DeviceNet Operation Manual, Third Edition ACON-C/CG PCON-C/CG/CA/CFA SCON-CA
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD/DVD that comes with the product contains operation manuals for IAI products.
Caution: The following functions are described in the separate operation manual. Title of operation manual/Overview 1 DeviceNet Operation Manual Refer to this operation manual if you are using an XSEL, TT, ASEL, PSEL, SSEL, SCON-C, RCS-C E-Con controller(s).
Table of Contents Safety Guide ............................................................................................................................ 1 1. Overview ............................................................................................................................9 2. ACON-C/CG, PCON-C/CG ..............................................................................................10 2.1 2.2 2.3 2.4 Operation Modes and Functions.................................................
Communicating with the Master Station ...................................................................................... 91 3.7.1 Operation Modes and Corresponding PLC I/O Areas .................................................... 91 3.7.2 Remote I/O Mode (Number of Occupied Channel: 1)..................................................... 93 3.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4) .................................. 97 3.7.4 Half Direct Mode (Number of Occupied Channels: 8) ...
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 5 4 Operation Description Installation and Start Teaching Description (4) Safety Measures When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
No. 6 7 Operation Description Trial Operation Automatic Operation Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
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1. Overview Each controller is treated as a slave station in DeviceNet and can be used to exchange I/O data. This Operation Manual covers the ACON, PCON, PCON-CA/CFA and SCON-CA series. * For details on DeviceNet, refer to the operation manual for the programmable controller (hereinafter referred to as “PLC”) in which the master unit is installed. This operation manual should be used in conjunction with the operation manual for each controller.
2. 2. ACON-C/CG, PCON-C/CG 2.1 ACON-C/CG, PCON-C/CG Operation Modes and Functions ACON and PCON controllers supporting DeviceNet can be operated in a desired operation mode selected from the following five modes.
PLC䎃 Target position: 100.00 mm + Position No. 0 ACON/PCON supporting DeviceNet Speed Acceleration Deceleration Push Actuator [3] Half direct mode: In this mode, the actuator is operated by specifying the speed, acceleration/deceleration and push current, in addition to the target position, directly as values. Number of occupied bytes: 8CH PLC䎃 Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/sec Acceleration/deceleration: 0.
2. ACON-C/CG, PCON-C/CG [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: 16CH Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/sec Acceleration: 0.30 G Deceleration: 0.30 G Push current: 50% Load current threshold: 0 Zone+: 50.00 mm Zone-: 30.
2.2 Model Numbers The model numbers of ACON and PCON controller supporting DeviceNet are indicated as follows, respectively: Printed series name z ACON z PCON 2.
2. ACON-C/CG, PCON-C/CG 2.3 Interface Specifications Item Communication protocol Communication specification Baud rate Communication cable length Communication power supply Consumption current of communication power supply Number of occupied nodes Connector Specification DeviceNet 2.
2.4 DeviceNet Interface 2.4.1 Name of Each Part The name of each part relating to DeviceNet is shown. 2. ACON-C/CG, PCON-C/CG Status LEDs Monitor LEDs Red White DeviceNet communication connector Light blue PCB side : MSTBA2.5/5-G-5.08AUM (PHOENIX CONTACT) Black Cable side : SMSTB2.5/5-ST-5.
2.4.2 Monitor LED Indicators 2. ACON-C/CG, PCON-C/CG The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (controller) condition and network condition. The LEDs illuminate in two colors (orange and green), and you can monitor the conditions listed in the table below based on the illumination status and color of each LED.
2.5 Selecting (Setting) the Operation Mode Number of occupied stations 0 (Factory setting) Remote I/O mode 1CH 1 Position/simple direct mode 4CH 2 Half direct mode 8CH 3 Full direct mode 16CH 4 Remote I/O mode 2 6CH If any other value is entered, an excessive input error will occur. Set value * 2.6 Operation mode Setting the Node Address The node address is set using a parameter. Set parameter No. 85, “NADR: Fieldbus node address” using the RC PC software. (Refer to 2.10, “DeviceNet Parameters.
2. ACON-C/CG, PCON-C/CG 2.7 Communicating with the Master Station 2.7.1 Operation Modes and Corresponding PLC I/O Areas The channel assignments in each mode are shown below. x PLC output o ACON or PCON input (* n indicates the node address of each axis.
x ACON or PCON output o PLC input side (* n indicates the node address of each axis.
2. ACON-C/CG, PCON-C/CG 2.7.2 Remote I/O Mode (Number of Occupied Channel: 1) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set position data using the RC PC software or teaching pendant. The number of available positions is determined by the setting of parameter No. 25, “PIO pattern.” The I/O specifications for each PIO pattern are shown below. (For details, refer to the operation manual for the controller.
(1) PLC channel configuration (* n indicates the node address of each axis.) ACON or PCON DO (port number) 0~15 PLC input channel n+0 (2) I/O signal assignments for each axis The I/O signals of each axis consist of one input word (channel) and one output word (channel) in the I/O areas. z Each channel is controlled by ON/OFF bit signals. PLC output Channel (* n indicates the node address of each axis.
