 0.0.0.0, DHCP is enabled. Manual setting is recommended. z Subnet mask (No. 141: SNMK) Specify the subnet mask in parameter No. 141. Settable range: 0.0.0.0 to 255.255.255.255 (Factory setting: 255.255.255.0) z Default gateway (No. 142: DFGW) Specify the default gateway in parameter No. 142.
3. 3.
3. SCON-CA/CFA [2] Position/simplified direct value mode: In this operation mode, EtherNet/IP communication is used to select and command movements that have been predefined in the controller’s position data table. Alternatively, this mode also allows the target position to be established directly. For “Speed”, “Acceleration/Deceleration” and “Positioning Band”, use the values already registered on the position data. The settable No. of position data items is max 768 points.
[4] Full direct value mode: In this operation mode, all values regarding position control (“Target Position,” "Speed” and "Acceleration/Deceleration,” etc.) are directly established. Number of occupied bytes: 32 bytes PCON-CA/CFA applicable to EtherNet/IP 3. SCON-CA/CFA Target position: 100.00 mm Positioning band: 0.10 mm Speed setup: 100.0 mm/s Acceleration: 0.30 G Deceleration: 0.30 G Pressing current value: 50% Load current threshold: 0 Zone +: 50.00 mm Zone -: 30.
3.2 Model Numbers The Model numbers of PCON-CA/CFA applicable to EtherNet/IP are described as follows. 3.
3.3 EtherNet/IP Interface 3.3.1 Names of the Parts The names of each section related to EtherNet/IP are described as follows. NS MS 3. SCON-CA/CFA SV/ALM Status indicator LEDs ֥Status LEDs EtherNet/IP port 3.3.2 Monitor LED Indications The slave condition (each controller), as well as network condition, can be checked using the two LEDs, MS and NS, provided on the front panel of the controller. The description of each is explained in the following table.
3.4 Wiring Example 3.4.1 Connection Diagram PLC (EtherNet/IP master unit) 3. SCON-CA/CFA Hub Ethernet cable* Ethernet cable* Ethernet cable* Other slaves PCON-CA/CFA ACON-C * Ethernet cable: Straight cable of category 5e or above, 100 m max (Aluminum tape and braided double-shielded cable are recommended.) (Note) Terminal processing is not required. 3.4.
3.5 Setting Using the teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the controller to “MANU” side. Refer to the instruction manual for each teaching tool for the applicable version of the teaching tool that can be applied to EtherNet/IP. 3.5.
3.5.4 Setting the Subnet Mask Set parameter No. 141, “SNMK: Subnet mask.” Set the same value you have set in the master unit and other slaves (on the same network). [Refer to 3.9, “EtherNet/IP Parameters.”] 3. SCON-CA/CFA Settable range: 0.0.0.0 to 255.255.255.255 (The factory setting is 255.255.255.0.) 3.5.5 Setting the Default Gateway If necessary, set parameter No. 142, “DFGW: Default gateway.” [Refer to 3.9, “EtherNet/IP Parameters.”] Settable range: 0.0.0.0 to 255.255.255.
3.6 Communicating with the Master Station 3.6.1 Operation Modes and Corresponding PLC I/O Areas The addresses allocated for each operation mode are described as follows.
3. SCON-CA/CFA x PCON-CA/CFA outputoPLC input side (* “n” indicates the first input address of each axis.) DO on the PCON-CA/CFA side and output data register PLC input Position/simplified Half direct value Full direct value Remote I/O mode Remote I/O mode area direct value mode mode mode 2 (bytes) Number of Number of Number of Number of Number of occupied bytes: 2 occupied bytes: 8 occupied bytes: 16 occupied bytes: 32 occupied bytes: 12 n, n+1 Port No.0 to 15 Port No.
3.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) Value set in parameter No. 25 0 1 2 3 4 5 Operation mode I/O specification Positioning mode 64 positioning points and two zone output points are available. 64 positioning points and one zone output point are available. Teaching mode Positioning operation and jog operation are supported. The current position can be written to a specified position. 256-point mode 256 positioning points and one zone output point are available.
(1) PLC address configuration (* “n” indicates the first address of each axis.) 3. SCON-CA/CFA Parameter PCON-CA/CFA side PLC side output No.84 DI (Port No.) address (bytes) 0 0 to 15 n+0, n+1 (Note) Be careful of using duplicated node addresses. PCON-CA/CFA side DO (Port No.) 0 to 15 PLC side input address (bytes) n+0, n+1 (2) I/O signal allocation for each axis The I/O signals of each axis consist of one input word (1 word = 2 bytes) and one output word in the I/O areas.
(3) I/O signal assignment The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to operation manual for the controller main body for more information.) Positioning mode 0 Category Port No. Symbol Signal name PCONCA/CFA output o PLC input 256-point mode 2 Symbol Signal name 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 Command position No. PC4 3 PC8 4 PC16 PC16 5 PC32 PC32 6 - 7 - PC8 PC4 PC8 PC16 Command position No.
3. SCON-CA/CFA Category PLC output o PCONCA/CFA input PCONCA/CFA output o PLC input 512-point mode 3 Port No. Symbol Signal name Parameter No.
3.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8) ROBO cylinder function Home-return operation Positioning operation Speed and acceleration / deceleration setting Pitch feed (inching) Pressing operation Speed change during the movement Operation at different acceleration and deceleration Pause {: Direct control U: Indirect control x: Disable { { 3.
3. SCON-CA/CFA (2) I/O signal allocation for each axis The I/O signals of each axis consist of four input words (4 words = 8 bytes) and four output words in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2 words (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
PLC input Address (* “n” indicates the first input address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 3. SCON-CA/CFA Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Completed position No.
PLC output 3. SCON-CA/CFA (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Bit Symbol Contents Details 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.40mm”, set it as “2540”. Target 32-bit 3.8 (1) If the value larger than the value (0.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Current position Bit 32-bit Symbol - b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 Zone 1:“ON” for the current position within the zone set range Position zone: PZONE This signal turns ON when the current position is inside the specified position zone. Teaching mode signal: This signal is ON while the teaching mode MODES is selected. Position-data read complete : This signal turns ON when reading is WEND complete.
3. SCON-CA/CFA 3.6.4 Half Direct Value Mode (Number of Occupied Bytes: 16) This is the operation mode with the target position, positioning band, speed, acceleration/deceleration and pressing current value set up in the PLC. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
Set value 127 Pressing current-limiting value z The command current is expressed using 2-word (32 bits) binary data (Unit: 1mA). z The current speed is expressed using 2-word (32 bits) binary data (Unit: 0.01mm/sec). z The alarm code is expressed using 1-word (16 bits) binary data. 105 3. SCON-CA/CFA (2) I/O signal allocation for each axis The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas.
PLC output Address (* “n” indicates the first output address of each axis.) 1 word = 2 bytes =16 bits 3. SCON-CA/CFA n+0, n+1 Target position (Lower word) n+2, n+3 Target position (Upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
PLC input Address (* “n” indicates the first input address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 3. SCON-CA/CFA Current position (lower word) n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type 3. SCON-CA/CFA Target position 32-bit data 32-bit data Symbol Contents Details - 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”. If the value larger than the value (0.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit Symbol Contents 16-bit integer Specify the current-limiting value to be used during pressing operation. Pressing 16-bit The allowable specification range is 0 (0%) to 255 (100%). current-limiting data The actual settable range varies depending on each actuator. value (Refer to the catalog or operation manual for the actuator.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) 3. SCON-CA/CFA Signal type Bit Symbol Current position 32-bit data Command current 32-bit data - Current speed 32-bit data - Alarm code 16-bit data PLC input b15 b14 - Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading: 000003FFH=1023 (decimal) =10.23mm * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
3.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32) (1) PLC address configuration (* "n" indicates the first address of each axis.) Parameter PCON-CA/CFA side PLC side output PCON-CA/CFA side No.