(3) I/O signal assignments The signals assigned to the controller’s I/O ports vary depending on the setting of parameter No. 25. (For details, refer to the operation manual for the controller.) 2. ACON-C/CG, PCON-C/CG ACON Positioning mode 0 Category Port No. 0 1 2 3 4 5 6 PLC output o ACON input ACON output o PLC input 7 8 Symbol PC1 PC2 PC4 PC8 PC16 PC32 Signal name Symbol Command position number PC1 PC2 PC4 PC8 PC16 PC32 - Setting of Parameter No.
ACON Category PLC output o ACON input ACON output o PLC input Port No. 0 1 2 3 4 5 6 7 8 Symbol PC1 PC2 PC4 PC8 PC16 PC32 PC64 PC128 PC256 Setting of Parameter No.
PCON 2. ACON-C/CG, PCON-C/CG Positioning mode (standard) 0 Category Port No. 0 1 2 3 4 5 6 PLC output o PCON input PCON output o PLC input Symbol PC1 PC2 PC4 PC8 PC16 PC32 Setting of Parameter No.
PCON Category PLC output o PCON input PCON output o PLC input Port No. 0 1 2 3 4 5 6 7 8 Symbol PC1 PC2 PC4 PC8 PC16 PC32 PC64 PC128 PC256 Setting of Parameter No.
2. ACON-C/CG, PCON-C/CG 2.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4) In this mode, the actuator is operated by specifying position numbers. You can switch the control signal (PMOD) to select whether to specify the target position directly and numerically or by using a value registered in the position data table. Data other than the target position, such as speed, acceleration/deceleration and positioning band, are set using values in the position table stored in the controller.
(2) I/O signal assignments for each axis PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Specified position number Control signal 27 2. ACON-C/CG, PCON-C/CG The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas.
PLC input Channel (* n indicates the node address of each axis.) 2. ACON-C/CG, PCON-C/CG 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement.
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Symbol Target position 32-bit data - Specified position number 16-bit data PC1 ~ PC512 b15 BKRL b14 RMOD b13 b12 - b11 PMOD b10 MODE b9 PWRT b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 SON b3 b2 RES STP b1 HOME b0 CSTR Control signal Description 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Bits Symbol Current position 32 bits - Completed position number (simple alarm code) 16 bits PM 1 ~ PM512 b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 PZONE b10 MODES b9 WEND b8 RMDS b7 b6 - b5 PSFL b4 b3 SV ALM b2 MOVE b1 HEND b0 PEND PLC input 2. ACON-C/CG, PCON-C/CG Signal type Status signal 30 Description 32-bit signed integer indicating the current position.
2.7.4 Half Direct Mode (Number of Occupied Channels: 8) (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. 84 ACON or PCON input register Target position Positioning band PLC output channel n+0 n+1 n+2 n+3 n+4 Speed Acceleration/ n+5 deceleration Push-motion n+6 current-limiting value Control signal n+7 (Note) Exercise caution to avoid node address duplication.
2. ACON-C/CG, PCON-C/CG (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas. z Control signals and status signals are ON/OFF bit signals. z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.
PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 2. ACON-C/CG, PCON-C/CG Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement.
PLC input Channel (* n indicates the node address of each axis.) 2. ACON-C/CG, PCON-C/CG 1 word (channel) = 16 bits Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word) Command current (upper word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is indicated by a 2’s complement.
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Bits Symbol Target position 32-bit data - Positioning band 32-bit data - Speed 16-bit data - Acceleration/ deceleration 16-bit data - Description 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The setting unit is 0.01 mm and the allowable specification range is -999999 to 999999. (Example) To set “+25.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) PLC output 2. ACON-C/CG, PCON-C/CG Push-motion current-limiting value Signal type Control signal 36 Bits Symbol 16-bit data - b15 BKRL b14 RMOD b13 DIR b12 PUSH b11 b10 b9 - b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 SON b3 b2 RES STP b1 HOME b0 DSTR Description 16-bit integer. Specify the current-limiting value to be used during push-motion operation.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Symbol 32-bit data - Command 32-bit data current - PLC input Current position Current speed 32-bit data - Alarm code 16-bit data - b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 b10 b9 - b8 RMDS b7 b6 - b5 PSFL b4 b3 SV ALM b2 MOVE b1 HEND b0 PEND Status signal Description 32-bit signed integer indicating the current position. The setting unit is 0.01 mm.
2.7.5 Full Direct Mode (Number of Occupied Channels: 16) 2. ACON-C/CG, PCON-C/CG In this mode, the actuator is operated by specifying all values relating to positioning control (target position, speed, etc.) directly from the PLC. Set each value in the I/O area. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
(2) I/O signal assignments for each axis Set value Push-motion current-limiting value z Set the load current threshold. The load current threshold is a 1-word (16-bit) binary data. For the load current threshold, the PLC can handle values from 0 (0%) to 255 (100%). (Refer to the graph of push-motion current-limiting value (above graph).) z The zone boundary+ and zone boundary- are 2-word (32-bit) binary data.
PLC output Channel (* n indicates the node address of each axis.) 2. ACON-C/CG, PCON-C/CG 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word) Positioning band (upper word) Speed (lower word) Speed (upper word) Zone boundary+ (lower word) Zone boundary+ (upper word) If the zone boundary is a negative value, it is indicated by a 2’s complement.
Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 2. ACON-C/CG, PCON-C/CG Zone boundary(lower word) Zone boundary(upper word) If the zone boundary is a negative value, it is indicated by a 2’s complement.
PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 2. ACON-C/CG, PCON-C/CG Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word) Command current (upper word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is indicated by a 2’s complement. Alarm code Not available.
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Symbol Target position 32-bit data - Positioning band 32-bit data - Speed 32-bit data - Zone boundary+ 32-bit data /zone boundary- - Function 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The setting unit is 0.01 mm and the allowable specification range is -999999 to 999999. (Example) To set “+25.
16-bit data - Deceleration 16-bit data - 16-bit data - 16-bit data - b15 b14 b13 b12 b11 - b10 PCON ACON Acceleration PLC output Symbol Push-motion current-limiting value Address 2. ACON-C/CG, PCON-C/CG Bits Load current threshold (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) b9 Control signal 1 ASO0 2.9 (3) 2.9 (3) 2.9 (3) Not available. - Not available.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol 32-bit data - Command 32-bit data current - Current speed 32-bit data - Alarm code 16-bit data - b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 PZONE PLC input 2.
2.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6) The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
(1) PLC channel configuration (* n indicates the node address of each axis.) 2. ACON-C/CG, PCON-C/CG Parameter No. 84 4 ACON or PCON DI and input register Port number 0 to 15 PLC output channel Occupied area n+0 n+1 n+2 n+3 n+4 n+5 ACON or PCON DO and output register Current position Occupied area Current position Command current PLC input channel n+0 n+1 n+2 n+3 n+4 n+5 (Note) The areas denoted by “occupied area” cannot be used for any other purpose.
PLC input (* n indicates the node address of each axis.) Channel 1 word (channel) = 16 bits 2. ACON-C/CG, PCON-C/CG Controller output port number Not available. Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement.
(3) I/O signal assignments Signal assignments under the command-current read function and current-position read function are shown below. Signal type Bits Symbol 32-bit data - Command 32-bit data current - Current position PLC input 2. ACON-C/CG, PCON-C/CG For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 2.7.2 (3). 50 Description 32-bit signed integer indicating the current position. The setting unit is 0.
2.7.7 I/O Signal Controls and Functions * ON indicates that the applicable bit signal is “1,” while OFF indicates that the bit signal is “0.” How the I/O signals used in the position/simple direct mode, half direct mode and full direct mode are controlled, as well as the functions provided by these signals, are explained below. For the I/O signals used in the remote I/O mode and remote I/O mode 2, refer to the operation manual for the controller. 2.
2. ACON-C/CG, PCON-C/CG (5) Servo ON command (SON) [PLC output signal] Ready (SV) [PLC input signal] When the SON signal is turned ON, the servo will turn on. When the servo turns on, the status indicator LED (refer to 2.4, “DeviceNet Interface”) on the front panel of the controller will illuminate in green. The SV signal is synchronized with this LED. Function The controller servo can be turned on/off using the SON signal.
(6) Home return (HOME) [PLC output signal] Home return complete (HEND) [PLC input signal] Home return in progress (GHMS) [PLC input signal] Actuator operation Mechanical end Stopped at the home position Caution: In the remote I/O mode, remote I/O mode 2 or position/simple direct mode, issuing a positioning command to a given position following the power on, without performing a home return first, will cause the actuator to automatically return home and then perform the positioning.
2. ACON-C/CG, PCON-C/CG (7) Positioning start (CSTR): Used in the position/simple direct mode [PLC output signal] The CSTR command is processed at the leading (ON) edge of the signal, upon which the actuator will move to the position set by the target position corresponding to the specified position number or by the target position channel of the PLC.
(10) Position complete signal (PEND) [PLC input signal] This signal turns ON after the actuator has moved to the target position and entered the positioning band or completed the push-motion operation. Speed Target position Travel Time Positioning band When the servo turns on, positioning is performed based on the current 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] Each signal turns ON when the current position of the actuator is inside the specified zone, and turns OFF when the current position is outside the zone. [1] Zone 1, zone 2 Each zone is set by user parameters. The ZONE1 signal is set by parameter No. 1, “Zone boundary 1+” and No. 2, “Zone boundary 1-.” The ZONE2 signal is set by parameter No.
(13) +Jog (JOG+) [PLC output signal] -Jog (JOG-) [PLC output signal] [1] [2] Jog operation Jog operation can be performed when the jog/inch switching (JISL) signal is OFF. The actuator will operate in the direction opposite home while the JOG+ is ON, and decelerate to a stop once the signal turns OFF. The actuator will operate in the direction of home while the JOG- is ON, and decelerate to a stop once the signal turns OFF.
(14) Jog-speed/inch-distance switching (JVEL) [PLC output signal] 2. ACON-C/CG, PCON-C/CG This signal is used to switch between the jog speed parameter when jog operation is selected, and the inch distance parameter when inch operation is selected. 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. 47, “Jog speed 2” Parameter No.
(16) Teaching command (MODE) Teaching mode signal (MODES) [PLC output signal] [PLC input signal] (17) Position-data read command (PWRT) [PLC output signal] Position-data read complete (WEND) [PLC input signal] The PWRT signal is effective when the teaching mode (MODES) signal is 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 channel of the PLC.
2. ACON-C/CG, PCON-C/CG (19) Operation mode (RMOD) [PLC output signal] Operation mode status (RMDS) [PLC input signal] The operation mode is selected as shown below based on the RMOD signal and the MODE switch on the front panel of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal. The combinations of RMOD signal and MODE switch settings and the corresponding operation modes are shown below.
(23) Load missed in push motion (PSFL) [PLC input signal] This signal turns ON when the actuator has not contacted the load in push-motion operation after having moved the distance set by the “Positioning band” field in the position table stored in the controller or by the positioning band channel of the PLC. (For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 2.9, “Operation.
2. ACON-C/CG, PCON-C/CG (26) Load output judgment (LOAD) [PLC input signal] [Dedicated PCON function] This signal is effective only during push-motion operation. To use the LOAD signal in a press-fit application, the controller must know whether the specified load threshold has been reached during push-motion 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] [Dedicated PCON function] 2. ACON-C/CG, PCON-C/CG This signal is effective only during push-motion operation. If the motor current reaches the load threshold during push-motion operation (= while the actuator is moving within the positioning band), the TRQS signal will turn ON. Since the level of current is monitored, the ON/OFF status of this signal will also change when the current changes.
2. ACON-C/CG, PCON-C/CG (28) Stopping control mode (SMOD) [PLC output signal] [Dedicated PCON function] One general characteristic of pulse motors is that their holding current at standstill is greater compared to AC servo motors. Accordingly, an energy-saving mode is provided to help reduce the power consumption in a standstill state in applications where the actuator remains stationary for a long period at standby positions.
(29) Acceleration/deceleration mode (MOD1, MOD0) [PLC output signal] [Dedicated ACON function] These signals are used to select the acceleration/deceleration pattern characteristics. Select a desired mode before issuing an actuator move command. MOD0 OFF ON OFF ON Pattern name Trapezoid pattern S-motion Primary delay filter Not available. 2.
(30) Stop Mode Selection (ASO1, ASO0) [PLC Output Signal] 2. ACON-C/CG, PCON-C/CG 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 instruction manual for the controller for more information. ASO1 OFF ASO0 OFF OFF ON ON OFF ON ON Functions Disabled Automatic Servo OFF Method Parameter No.
2.8 I/O Signal Timings The maximum response time after a control signal is turned ON to operate the ROBO Cylinder in a PLC sequence program, until a corresponding response (status) signal is returned to the PLC, is expressed by the formula below: 2. ACON-C/CG, PCON-C/CG Maximum response time (msec) = Yt + Xt + 3 + command processing time (operation time, etc.
2. ACON-C/CG, PCON-C/CG 2.9 Operation This section describes the timings of basic operations in the position/simple direct mode, half direct mode and full direct mode by using examples. For the operation timings in the remote I/O mode and remote I/O mode 2, refer to the operation manual for the controller. (In remote I/O mode 2, read the current position and current speed from the respective channels of the PLC, as deemed appropriate.
[1] Set value of target position data 2. ACON-C/CG, PCON-C/CG [2] Specified position number Positioning start [3] [4] [5] Position complete [7] Current position [6] Moving Positioning band Actuator movement *T1: Make sure “T1 t 0 ms” is satisfied by considering the scan time of the host controller.
2. ACON-C/CG, PCON-C/CG (2) Operation in the half direct mode The actuator is operated by specifying the data to the target position channel, positioning band channel, specified speed channel, acceleration/deceleration channel and push-motion current-limiting value channel of the PLC. z Example of operation (push-motion operation) [1] Set the target position data to the target position channel. [2] Set the positioning band data to the positioning band channel. [3] Set the speed data to the speed channel.
[1] Set value of target position data [2] 2.
2. ACON-C/CG, PCON-C/CG (3) Operation in the full direct mode The actuator is operated by specifying all conditions required for positioning to channels such as the target position channel and positioning band channel of the PLC. z Example of operation (push-motion operation) [1] Set the target position data to the target position channel. [2] Set the positioning band data to the positioning band channel. [3] Set the speed data to the speed channel.
[1] Set value of target position data 2.
[9] 2. ACON-C/CG, PCON-C/CG Push-motion specification [10] Push direction specification Positioning command [17] [11] Position complete/load missed in push motion [12] [13] [16] Current position [14] [15] Moving Actuator operation (push motion) Push Positioning band Actuator operation (Normal positioning) *T1: Make sure “T1 t 0 ms” is satisfied by considering the scan time of the host controller.
(4) Data change during movement [1] Set value of speed or acceleration/deceleration [2] [3] Speed n3 Speed n2 Actuator speed Caution 1. If the speed is not set or “0” speed is set, the actuator will remain stationary and no alarm will generate. 2. If the speed is changed to “0” while the actuator is moving, the actuator will decelerate to a stop and no alarm will generate. 3.