3. SCON-CA/CFA (2) I/O signal allocation for each axis The I/O signals of each axis consist of one input word (16 words = 32 bytes) and one output word in the I/O areas. z Control signals 1 and 2 and status signals are ON/OFF bit signals. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
PLC output Address (* “n” indicates the first output address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 3. SCON-CA/CFA Target position (lower word) n+2, n+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
Address (* “n” indicates the first output address of each axis.) 1 word = 2 bytes =16 bits n+18, n+19 When the zone boundary is shown using the negative figure, it is expressed using the complement of 2. n+20, n+21 Acceleration n+22, n+23 Deceleration n+24, n+25 Pressing current-limiti ng value n+26, n+27 Load current threshold n+30, n+31 Control signal 2 114 MOD0 MOD1 ASO0 Control signal 1 ASO1 n+28, n+29 SMOD 3.
PLC input Address (* “n” indicates the first input address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) When the current position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Command current (lower word) n+6, n+7 Command current (upper word) n+8, n+9 Current speed (lower word) n+10, n+11 Current speed (upper word) When the current speed is shown using the negative figure, it is expressed using the complement of 2.
1 b0 b5 b4 b3 b2 b1 b0 1 b0 b5 b4 b3 b2 b1 b0 Status Signal 1 n+30, n+31 Status Signal 2 116 ALML b4 b3 b2 b1 b0 RMDS GHMS PUSH PSFL SV ALM MOVE HEND PEND LOAD PZONE ZONE1 ZONE2 PWR TRQS b5 b6 b7 b8 b15 b14 b13 b12 b11 b10 b9 b6 b7 b8 n+28, n+29 b15 b14 b13 b12 b11 b10 b9 Total moving distance (Host Word) 65,536 2 b1 131,072 4 b2 262,144 8 b3 524,288 16 b4 32 b5 64 b6 128 b7 256 b8 b15
(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Bit Symbol - Positioning band 32-bit data - Speed 32-bit data - Zone boundary+ /Zone boundary– 32-bit data - PLC output 32-bit data 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is–999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address 3. SCON-CA/CFA Acceleration Deceleration Bit 16-bit data 16-bit data Symbol - - Pressing current-limiting value 16-bit data - Load current threshold 16-bit data - Function 16-bit integer Specify the acceleration and deceleration at which to move the actuator. The unit is 0.01G and settable range is 1 to 300. (Example) When it is “0.30G”, set it as “30”.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Bit Symbol Function b2 DIR b1 PUSH b0 - b15 BKRL Forced brake release: When it is turned ON, the brake is released b14 RMOD Operating mode selector: The AUTO mode is selected when this signal is OFF, and the MANU mode is selected when the signal is ON. Control signal 1 3.6.7 (22) 3.6.7 (21) 3.6.7 (18) 3.6.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) PLC input 3. SCON-CA/CFA Signal type Bit Symbol Current position 32-bit data - Command current 32-bit data - Current speed 32-bit data - Alarm code 16-bit data - Total moving count Total moving distance Status signal 1 32-bit data 32-bit data b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 120 - - ALML Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol b15 EMGS b14 PWR b13 b12 ZONE2 ZONE1 b11 PZONE b10 LOAD b9 TROS b8 RMDS b7 GHMS b6 PUSHS b5 PSEL b4 SV b3 b2 ALM MOVE b1 HEND b0 PEND Contents Emergency stop: An emergency stop is actuated when this signal turns ON. Controller ready : This signal turns ON when the controller becomes ready.
3. SCON-CA/CFA 3.6.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) In this operation method, EtherNet/IP communications is used to mimic the operation of hardware PIO (24V I/O). Set the position data using the teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available.
(1) PLC address configuration (* “n” indicates the first address of each axis.) Parameter No.84 Occupied area PLC side output address (bytes) n, n+1 n+2, n+3 n+4, n+5 n+6, n+7 n+8, n+9 n+10, n+11 PCON-CA/CFA side DO and output register Port No.0 to 15 Occupied area Current position Command current PLC side input address (bytes) n, n+1 n+2, n+3 n+4, n+5 n+6, n+7 n+8, n+9 n+10, n+11 (Note) The areas denoted by Occupied area cannot be used for any other purpose.
PLC input Address (* “n” indicates the first input address of each axis.) 1 word = 2 bytes =16 bits 3. SCON-CA/CFA n+0, n+1 Controller output port number n+2, n+3 Unavailable n+4, n+5 Current position (lower word) n+6, n+7 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 3.6.2 (3). PLC input 125 3. SCON-CA/CFA The signal allocation for the Command current and Current position is shown in the following table. Signal type Bit Symbol Contents Details 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal) Current 32-bit data position =10.
3.6.7 I/O Signal Controls and Function 3. SCON-CA/CFA * ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the Position/Simplified Direct Value Mode, Half direct value mode and Full direct value mode, are described as follows. For the I/O signals for the Remote I/O mode and Remote I/O mode 2, refer to the controller’s operational manual.
(5) Servo ON command (SON) PLC output signal Operation preparation end (SV) PLC input signal When the SON signal is turned ON, the servo will turn ON. When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON, the Status Indicator LED (Refer to 3.3, "EtherNet/IP Interface”) on the front surface of the controller illuminates in green. The “SV” signal is synchronized with this LED. 3.
3. SCON-CA/CFA (6) Home return (HOME) PLC output signal Home return completion (HEND) PLC input signal Under home return operation (GHMS) PLC input signal When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the home return operation is performed automatically. During the home return operation, the “GHMS” signal is turned “ON”. When the “HEND” signal is turned “ON”, turn “OFF” the “HOME” signal.
When this signal is issued in the condition where the home return operation has not performed at all after the power is applied (HEND signal OFF), the positioning to the target position is performed after the home return operation is performed automatically. Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been turned “OFF”.
(10) Positioning completion signal (PEND) PLC input signal This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed. Timing at which the position complete signal turns ON 3. SCON-CA/CFA Speed Target position Travel Time Positioning band When the servo-motor is turned ON from OFF condition, the positioning is performed with the position set as the target position.
(12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE2) PLC input signal Position zone (PZONE) PLC input signal These signals are turned ON when the current position of the actuator is within the set area and turned OFF when the current position is out of the set area. [2] Position zone Each zone is set in the position table or using the zone boundary resister. In the case of the Position/Simplified Direct Value Mode, the PZONE signal is set using the position table.
(13) +Jog (JOG+) PLC output signal –Jog (JOG–) PLC output signal This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home. 3. SCON-CA/CFA [1] Jog operation Jog operation can be performed when the jog/inch switching (JISL) signal is OFF.
(14) Jog-speed/inch-distance switching (JVEL) PLC output signal This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. The relationship is as follows. JVEL signal Jog operation: JISL=OFF Parameter No. 26, “Jog speed” ON Parameter No. 47, “Jog speed 2” (15) Jog/inch switching (JISL) PLC output signal This signal changes over the jog operation and the inching operation.