DeviceNet Parameters Parameters relating to DeviceNet are Nos. 84 to 87 and 90. Category: C: External interface parameter No. Category Symbol Name 1 For parameter Nos. 1 to 83, refer to the operation manual for the controller. 83 84 C FMOD Fieldbus operation mode 85 C NADR Fieldbus node address 86 C FBRS Field bus baud rate 87 C NTYP Network type 90 C FMIO Fieldbus I/O format Factory-set default ~ 2. ACON-C/CG, PCON-C/CG 2.10 0 63 0 2 3 z Fieldbus operation mode (No.
z Network type (No. 87, NTYP) The network module type is specified in parameter No. 87. Do not change the default setting. Value set in parameter No. 90 0 1 2 3 (factory setting) Description Data is not swapped. The data is sent directly to the PLC. (Refer to Example i.) The upper byte and lower byte comprising the upper word are swapped, and the upper byte and lower byte comprising the lower word are also swapped. (Refer to Example ii.) The upper word and lower word are swapped for word registers.
(Example ii) Set value = “1” 2. ACON-C/CG, PCON-C/CG Input register Hexa decimal data Output channel Hexa decimal data Output register Hexa decimal data Input channel Hexa decimal data 78 z indicates ON, while O indicates OFF.
(Example iii) Set value = “2” z indicates ON, while O indicates OFF. Input register 2.
(Example iv) Set value = “3” 2. ACON-C/CG, PCON-C/CG Input register Hexa decimal data Output channel Hexa decimal data Output register Hexa decimal data Input channel Hexa decimal data 80 z indicates ON, while O indicates OFF.
2.11 Troubleshooting Code Error name ID (*1) RES (*2) 0F2 Fieldbus module error 05 X 0F3 Fieldbus module not detected 04 X Cause/action Cause: Action: Cause: Action: A fieldbus module error has been detected. Check the parameter. The module could not be detected. Reconnect the power. If the error persists, contact IAI. (*1) ID o Simple alarm code (*2) RES o Whether or not the alarm can be reset = O: Alarm can be set / X: Alarm cannot be reset 81 2.
2.12 CE Mark 2. ACON-C/CG, PCON-C/CG If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
3. 3.1 PCON-CA/CFA Operation Modes and Functions PCON-CA/CFA controllers supporting DeviceNet can be operated in a desired operation mode selected from the following five modes. [1] Remote I/O mode: In this mode, the actuator is operated by PIOs (24-V I/Os) via DeviceNet communication. Number of occupied bytes: 1CH PCON-CA/CFA not supporting DeviceNet PLC Flat cable PIO connection PCON-CA/CFA supporting DeviceNet PLC Communication cable DeviceNet connection 83 3.
3. PCON-CA/CFA [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: 4CH PLC䎃 Target position: 100.
[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: 16CH 䎳䎯䎦䎃 3. PCON-CA/CFA Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/sec Acceleration: 0.30 G Deceleration: 0.30 G Push current: 50% Load current threshold: 0 Zone+: 50.00 mm Zone-: 30.
3.2 Model Numbers The model numbers of PCON-CA/CFA controller supporting DeviceNet are indicated as follows, respectively: 3.
3.3 Interface Specifications Item Communication protocol Baud rate Communication cable length Communication power supply Consumption current of communication power supply Number of occupied nodes Connector 3. PCON-CA/CFA Communication specification Specification DeviceNet 2.
3.4 DeviceNet Interface 3.4.1 Name of Each Part The name of each part relating to DeviceNet is shown. 3. PCON-CA/CFA SV/ALM Status Indicator LEDs Red White Blue Black 88 NS Monitor LED MS DeviceNet communication connector PCB side : MSTB2.5/5-GF-5.08AU (PHOENIX CONTACT) Cable side: MSTB2.5/5-STF-5.
3.4.2 Monitor LED Indicators The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (controller) condition and network condition. The LEDs illuminate in two colors (orange and green), and you can monitor the conditions listed in the table below based on the illumination status and color of each LED. Condition of the node (controller) Condition of the network 3.
3.5 Selecting (Setting) the Operation Mode 3. PCON-CA/CFA The operation mode is set using a parameter. Set the mode selector switch on the front panel of the controller to the MANU position, and set parameter No. 84, “FMOD: Fieldbus operation mode” using the RC PC software(Note 1) (V6.00.05.00 or later). (Refer to 3.10, “DeviceNet Parameters.”) (Note 1) Refer to operation manual of RC PC Software for the applicable version.
3.7 Communicating with the Master Station 3.7.1 Operation Modes and Corresponding PLC I/O Areas The channel assignments in each mode are shown below. x PLC output o PCON-CA/CFA input (* n indicates the node address of each axis.) n Remote I/O mode Number of occupied channels: 1CH Port number 0 to 15 Target position Target position Target position Specified position number Control signal Positioning band Positioning band Remote I/O mode 2 Number of occupied channels: 6CH Port number 0 to 15 3.
x PCON-CA/CFA output o PLC input side (* n indicates the node address of each axis.) 3.
3.7.2 Remote I/O Mode (Number of Occupied Channel: 1) The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
(1) PLC channel configuration (* n indicates the node address of each axis.) 3. PCON-CA/CFA PCON-CA/CFA DI Parameter No. PLC output channel (port number) 84 0 0~15 n+0 (Note) Exercise caution to avoid node address duplication. PCON-CA/CFA DO (port number) 0~15 PLC input channel n+0 (2) I/O signal assignments for each axis The I/O signals of each axis consist of one input word (channel) and one output word (channel) in the I/O areas. z Each channel is controlled by ON/OFF bit signals.
(3) I/O signal assignments The signals assigned to the controller’s I/O ports vary depending on the setting of parameter No. 25. (For details, refer to the operation manual for the controller.
512-point mode 3 3. PCON-CA/CFA Category PLC output o PCON -CA/CFA input PCON -CA/CFA output o PLC input Port No. 0 1 2 3 4 5 6 7 8 Symbol PC1 PC2 PC4 PC8 PC16 PC32 PC64 PC128 PC256 Setting of Parameter No.
3.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4) ROBO Cylinder function Home-return operation Positioning operation Speed and acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Operation at different acceleration and deceleration Pause Zone signal output {: Direct control U: Indirect control X: Invalid { { U U U U U { U PIO pattern selection Remarks These items must be set in the position data table.
3. PCON-CA/CFA (2) I/O signal assignments for each axis The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas. z Control signals and status signals are ON/OFF bit signals. z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.
PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 3. PCON-CA/CFA Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement.
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Bits Symbol Target position 32-bit data - Specified position number 16-bit data PC1 ~ PC512 b15 BKRL b14 RMOD b13 b12 - b11 PMOD b10 MODE b9 PWRT b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 SON b3 b2 RES STP b1 HOME b0 CSTR PLC output 3. PCON-CA/CFA Signal type Control signal 100 Description 32-bit signed integer.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Symbol Current position 32 bits - Completed position number (simple alarm code) 16 bits PM 1 ~ PM512 b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 PZONE b10 MODES b9 WEND b8 RMDS b7 ALML b6 - b5 PSFL b4 b3 SV ALM b2 MOVE b1 HEND b0 PEND Status signal Description 32-bit signed integer indicating the current position. The setting unit is 0.01 mm.
3. PCON-CA/CFA 3.7.4 Half Direct Mode (Number of Occupied Channels: 8) In this mode, the target position, positioning band, speed, acceleration/deceleration and push-motion current are specified directly and numerically from the PLC. Set each value in the I/O areas. To use the zone function, set appropriate values in parameter Nos. 1, 2, 23 and 24. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below.
(2) I/O signal assignments for each axis Set Value Push-motion current-limiting value 0 128 255 0% 50% 100% z The command current is a 2-word (32-bit) binary data (unit: 1 mA). z The current speed is a 2-word (32-bit) binary data (unit: 0.01 mm/sec). z The alarm code is a 1-word (16-bit) binary data. 103 3. PCON-CA/CFA The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas.
PLC output Channel (* n indicates the node address of each axis.) 3. PCON-CA/CFA 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement.
PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 3. PCON-CA/CFA Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word) Command current (upper word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is indicated by a 2’s complement.
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Bits Symbol Target position 32-bit data - Positioning band 32-bit data - Speed 16-bit data - Acceleration/ deceleration 16-bit data - PLC output 3. PCON-CA/CFA Signal type 106 Description 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The setting unit is 0.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) PLC output Control signal Bits Symbol 16-bit data - b15 BKRL b14 RMOD b13 DIR b12 PUSH b11 b10 b9 - b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 SON b3 b2 RES STP b1 HOME b0 DSTR Description 16-bit integer. Specify the current-limiting value to be used during push-motion operation. The allowable specification range is 0 (0%) to 255 (100%).
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol 32-bit data - Command 32-bit data current - PLC input 3. PCON-CA/CFA Current position Current speed 32-bit data - Alarm code 16-bit data - b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 b10 b9 - b8 RMDS b7 ALML b6 - b5 PSFL b4 b3 SV ALM b2 MOVE b1 HEND b0 PEND Status signal 108 Description 32-bit signed integer indicating the current position.
3.7.5 Full Direct Mode (Number of Occupied Channels: 16) In this mode, the actuator is operated by specifying all values relating to positioning control (target position, speed, etc.) directly from the PLC. Set each value in the I/O area. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. ROBO Cylinder function 3.
3. PCON-CA/CFA (2) I/O signal assignments for each axis The I/O signals of each axis consist of sixteen input words (channels) and sixteen output words (channels) 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 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.
PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 3. PCON-CA/CFA Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word) Positioning band (upper word) Speed (lower word) Speed (upper word) Zone boundary+ (lower word) Zone boundary+ (upper word) If the zone boundary is a negative value, it is indicated by a 2’s complement.
Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Zone boundary(upper word) If the zone boundary is a negative value, it is indicated by a 2’s complement. Acceleration Deceleration Push-motion current-limiting value Control signal 2 112 MOD0 MOD1 ASO0 Control signal 1 ASO1 Load current threshold SMOD 3.
PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) 3. PCON-CA/CFA Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word) Command current (upper word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is indicated by a 2’s complement. Alarm code 9 TRQS Status signal LOAD Not available.