3. SCON-CA/CFA (16) Teaching mode command (MODE) PLC output signal Teaching mode signal (MODES) PLC input signal When the MODE signal is turned “ON”, the normal operation mode is changed to the teaching mode. When the mode for the controllers for each actuator is changed to the teaching mode, the MODES signal is turned ON. After confirming that the MODES signal is turned “ON” on the PLC side, start the teaching operation.
(19) Operating mode selector (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal The operation mode is selected with the RMOD signal and the MODE switch located on the front surface of the controller. Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal. The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are described as follows. 3.
3. SCON-CA/CFA (23) Pressing and a miss (PSFL) PLC input signal In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning band or set using the PLC's positioning band register, but it was not pushed against the work part, this signal is turned “ON”. (Refer to Item (2) Operation in Half direct value mode in “3.
Position where this signal is turned ON when the command torque exceeds the threshold within the torque inspected width range Speed Position where the actuator is pushed against the work part and the pressing completion is judged so the positioning completion signal is turned “ON” Crack range Travel Positioning band (max. pressing level) Target position x Set the pressing speed using the parameter No. 34 “Pressing Speed”.
3. SCON-CA/CFA (27) Torque level (TRQS) PLC input signal This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning band), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON” or "OFF.” The speed available for the pressing varies depends on the motor and leads, it is required to adjust the parameters.
(28) Stopping control mode (SMOD) PLC output signal One of the pulse motor general characteristics is that that the holding current in the stop mode is larger than that for the AC servo-motor. Because of this, when the stop time is longer at the standby position, the measure to reduce the power consumption at the stop mode is taken as one of the energy saving measures. SMOD=ON: Full Servo Control System is used in the standby condition.
3. SCON-CA/CFA (29) Acceleration/deceleration mode (MOD1ޔMOD0) PLC output signal This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command.
Caution: [1] [2] [4] [5] First-order lag filter This describes a much gentler acceleration/deceleration curve than that for the linear acceleration/deceleration (trapezoid pattern). Use it when it is not desired to give any slight vibration to the work part in acceleration/deceleration operation. Speed Time * The first-order lag degree set using the parameter No. 55 “Position Command Primary Filter Time Constant”. The minimum input unit is 0.1msec and setting range is from “0.0” to “100.0”.
3. SCON-CA/CFA (30) Stop Mode Selection (ASO1, ASO0) PLC Output Signal Select the stop mode for the duration before the movement to the next position after a positioning is completed. If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption. Refer to the operation manual for the controller for more information. ASO1 OFF ASO0 OFF OFF ON ON OFF ON ON Function Disabled Automatic Servo OFF Method Parameter No.
3.7 I/O Signal Timings When any of the control signal is turned ON to perform the operation of the robot cylinder using the PLC's sequence program, the response (status) is returned to the PLC. The maximum response time is expressed using the following formula. Master Station o For the master station o slave transmission delay (Yt) and slave omaster station transmission delay (Xt), refer to the operation manuals for the EtherNet/IP master unit and PLC installed in the master unit.
3. SCON-CA/CFA 3.8 Operation The timings for the basic operation examples in the Position/Simplified Direct Value Mode, Half direct value mode and Full direct value mode, are described. For the Remote I/O Mode and Remote I/O Mode 2, refer to the operation manual for the controller main body. (In remote I/O mode 2, read the current position and current speed from the respective byte of the PLC, as deemed appropriate.
[1] Set value of target position data (PLC o PCON) 3. SCON-CA/CFA [2] Specific position number (PLC o PCON) * Positioning start CSTR (PLC o PCON) Positioning completion [3] * [4] [5] (PCON o PLC) [7] Current position (PCON o PLC) [6] Moving (PCON o PLC) Positioning band Actuator moving * T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
3. SCON-CA/CFA (2) Operation in the half direction mode It is operated with the data set in the PLC's target position register, positioning band register, setup speed register, acceleration/deceleration register and pressing current-limiting setup register. z Example of operation (Pressing operation) [1] Set the target position data in the target position register. [2] Set the positioning band data in the positioning band register. [3] Set the speed data to the speed resister.
[1] Set value of target position data (PLC o PCON) [2] Set value of positioning band data 3.
3. SCON-CA/CFA (3) Operation in the full direct mode The actuator is operated by specifying all conditions required for positioning such as the target position resister and positioning band resister of the PLC. z Example of operation (Pressing operation) [1] Set the target position data in the target position register. [2] Set the positioning band data in the positioning band register. [3] Set the speed data to the speed resister.
[1] Set value of target position data (PLC o PCON) [2] 3.
[9] Pressing specification (PLC o PCON) 3. SCON-CA/CFA [10] Push direction specification (PLC o PCON) Positioning command (PLC o PCON) Positioning completion/ pressing and a miss PEND/PSFL [17] [11] * [12] [13] [16] (PCON o PLC) Current position (PCON o PLC) [14] [15] Moving (PCON o PLC) Pressing Actuator operation (Pressing) Positioning band Actuator operation (Normal positioning) *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
Set value of speed or acceleration/deceleration [1] (PLC o PCON) [2] [3] (PLC o PCON) (PCON oPLC) (PCON oPLC) Speed n3 Speed n2 Actuator speed Caution twcsON Yt+Xt+3 (msec) twcsOFF Yt+Xt+3 (msec) *Yt+Xt tpdf Yt+Xt+3 (msec) 1. When the speed has not been set or it is set to “0”, the actuator is not moved, but an alarm is not issued. 2. When the speed setting is changed to “0” during the movement, the actuator is decelerated and stopped, but an alarm is not issued. 3.
3.9 EtherNet/IP Related Parameters Parameters relating to EtherNet/IP are No. 84, No. 86 to 87, No. 90, No. 140 to 142 and No. 159. Category: C: External interface parameter 3. SCON-CA/CFA No. Category Symbol 1 Default value set in the factory before delivery Refer to operation manual for the controller for the parameters No. 1 through No. 83.
z Network type (No.87 NTYP) The network module type is set for the parameter No. 87. Do not change the default value. Value set in parameter No. 90 Contents Data exchange is not performed. The data is sent directly to the PLC. (Refer to “Example i”.) The host bytes are exchanged with slave bytes in the host words and 1 slave words. (Refer to “Example ii”.) In the case of word register, the host words are exchanged with the 2 slave words. (Refer to “Example iii”.
(Example ii) Set value = “1” 3.
(Example iii) Set value = “2” z indicates ON, while c indicates OFF PCON Input resister 3.
(Example iv) Set value = “3” 3.
z IP address (No. 140: IPAD) Specify the IP address in parameter No. 140. Setting range: 0.0.0.0 to 255.255.255.255 (Factory setting: 192.168.0.1) (Note) When this parameter is set to 0.0.0.0, DHCP is enabled. Manual setting is recommended. 3. SCON-CA/CFA z Subnet mask (No. 141: SNMK) Specify the subnet mask in parameter No. 141. Settable range: 0.0.0.0 to 255.255.255.255 (Factory setting: 255.255.255.0) z Default gateway (No. 142: DFGW) Specify the default gateway in parameter No. 142. Settable range: 0.
4. 4.1 SCON-CA Operation Modes and Functions SCON-CA controllers supporting Ethernet/IP can be operated in a desired operation mode selected from the following nine modes. Operation modes and key functions 4.
[2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select whether to specify the target position directly as a value, or use a value registered in the position data table, by switching a control signal. For the speed, acceleration/deceleration, positioning band, etc., values preregistered in the position data table are used. Up to 768 position data points can be set. Number of occupied bytes: 8 bytes Speed Acceleration Deceleration 4.