1 4 2 1 b5 b4 b3 b2 b1 b0 n+14 b15 b14 b13 b12 b11 b10 114 b1 b0 b0 PEND b1 HEND b2 MOVE b3 ALM b4 SV b5 PSFL b6 PUSH b7 GHMS b8 RMDS TRQS LOAD PZONE ZONE1 ZONE2 PWR b15 b14 b13 b12 b11 b10 b9 ALML b2 b3 b4 b5 b6 b7 b8 b9 65,536 b0 131,072 b1 262,144 b2 524,288 b3 b4 b5 b6 b7 b8 b9 2,048 4,096 8,192 16,384 32,768 65,536 2 8 b6 131,072 4 16 b7 262,144 8 32 b8 524,288 1
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Symbol Target position 32-bit data - Positioning band 32-bit data - Speed 32-bit data - Zone boundary+ 32-bit data /zone boundary- - Function 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The setting unit is 0.01 mm and the allowable specification range is -999999 to 999999. (Example) To set “+25.
Symbol Acceleration 16-bit data - Deceleration 16-bit data - Push-motion current-limiting value Address 3. PCON-CA/CFA Bits 16-bit data - Load current threshold (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) 16-bit data - Function 16-bit integer. Specify the acceleration and deceleration at which to move the actuator. The setting unit is 0.01 G and the allowable specification range is 1 to 300. (Example) To set “0.30 G,” specify “30.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol 32-bit data - Command 32-bit data current - 3. PCON-CA/CFA Current position Current speed 32-bit data - Alarm code 16-bit data - PLC input Total moving count Total moving distance 32-bits data 32-bits data b15 - Description 32-bit signed integer indicating the current position. The setting unit is 0.01 mm. (Example) Reading: 000003FFH = 1023 (decimal) = 10.
Bits Symbol b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 PZONE b10 LOAD b9 TRQS b8 RMDS b7 GHMS b6 PUSHS b5 PSFL Status signal 2 b4 SV b3 ALM b2 MOVE b1 HEND b0 PEND Description Emergency stop: An emergency stop is actuated when this signal turns ON. Controller ready: This signal turns ON when the controller becomes ready. Zone 2: This signal turns ON when the current position is inside the specified zone.
3. PCON-CA/CFA 3.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set position data using the RC PC software or teaching pendant. The number of available positions is determined by the setting of parameter No. 25, “PIO pattern.” 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 channel configuration (* n indicates the node address of each axis.) Parameter No. 84 4 PCON-CA/CFA DI and input register Port number 0 to 15 PLC output channel Occupied area Current position Command current PLC input channel n+0 n+1 n+2 n+3 n+4 n+5 (Note) The areas denoted by “occupied area” cannot be used for any other purpose. Also exercise caution to avoid node address duplication.
PLC input (* n indicates the node address of each axis.) 3. PCON-CA/CFA Channel 1 word (channel) = 16 bits Controller output port number Not available. Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement.
(3) I/O signal assignments For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 3.7.2 (3). Signal assignments under the command-current read function and current-position read function are shown below. Signal type Symbol 32-bit data - Command 32-bit data current - PLC input Current position Description 32-bit signed integer indicating the current position. The setting unit is 0.01 mm.
3.7.7 I/O Signal Controls and Functions * ON indicates that the applicable bit signal is “1,” while OFF indicates that the bit signal is “0.” How the I/O signals used in the position/simple direct mode, half direct mode and full direct mode are controlled, as well as the functions provided by these signals, are explained below. For the I/O signals used in the remote I/O mode and remote I/O mode 2, refer to the operation manual for the controller. 3.
(5) Servo ON command (SON) [PLC output signal] Ready (SV) [PLC input signal] SON (PLC PCON) SV (PCON PLC) 125 3. PCON-CA/CFA When the SON signal is turned ON, the servo will turn on. When the servo turns on, the status indicator LED (refer to 3.4, “DeviceNet Interface”) on the front panel of the controller will illuminate in green. The SV signal is synchronized with this LED. Function The controller servo can be turned on/off using the SON signal.
3. PCON-CA/CFA (6) Home return (HOME) [PLC output signal] Home return complete (HEND) [PLC input signal] Home return in progress (GHMS) [PLC input signal] When the HOME signal is turned ON, the HOME command will be processed at the leading (ON) edge of the signal and home-return operation will be performed automatically. The GHMS signal turns ON while the home return is in progress. Once the home return has completed, the HEND signal turns ON and the GHMS signal turns OFF.
(7) Positioning start (CSTR): Used in the position/simple direct mode [PLC output signal] If this command is issued when no home-return operation has been performed yet after the power on (= while the HEND signal is OFF), the actuator will automatically return home and then move to the target position. Program the controller so that the CSTR signal will be turned OFF after the position complete (PEND) signal turns OFF.
(10) Position complete signal (PEND) [PLC input signal] This signal turns ON after the actuator has moved to the target position and entered the positioning band or completed the push-motion operation. Timing at which the position complete signal turns ON Speed 3. PCON-CA/CFA Target position Travel Time Positioning band When the servo turns on, positioning is performed based on the current 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] Zone signal Actuator operation + direction Home Zone setting- Zone setting+ 129 3. PCON-CA/CFA Each signal turns ON when the current position of the actuator is inside the specified zone, and turns OFF when the current position is outside the zone. [1] Zone 1, zone 2 Each zone is set by user parameters. The ZONE1 signal is set by parameter No. 1, “Zone boundary 1+” and No.