[4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied bytes: 32 bytes 4. SCON-CA Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/sec Acceleration: 0.30 G Deceleration: 0.30 G Pressing current: 50% Load current threshold: 0 Zone+: 50.00 mm Zone-: 30.
[7] Half direct mode 2: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration and pressing current, in addition to the target position, directly as values. Unlike in mode [3], command current cannot be read in this mode. However, load cell data can be read instead. This mode also supports force control. Number of occupied bytes: 16 bytes SCON-CA supporting EtherNet/IP 4. SCON-CA Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.
4.2 Model Numbers The model numbers of SCON-CA controller supporting EtherNet/IP are indicated as follows, respectively: 4.
4.3 EtherNet/IP Interface 4.3.1 Names of the Parts The names of each section related to EtherNet/IP are described as follows. 4.
4.3.2 Monitor LED Indications The slave condition (each controller), as well as network condition, can be checked using the two LEDs, MS and NS, provided on the front panel of the controller. The description of each is explained in the following table. Name Display color 4. SCON-CA ٤ (Green) ٤ (Green) NS ٤ (Red) ( ڏRed) ٤ (Green) NS ( ڏGreen) ٤ (Red) ( ڏRed) 164 ٤ : Illuminating, : OFF, ڏ: Flashing Explanation The power is turned off or IP address is not yet set.
4.4 Wiring 4.4.1 Connection Diagram PLC (EtherNet/IP master unit) Hub Ethernet cable* 4. SCON-CA Ethernet cable* Ethernet cable* Other slaves SCON-CA SCON-CA * Ethernet cable: Straight cable of category 5e or above, 100 m max (Aluminum tape and braided double-shielded cable are recommended.) (Note) Terminal processing is not required. 4.4.
4. SCON-CA 4.5 Setting Using the teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the controller to “MANU” side. The versions of teaching tool compatible with EtherNet/IP are as follows: x RC PC-compatible software: V8.01.01.00 or later x CON-T/TG: V1.10 (Planned) x CON-PT/PD/PG: V1.20 (Planned) x RCM-E/P: V2.20 (Planned) 4.5.1 Operation Mode Selecting Set parameter No. 84 “FMOD: Field bus operation mode.” [Refer to 4.9 EtherNet/IP Related Parameters.
4.5.3 Setting the IP Address Set parameter No. 140, “IPAD: IP address.” [Refer to 4.9, “EtherNet/IP Parameters.”] Settable Range:0.0.0.0 to 255.255.255.255 (It is set to “192.168.0.1” when the machine is delivered from the factory.) 4.5.4 Setting the Subnet Mask Set parameter No. 141, “SNMK: Subnet mask.” Set the same value you have set in the master unit and other slaves (on the same network). [Refer to 4.9, “EtherNet/IP Parameters.”] Settable range: 0.0.0.0 to 255.255.255.
4.6 Communicating with the Master Station 4.6.1 Operation Modes and Corresponding PLC I/O Areas The channels allocated for each operation mode are described as follows. 4. SCON-CA x PLC output o SCON-CA input (* “n” indicates the byte address of each axis.) PLC output area (bytes) n+0, n+1 n+2, n+3 n+4, n+5 n+6, n+7 n+8, n+9 n+10, n+11 n+12, n+13 n+14, n+15 n+16, n+17 n+18, n+19 n+20, n+21 n+22, n+23 n+24, n+25 n+26, n+27 n+28, n+29 n+30, n+31 Remote I/O mode Number of occupied bytes: 2 Port No.
x PLC output o SCON-CA input side (* “n” indicates the byte address of each axis.) PLC input area (bytes) n+4, n+5 n+6, n+7 n+8, n+9 n+10, n+11 n+12, n+13 n+14, n+15 n+16, n+17 n+18, n+19 n+20, n+21 n+22, n+23 n+24, n+25 n+26, n+27 n+28, n+29 n+30, n+31 Specified position number Control signal Positioning band Speed Acceleration/ Deceleration Pressing current-limiting value Control signal Occupied area 4.
x SCON-CA output o PLC input (* “n” indicates the byte address of each axis.) 4. SCON-CA PLC output area (bytes) n+0, n+1 n+2, n+3 n+4, n+5 n+6, n+7 n+8, n+9 n+10, n+11 n+12, n+13 n+14, n+15 n+16, n+17 n+18, n+19 n+20, n+21 n+22, n+23 n+24, n+25 n+26, n+27 n+28, n+29 n+30, n+31 Remote I/O mode Number of occupied bytes: 2 Port No.
x SCON-CA outputoPLC input Side (* “n” indicates the byte address of each axis.) PLC input area (bytes) n+0, n+1 n+2, n+3 n+6, n+7 n+8, n+9 n+10, n+11 n+12, n+13 n+14, n+15 n+16, n+17 n+18, n+19 n+20, n+21 n+22, n+23 n+24, n+25 n+26, n+27 n+28, n+29 n+30, n+31 Current speed Alarm code Status signal Force feedback data 4.
4.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) 4. SCON-CA This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using the teaching tools such as PC software. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. The I/O specifications for the PIO pattern are described as follows.(Refer to Operation Manual for the controller main body for more information.) Value set in parameter No.
(1) PLC address configuration (* “n” indicates the node address of each axis.) Parameter SCON-CA side PLC side output No.84 DI(Port No.) address (bytes) 0 0 to 15 n+0, n+1 (Note) Be careful of using duplicated node addresses. SCON-CA side DO(Port No.) 0 to 15 PLC side input address (bytes) n+0, n+1 PLC output Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bit n+0ޔn+1 n+0, n+1 Controller input port number PLC input Address (* “n” indicates the node address of each axis.
4. SCON-CA (3) I/O signal assignment The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to Operation Manual for the controller main body for more information.) Parameter No. 25 setting Positioning mode Teaching mode 256-point mode 0 1 2 Category Port No. Symbol Signal name Symbol Signal name Symbol Signal name 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 PC4 PC4 Command position No. Command position No. 3 PC8 PC8 PC8 4 PC16 PC16 PC16 Command position No.
SCON-CA output ĺ PLC input 0 PM1 PE0 1 PM2 PE1 2 PM4 PE2 3 4 5 6 7 8 9 10 11 12 13 14 15 PM8 Completed Position No.
4. SCON-CA Setting of parameter No. 25 Force control mode 1 Force control mode 2 6 7 Category Port No. Symbol Signal name Symbol Signal name 0 PC1 ST0 Start position 0 1 PC2 ST1 Start position 1 Command position number 2 PC4 ST2 Start position 2 3 PC8 ST3 Start position 3 4 PC16 ST4 Start position 4 5 Cannot be used. Cannot be used.
4.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8) This is the operation mode with the position No. set up. Whether the target position is set directly the control signals (PMOD signals), or the value registered on the position data is used can be selected. For the speed, acceleration/deceleration and positioning band, etc., except for the target position, the values in the position table within the controller are used.
4. SCON-CA (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of four input words (4 words = 8 bytes) and four output words in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
PLC input Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0ޔn+1 n+0, n+1 Current position (lower word) 4. SCON-CA n+2, n+3 n+2ޔn+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
Target position 32-bit data - Specified position number 16-bit data PC1 to PC512 b15 BKRL b14 RMOD b13 b12 - PLC output 4. SCON-CA (3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Contents Details Control signal 180 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.40mm”, set it as “2540”. 4.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Contents - Completed position No. (Simple alarm code) 16-bit PM1 to PM512 b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 Zone 1:“ON” for the current position within the zone set range PLC input 32-bit Status code PZONE b10 MODES b9 WEND b8 RMDS b7 BALM b6 - b5 PSEL b4 SV b3 ALM Position zone: This signal turns ON when the current position is inside the specified position zone.
4. SCON-CA 4.6.4 Half Direct Value Mode (Number of Occupied Bytes: 16) This is the operation mode with the target position, positioning band, speed, acceleration/deceleration and pressing current value set up in the PLC. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
Parameter No.159 setting value 0 1 Speed setting unit 1.0 mm/sec 0.1 mm/sec z The Acceleration/Deceleration is expressed using 1-word (16 bits) binary data. The figures from 1 to 300 (Unit: 0.01G) can be set in PLC. However, set the value that does not exceed the max. acceleration/deceleration value for the actuator in question. z The pressing current-limiting value is expressed using 1-word (16 bits) binary data. The figures from 0 (0%) to 510 (200%) can be set in PLC.
PLC output Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 4. SCON-CA Target position (lower word) n+2, n+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
PLC input Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) 4. SCON-CA n+2, n+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit Symbol Target position 32-bit data - Positioning band 32-bit data - Speed 16-bit data - Acceleration/ deceleration 16-bit data - PLC output 4. SCON-CA Signal type 186 Contents 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Pressing current-limiting value Bit 16-bit data b15 b13 b12 PLC output b11 b10 Control signal b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Contents 16-bit integer Specify the current-limiting value to be used during pressing operation. The allowable specification range is 0 (0%) to 255 (100%). The actual settable range varies depending on each actuator.(Refer to the catalog or Operation Manual for the actuator.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit Symbol Current position 32-bit data - Command current 32-bit data - Current speed 32-bit data - Alarm code 16-bit data - b15 EMGS b14 PWR PLC input 4. SCON-CA Signal type Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading: 000003FFH=1023 (decimal) =10.
4.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32) (1) PLC address configuration (* “n” indicates the node address of each axis.) Parameter SCON-CA side PLC side output SCON-CA side No.
4. SCON-CA (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (16 words = 32 bytes) and one output word in the I/O areas. z Control signals 1 and 2 and status signals are ON/OFF bit signals. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
PLC output Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+0ޔn+1 Target position (lower word) 4. SCON-CA n+2, n+3 n+2ޔn+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+16, n+17 n+16ޔ n+17 4. SCON-CA Zone boundary (lower word) n+18, n+19 n+18ޔ n+19 Zone boundary (upper word) When the zone boundary is shown using the negative figure, it is expressed using the complement of 2.
PLC input Channel (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+0ޔn+1 Current position (lower word) Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
n+16, n+17 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Force feedback data (lower word) Force feedback data (upper word) 1 b0 b5 b4 b3 b2 b1 b0 1 b0 b5 b4 b3 b2 b1 b0 Status signal 1 n+30, n+31 Status signal 2 194 ─ ─ ─ ─ ─ ─ ─ CEND BALM b4 b3 b2 b1 b0 RMDS GHMS PUSHS PSFL SV ALM MOVE HEND PEND LOAD PZONE ZONE2 ZONE1 PWR TRQS b5 ─ b6 ─ b7 ─ b8 ─ b15 b14 b13 b12 b11 b1
(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Symbol Target position 32-bit data - Positioning band 32-bit data - Speed 32-bit data - Zone boundary+/ Zone boundary– 32-bit data - Contents 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is–999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address 4. SCON-CA Acceleration Bit Symbol 16-bit data - Deceleration 16-bit data - Load current threshold 16-bit data - b15 b14 - PLC output b13 NTC1 b12 NTC0 b11 b10 - b9 ASO1 Function 16-bit integer. Specify the acceleration and deceleration at which to move the actuator. The unit is 0.01 G, while the specifiable range is 1 to 300. (Example) To set 0.
PLC output 197 4. SCON-CA (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address Bit Symbol Function Details Incremental specification: b3 INC 4.6.11 (24) Absolute position command when the signal is OFF, or incremental position command when the signal is ON. Pressing direction specification: When the signal is OFF, the direction of the position obtained by subtracting the positioning band from the b2 DIR 4.6.
PLC input 4. SCON-CA (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Bit Symbol Description Details 32-bit signed integer indicating the current position. The unit is 0.01 mm. (Example) Reading: 000003FFH = 1023 (decimal) Current 4.8 (3) 32 bit data = 10.23 mm position * If this data is read as a hexadecimal, a negative value is indicated by a complement of 2. 32-bit integer.
PLC input 199 4. SCON-CA (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Bit Symbol Description Details Emergency stop: An emergency stop is being executed 4.6.11 (2) b15 EMGS when the signal is ON. Controller ready: The signal turns ON when the controller 4.6.11 (1) b14 PWR becomes ready. Zone 2: The signal is ON when the current position is 4.6.11 (12) b13 ZONE2 inside the specified zone.
4.6.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) 4. SCON-CA This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using the teaching tools such as RC PC software. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available.
(1) PLC address configuration (* “n” indicates the node address of each axis.) Parameter No. 84 4 SCON-CA side DI and input register Port number 0 to 15 Occupied area SCON-CA side DO and output register Port number 0 to 15 Occupied area Current position Command current PLC side input address (bytes) n+0, n+1 n+2, n+3 n+4, n+5 n+6, n+7 n+8, n+9 n+10, n+11 (Note) The areas denoted by Occupied area cannot be used for any other purpose. Also, exercise caution to avoid node address duplication.
PLC input Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0ޔn+1 n+0, n+1 4. SCON-CA Controller output port number n+2ޔn+3 n+2, n+3 Cannot be used n+4, n+5 n+4ޔn+5 Current position (lower word) n+6, n+7 n+6ޔn+7 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 4.6.2 (3). PLC input 203 4. SCON-CA The signal allocation for the Command Current and Current Position, is shown in the following table. Signal type Bit Symbol Contents Details 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading: 000003FFH=1023 (decimal) Current 32-bit data =10.
4. SCON-CA 4.6.7 Position/Simplified Direct Value Mode 2 (Number of Occupied Bytes: 8) In this mode, the actuator is operated by means of force control (pressing operation based on feedback of load cell values) and also by specifying position numbers. Whether the target position is set directly the control signals (PMOD signals), or the value registered on the position data is used can be selected. For the speed, acceleration/deceleration and positioning band, etc.
(2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (4 words = 8 bytes) and one output word in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator concerned.
PLC input Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+0ޔn+1 n+2, n+3 n+2ޔn+3 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Target position Bit 32-bit data Symbol - Description 4.8 (1) 4. SCON-CA 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999. (Example) To set +25.40 mm, specify “2540.” If the entered value exceeds the range of soft limit parameters (within 0.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Current position PLC input 4. SCON-CA Completed position number (Simple alarm code) Bit 32-bit Symbol - 16-bit PM1 to PM512 b15 EMGS b14 PWR b13 CEND b12 ZONE1 b11 PZONE/ ZONE2 b10 LOAD b9 TRQS b8 RMDS b7 BALM b6 PUSHS b5 PSFL b4 SV b3 ALM b2 MOVE b1 HEND b0 PEND Status code 208 Contents Current Position: 32-bit signed Integer. The setting unit is 0.01mm.
4.6.8 Half Direct Value Mode 2 (Number of Occupied Bytes: 16) (1) PLC address configuration (* “n” indicates the node address of each axis.) Parameter SCON-CA side PLC side output SCON-CA side PLC side input No.
4. SCON-CA (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
PLC output Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+0ޔn+1 Target position (lower word) 4. SCON-CA n+2, n+3 n+2ޔn+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
PLC input Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 n+0ޔn+1 4. SCON-CA Current position (lower word) n+2, n+3 n+2ޔn+3 Current position (upper word) When the current position is a negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Symbol Target position 32-bit data - Positioning band 32-bit data - Speed 16-bit data - Acceleration/ Deceleration 16-bit data - Contents 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”. If the value larger than the value (0.
PLC output 4. SCON-CA (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Bit Symbol Contents 16-bit integer Specify the current-limiting value to be used during pressing operation. Pressing current- 16-bit The allowable specification range is 0 (0%) to 255 (100%). The actual settable range varies depending on each actuator.(Refer limiting data to the catalog or Operation Manual for the actuator.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Current position Bit 32-bit data Current speed 32-bit data - Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading: 000003FFH=1023 (decimal) =10.23mm Details 4.8 (2) * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
4.6.9 Remote I/O Mode 3 (Number of Occupied Bytes: 12) 4. SCON-CA In this mode, force control (feedback pressing of load cell values) is used in addition to the remote I/O mode 2 function for operation. Set the position data using the teaching tools such as RC PC software. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. The features of each PIO pattern are shown below.
(1) PLC address configuration (* “n” indicates the node address of each axis.) Parameter No. 84 7 SCON-CA side DI and input register Port number 0 to 15 Occupied area SCON-CA side DO and output register Port number 0 to 15 Occupied area Current position Force feedback data PLC side input address (bytes) n+0, n+1 n+2, n+3 n+4, n+5 n+6, n+7 n+8, n+9 n+10, n+11 (Note) The areas denoted by Occupied area cannot be used for any other purpose. Also, exercise caution to avoid node address duplication.
PLC input Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 4. SCON-CA Controller output port number n+2, n+3 Cannot be used n+4, n+5 Current position (lower word) n+6, n+7 Current position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 4.6.2 (3). PLC input 219 4. SCON-CA The signal allocation for the Command Current and Current Position, is shown in the following table. Signal type Bit Symbol Contents Details 32-bit signed integer The setting unit is 0.01mm. (Example) Reading: 000003FFH=1023 (decimal) Current 32-bit data =10.
4. SCON-CA 4.6.10 Half Direct Value Mode 3 (Number of Occupied Bytes: 16) In this mode, the jog function in the half direct numerical mode is not available, but the vibration damping parameter set can be changed. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
Parameter No.159 setting value 0 1 Speed setting unit 1.0 mm/sec 0.1 mm/sec z The Acceleration/Deceleration is expressed using 1-word (16 bits) binary data. The figures from 1 to 300 (Unit: 0.01G) can be set in PLC. However, set the value that does not exceed the max. acceleration/deceleration value for the actuator in question. z The pressing current-limiting value is expressed using 1-word (16 bits) binary data. The figures from 0 (0%) to 510 (200%) can be set in PLC.
PLC output Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 4. SCON-CA Target position (lower word) n+2, n+3 Target position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
PLC input Address (* “n” indicates the node address of each axis.) 1 word = 2 bytes =16 bits n+0, n+1 Current position (lower word) When the current position is shown using the negative figure, it is expressed using the complement of 2 . n+4, n+5 Command current (lower word) n+6, n+7 Command current (upper word) n+8, n+9 Current speed (lower word) n+10, n+11 Current speed (upper word) When the current speed is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Symbol 32-bit data - 4. SCON-CA Target position Bit 32-bit data - PLC output Positioning band 224 Speed 16-bit data - Acceleration/ deceleration 16-bit data - Contents 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type Pressing current-limiting value Bit 16-bit data b15 b13 b12 PLC output b11 b10 Control signal b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Description 16-bit integer. Specify the current-limiting value during pressing operation. The specified range is 0 (0%) to 255 (100%). The actual specifiable range varies with each actuator. (Refer to the catalog or operation manual for each actuator.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type 4. SCON-CA Current position Bit 32-bit data Symbol - 32-bit data - Current speed 32-bit data - PLC input 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading: 000003FFH=1023 (decimal) =10.23mm Details 4.8 (2) * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
4.6.11 I/O Signal Controls and Function * ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the Position/Simplified Direct Value Modes 1 and 2, Half Direct Value Modes 1 to 3 and Full Direct Value Mode, are described as follows. For the I/O signals for the Remote I/O Modes 1 to 3, refer to the Operation Manual for the controller main body.
4. SCON-CA (5) Servo ON command (SON) PLC output signal Operation preparation end (SV) PLC input signal When the SON signal is turned ON, the servo will turn ON. When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON, the Status Indicator LED (Refer to 4.3, "EtherNet/IP Interface”) on the front surface of the controller illuminates in green. The “SV” signal is synchronized with this LED.
Actuator operation Mechanical end Stopped at the home position Caution: In the Remote I/O Modes 1 to 3 and Position/Simplified Direct Value Modes 1 and 2, when the positioning command is issued without performing the home return operation after the power injection, the positioning is performed after the automatic home return operation.
(7) Positioning start (CSTR):Used in the position/simple direct mode PLC output signal This signal is processed at the startup (ON edge) and the positioning is performed to the target position with the specified position No. or set using the PLC's target position register. Whether if the target position with the specified position No. is used or the setting using the PLC's target position register is used, depends on the Control Signal b11: “Position/Simplified Direct Value Change-Over (PMOD) Signal”.
(10) Positioning completion signal (PEND) PLC input signal This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed. Timing at which the position complete signal turns on Speed Target position Time Positioning band When the servo-motor is turned ON from OFF condition, the positioning is performed with the position set as the target position.
(12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE2) PLC input signal Position zone (PZONE) PLC input signal These signals are turned ON when the current position of the actuator is within the set area and turned OFF when the current position is out of the set area. 4. SCON-CA [1] Zone 1, Zone 2 The zone is set using the user parameters. The Zone 1 Signal is set using the parameter No. 1 “Zone Boundary 1 “+” Side” and No. 2 “Zone Boundary 1 “–“ Side”. The Zone 2 Signal is set using the parameter No.
(13) +Jog (JOG+) PLC output signal –Jog (JOG–) PLC output signal This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home. [2] Inch operation The inching operation is available while the IISI signal is turned “ON”. Once it is turned “ON”, the actuator is moved as much as the inching distance.
(14) Jog-speed/inch-distance switching (JVEL) PLC output signal This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. The relationship is as follows. 4. SCON-CA A Jog operation: JISL=OFF OFF Parameter No. 26, “Jog speed” ON Parameter No. 47, “Jog speed 2” Inch operation: JISL=ON Parameter No. 26, “Jog speed” Parameter No. 48, “Inch distance” Parameter No.
(17) Position data import command (PWRT) PLC output signal Position data import complete (WEND) PLC input signal The PWRT signal is available when the teaching mode signal (MODES) is turned “ON”. Turn the PWRT signal ON (*1), and the data of the current position will be written to the “Position” field under the position number set to the specified position number resister of the PLC (*2). When the data writing is completed, the WEND signal is turned “ON”.
(19) Operating mode selector (RMOD) PLC output signal Operation Mode Status (RMDS) PLC input signal The operation mode is selected with the RMOD signal and the MODE switch located on the front surface of the controller. Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal. The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are described as follows. 4.
(23) Pressing and a miss (PSFL) PLC input signal In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning band or set using the PLC's positioning band register, but it was not pushed against the work part, this signal is turned “ON”. Refer to Item (2) Operation in Half Direct Value Modes 1 to 3 in 4.8, "Operation” for the setting timing for this signal) 4.
4. SCON-CA (26) Load output judgment (LOAD) PLC input signal This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be know whether if the set load threshold is reached during the pressing operation. The load threshold and check range are set by the PLC and the LOAD signal will turn ON when the command torque (motor current) exceeds the threshold inside the check range.
(27) Torque level (TRQS) PLC input signal This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning band), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON” or “OFF”. The speed available for the pressing varies depends on the motor and leads, it is required to adjust the parameters. 4.
4. SCON-CA (28) Absolute battery voltage low 2arning (BALM) PLC input signal With an absolute system, this signal is OFF when the absolute battery voltage is normal. It remains OFF with an incremental system. This BALM signal turns ON when the absolute battery voltage drops to 3.1 V. If the controller is operated continuously and the voltage drops further to 2.5 V, the controller can no longer retain position information.
(30) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command. MOD1 OFF OFF ON ON MOD0 OFF ON OFF ON Pattern name Trapezoid Pattern S-shaped Motion First-Order Lag Filter Unavailable Remarks Factory setting 4.
4. SCON-CA Caution: [1] Even if a position command or direct value command with S-shaped motion setting is issued when the actuator is running, S-shaped motion control will not be executed. Issue these commands when the actuator is stopped. [2] When the index mode is set on the rotary actuator, S-shaped motion is not executed, and, instead, trapezoid control will be executed. [3] Set the acceleration/deceleration speed so that the time for each will be within two seconds.
(31) Standstill mode selection (ASO0, ASO1) PLC output signals Select the stop mode to be applied while the actuator is standing by to move to the next position after completing a positioning. If the actuator remains standstill for a long time, the servo is turned off automatically to lower the power consumption. For details, refer to the operation manual for your controller. ASO0 OFF OFF ON ON OFF ON ON Function Disabled Automatic servo OFF method Parameter No.
(32) Load cell calibration command Load cell calibration complete (CLBR) (CEND) PLC output signal PLC input signal 4. SCON-CA The factory setting for the load cell is 0 N when no load is applied. If you want to use the loaded condition as the reference (0 N), perform the following calibration. Also perform this calibration in other conditions as necessary (such as during readjustment, inspection, etc.). [1] Stop the operation.
4.7 I/O Signal Timings When any of the control signal is turned ON to perform the operation of the actuator using the PLC's sequence program, the response (status) is returned to the PLC. The maximum response time is expressed using the following formula. Maximum response time (msec)䋽Yt+Xt+3+ command processing time (operation time, etc.
4.8 Operation 4. SCON-CA The timings for the basic operation examples in the Position/Simplified Direct Value Mode 1 and 2 , Half Direct Value Mode 1 to 3 and Full Direct Value Mode, are described. For the Remote I/O Mode 1 to 3, refer to the Operation Manual for the controller main body. (In remote I/O mode 2 and 3, read the current position and current speed from the respective byte of the PLC, as deemed appropriate.
[1] Set value of target position data [2] Specified position number 4. SCON-CA * T1 Positioning start Positioning complete [3] [4] * tdpf [5] [7] Current position [6] Moving Actuator movement Positioning band Actuator movement (Normal positioning) Work part missed in pressing operation Pressing operation in progress Pressing Actuator operation (push) *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
4. SCON-CA (2) Operation in the half direction mode 1 to 3 It is operated with the data set in the PLC's target position register, positioning band register, setup speed register, acceleration/deceleration register and pressing current-limiting setup register. z Example of operation (Pressing Operation) [1] Set the target position data in the target position register. [2] Set the positioning band data in the positioning band register. [3] Set the speed data to the speed resister.
[1] Set value of target position data [2] Set value of positioning band data 4.
4. SCON-CA (3) Operation in the full direct mode The actuator is operated by specifying all conditions required for positioning such as the target position resister and positioning band resister of the PLC. z Example of operation (Pressing Operation) [1] Set the target position data in the target position register. [2] Set the positioning band data in the positioning band register. [3] Set the speed data to the speed resister.
[1] Set value of target position data [2] Set value of positioning band data 4.
[9] Push specification [10] 4. SCON-CA Push direction specification * T1 Positioning command Positioning complete/missed load during pressing operation [17] [11] [12] * tdpf [13] [16] Current position [14] [15] Moving Push Actuator operation (push) Positioning band Actuator operation (normal positioning operation) * T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
(4) Data change during movement In the half direct mode or full direct mode 1 to 3, the value currently set to a given resister among the resisters for target position data, acceleration/deceleration data, speed data, positioning band and pressing current-limiting value, can be changed while the actuator is moving. After changing the data, turn “ON” the positioning command (DSTR) for more than tdpf.
4.9 EtherNet/IP Related Parameters Parameters relating to EtherNet/IP are No. 84 to No. 87, No. 90, No. 140 to No. 142 and No.159. . Category: C: External interface parameter No. Category Symbol 83 84 86 87 90 140 141 142 159 Default value set in the factory before delivery Refer to operation manual for the controller for the parameters No. 1 through No. 83. ~ 4.
z Fieldbus baud rate (No. 86: FBRS) Specify the baud rate in parameter No. 86. Set value 0 (Factory setting) 1 2 3 4 Other than the above Baud rate Auto negotiation (recommended) 10 Mbps, half-duplex 10 Mbps, full-duplex 100 Mbps, half-duplex 100 Mbps, full-duplex Baud rate setting error 4. SCON-CA z Network type (No.87 NTYP) The network module type is set for the parameter No. 87. Do not change the default value.
z Field I/O format (No.90 FMIO) Addresses in the PLC are assigned in units of 16 points (2 bytes) based on the node address set in the controller and the occupied bytes in each operation mode. By changing the setting of parameter No. 90, data elements can be swapped within a boundary of two words or less in units of bytes during communication using the I/O areas of the PLC. Value set in parameter No. 90 Contents Data exchange is not performed. The data is sent directly to the PLC. (Refer to “Example i”.
(Example ii) Set value = “1” z indicates ON, while c indicates OFF SCON Input resister Hexadecimal data 4.
(Example iii) Set value = “2” ACON, PCON Input resister 4.
(Example iv) Set value = “3” z indicates ON, while c indicates OFF SCON Input resister Hexadecimal data 4.
z IP address (No. 140: NADR) Specify the IP address in parameter No. 140. Setting range: 0.0.0.0 to 255.255.255.255 (Factory setting: 192.168.0.1) z Subnet mask (No. 141: SNMK) Specify the subnet mask in parameter No. 141. 4. SCON-CA Settable range: 0.0.0.0 to 255.255.255.255 (Factory setting: 255.255.255.0) z Default gateway (No. 142: DFGW) Specify the default gateway in parameter No. 142. Settable range: 0.0.0.0 to 255.255.255.255 (Factory setting: 192.168.0.0) z FB Half Direct Mode Speed Unit (No.
4.10 Troubleshooting 261 4. SCON-CA z Alarm messages and causes/actions When an alarm occurs, a corresponding simple alarm code is indicated by the completed position number bits (four bits of PM1 to PM8) in remote I/O mode 1, 2 or 3. In position/simple direct mode 1 or 2, this simple alarm code is output to the (n+4, n+5) bytes.
5. 5. Appendix 5.1 Appendix Examples of connection settings with Omron’s master and Keyence’s master are provided. Example of Connection Settings with Omron’s Master The following devices and software are needed to connect to Omron’s master: [1] PLC CPU unit: (Example) CJ2M-CPU31 (with built-in EtherNet/IP) [2] Power unit: (Example) PA202 [3] Configuration software: CX-One V4.0 or later, CX-Programmer V9.12 or later [4] Configuration software: CX-One V4.0 or later, Network Configurator V3.
5.1.3 [1] [2] Setting the PLC (1) [CX-Programmer] Set “NODE No.” rotary switches “x161” and “x160” to “0” and “A,” respectively, on the front face of the CJ2M-CPU31 unit, and start the PLC. Start CX-Programmer and click the [Connect Directly] button on the toolbar to connect to the PLC. When the following message appears, select the [Also transfer I/O table and high-function unit settings] check box and click the [Yes] button. [4] Click the [Program Mode] button to switch the PLC to the program mode.
In the “PLC I/O Table” window, double-click “Built-in Ports/Inner Boards” and then double-click “[1500] CJ2M-EIP21.” [7] In the “CJ2M-EIP21 [Edit Parameters]” dialog box, select the “TCP/IP” tab and set as follows, and then click the [Transfer [PC Æ Unit]] button to transfer the parameters to the PLC. Keep the default settings on other tabs. 5.
5.1.4 Setting the PLC (2) [Network Configurator] Start Network Configurator and click the [Connect] button on the toolbar to connect to the PLC. [2] In the “Select Connection Network Port” dialog box, select “TCP:2” and click the [OK] button. [3] Right-click “CJ2M-EIP21” (OMRON PLC) and “Anybus-CC EtherNet/IP” (Controller) in the hardware list, and select [Add to Network] in the pop-up menu for each device. 5.
5. Appendix [4] 266 Right-click each device in the main window and select [Change Node Address] in the pop-up menu to set the IP address.
5.
[5] 5. Appendix [6] 268 Double-click “Anybus-CC EtherNet/IP” in the main window and set the controller device parameters as follows: Item Set value 0001 Output Size 2 0002 Input Size 2 0003 RPI Range 10000 (default value) Double-click “CJ2M EIP21” in the main window to open the PLC’s “Edit Device Parameters” dialog box, and select “Anybus-CC EtherNet/IP” under “List of Unregistered Devices” and register the device.
[7] Once the device is registered, “Anybus-CC EtherNet/IP” moves to “List of Registered Devices.” Double-click “Anybus-CC EtherNet/IP” you have just registered. 5.
5. Appendix [8] 270 In the “Assign Connection” dialog box, click the [Edit Tag Set] button next to “Input Tag Set” in the Originator Device area.
[9] In the “Edit Tag Set” dialog box, click the [Edit Tag] button. 5. Appendix [10] In the “Edit Tag” dialog box, click the [New] button.
5. Appendix [11] In the “Set Tag” dialog box, set as follows and click the [Register] button. [12] When tag “W0’” has been registered in the “Set Tag” dialog box, close the “Set Tag” dialog box. (No other tag is registered continuously.) Click the [OK] button in the “Edit Tag” dialog box and again in the “Edit Tag Set” dialog box, to close each dialog box. [13] Register a tag from “Output Tag Set” in the Originator Device area, just like you did from “Input Tag Set.
[14] In the “Assign Connection” dialog box, set as follows and click the [Register] button. Confirm that the values in the “Target Device” area match those set in step [5]. 5. Appendix [15] When the registration in “Assign Connection” is complete, the “Assign Connection” dialog box opens again. Click the [Close] button to close the dialog box. [16] In the “Edit Device Parameters” dialog box, click the [OK] button.
[17] Upon establishment of link, the LEDs on the PLC and controller change their statuses as follows: LED statuses on PLC LED Status 5.
5.1.5 Checking the I/O Data on the PLC Start CX-Programmer. Click the [Switch Watch Window] button on the toolbar. [3] Register the tag names “W0” and “W1” in the “Address” fields of the “Watch Window,” and the current values of the registered tags will appear in the “Value” fields. 5.
5.2 [1] [2] [3] [4] [5] Example of Connection Settings with Keyence’s Master The following devices and software are needed to connect to Keyence’s master: PLC CPU unit: (Example) KV-5500 (with built-in EtherNet/IP) Configuration software: (Example) KV-STUDIO Ver 6.10 or later Commercially available switching hub (supporting 100BASE-TX) IAI controller of EtherNet/IP specification Straight LAN cable (category 5, 5e or larger) x 2 pcs 5.2.1 Connection Example 5.
5.2.3 [1] [2] Setting the PLC Start Keyence’s ladder support software “KV-STUDIO.” Start the Unit Editor and set the baud rate, IP address setting method, IP address, subnet mask and default gateway on the “CPU Unit Settings (2)” tab. When all items have been set, click the button to start “EtherNet/IP Setup.” 5. Appendix [3] When “EtherNet/IP Setup” has started, select “Anybus-CC EtherNet/IP” on the “Device List (1)” tab and drag & drop it in the scan list area on the left side of the screen.
When the device is registered in the tree below the PLC, the “Default Adapter Settings” dialog box appears. Set the IP address and node address here. * The node address is an internal address used by the PLC. It has nothing to do with the IP address. Assign a unique value to each PLC. 5. Appendix [4] [5] 278 Select “Anybus-CC EtherNet/IP” you have just registered in the scan list area, and then click the right mouse button and select “Set Connection.
In the “Set Connection” dialog box, set the connection type and send trigger. Select “Point-to-Point” for the connection type for both IN and OUT, and select “Cyclic” for the send trigger. [7] Click the “Set Parameters” button in the “Set Connection” dialog box and set the numbers of input and output bytes. In this example, the fieldbus operation mode is “Remote I/O Mode 1,” so there are two input bytes and two output bytes.
Click the “Assign Device” button in the “Set Connection” dialog box to open the “Set Devices” dialog box. In this dialog box, set the devices to assign I/O data to. In this example, set W0000 for IN data and W0002 for OUT data using the “Auto Setting” function. [9] Click the “File” menu in the “EtherNet/IP Setup” dialog box, and then select “Apply.” When the menu drop-down list disappears, close the “EtherNet/IP Setup” dialog box. 5.
[10] Click the “Apply” button in the bottom right-hand corner of the “Unit Editor” to update the EtherNet/IP setting information. Next, click the OK button to close the “Unit Editor.” Next, you must transfer the “Unit Settings” to the PLC to reflect the settings you have just made. 5. Appendix [11] From the KV-STUDIO menu, select “Monitor/Simulator” and then select “Transfer to PLC.” Click “Execute” after confirming that the “Unit Setting Information” check box is selected under Transfer Items.
5.2.4 Checking the I/O Data on the PLC Start KV-STUDIO in the “Monitor Mode.” In the “Workspace” window, right-click “Anybus-CC EtherNet/IP” registered in the tree under KV-5500, and select “Sensor I/O Monitor.” [3] After “Sensor I/O Monitor” has been selected, the “Sensor I/O Monitor” dialog box appears. In this dialog box, you can monitor the devices to which I/O data has been assigned. 5.
Change History Revision date February 2011 November 2011 June 2012 First edition Second edition Contents changed in Safety Guide Caution notes added for when working with two or more persons SCON-CA added Third edition Contents added and changed in Safety Guide PCON-CA/CFA added Fourth edition Unit of measurement parameter adjustment added for SCON-CA half direct value mode, half direct value mode 2 and half direct value mode 3 Maintenance information added to the SCON-CA full direct mode 283 Change His
Manual No.: ME0278-4B (November 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.