(13) +Jog (JOG+) [PLC output signal] -Jog (JOG-) [PLC output signal] These signals are used as starting commands for jog operation or inch operation. 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. PCON-CA/CFA [1] [2] 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 signal is used to switch between the jog speed parameter when jog operation is selected, and the inch distance parameter when inch operation is selected. 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. 47, “Jog speed 2” Parameter No.
3. PCON-CA/CFA (16) Teaching command (MODE) Teaching mode signal (MODES) [PLC output signal] [PLC input signal] When the MODE signal is turned ON, the actuator mode will switch from normal operation to teaching. Upon switching to the teaching mode, the controller of each axis will turn the MODES signal ON. Program the PLC so that teaching operation will be performed after the MODES signal turns ON.
(19) Operation mode (RMOD) [PLC output signal] Operation mode status (RMDS) [PLC input signal] The operation mode is selected as shown below based on the RMOD signal and the MODE switch on the front panel of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal. The combinations of RMOD signal and MODE switch settings and the corresponding operation modes are shown below. 3.
(23) Load missed in push motion (PSFL) [PLC input signal] 3. PCON-CA/CFA This signal turns ON when the actuator has not contacted the load in push-motion operation after having moved the distance set by the “Positioning band” field in the position table stored in the controller or by the positioning band channel of the PLC. (For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 3.9, “Operation.
(26) Load output judgment (LOAD) [PLC input signal] The LOAD signal turns ON when the command torque exceeds the threshold inside the torque check range. The position complete signal turns ON upon judgment of completion of push-motion operation after the actuator contacted the load. Speed Check range Travel Positioning band (maximum push distance) Target position x The push speed is set by parameter No. 34, “Push speed.
3. PCON-CA/CFA (27) Torque level (TRQS) [PLC input signal] This signal is effective only during push-motion operation. If the motor current reaches the load threshold during push-motion operation (= while the actuator is moving within the positioning band), the TRQS signal will turn ON. Since the level of current is monitored, the ON/OFF status of this signal will also change when the current changes. The speed at which the actuator can push the load varies depending on the motor and lead.
(28) Stopping control mode (SMOD) [PLC output signal] One general characteristic of pulse motors is that their holding current at standstill is greater compared to AC servo motors. Accordingly, an energy-saving mode is provided to help reduce the power consumption in a standstill state in applications where the actuator remains stationary for a long period at standby positions.
(29) Acceleration/deceleration mode (MOD1, MOD0) [PLC output signal] 3. PCON-CA/CFA These signals are used to select the acceleration/deceleration pattern characteristics. Select a desired mode before issuing an actuator move command. MOD1 OFF OFF ON ON MOD0 OFF ON OFF ON Pattern name Trapezoid pattern S-motion Primary delay filter Not available.
(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 instruction manual for the controller for more information. 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.
3.8 I/O Signal Timings 3. PCON-CA/CFA The maximum response time after a control signal is turned ON to operate the ROBO Cylinder in a PLC sequence program, until a corresponding response (status) signal is returned to the PLC, is expressed by the formula below: Maximum response time (msec) = Yt + Xt + 3 + command processing time (operation time, etc.
3.9 Operation This section describes the timings of basic operations in the position/simple direct mode, half direct mode and full direct mode by using examples. 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 channels of the PLC, as deemed appropriate.
[1] Set value of target position data (PLC PCON) (PLC PCON) 3. PCON-CA/CFA [2] Specified position number (PLC PCON) Positioning start CSTR (PLC PCON) [3] [4] [5] Position complete PEND (PCON PLC) Current position (PCON PLC) [7] [6] Moving MOVE (PCON PLC) Positioning band Actuator movement *T1: Make sure “T1 t 0 ms” is satisfied by considering the scan time of the host controller.
(2) Operation in the half direct mode z Example of operation (normal positioning operation) For normal positioning operation, set the signal in [6] to OFF. Once the remaining travel has fallen within the positioning band set by the position data, the PEND signal turns ON if the DSTR signal is OFF. 143 3.
[1] Set value of target position data (PLC PCON) [2] 3.
(3) Operation in the full direct mode z Example of operation (normal positioning operation) For normal positioning operation, set the signal in [9] to OFF. Once the remaining travel has fallen within the positioning band set by the position data, the PEND signal turns ON if the DSTR signal is OFF. 145 3. PCON-CA/CFA The actuator is operated by specifying all conditions required for positioning to channels such as the target position channel and positioning band channel of the PLC.
[1] Set value of target position data (PLC PCON) 3.
[9] Push-motion specification PUSH (PLC PCON) 3. PCON-CA/CFA [10] Push direction specification DIR (PLC PCON) Positioning command DSTR (PLC PCON) Position complete/load missed in push motion PEND/PSFL (PCON PLC) [17] [11] [12] [13] [16] Current position (PCON PLC) [14] [15] Moving MOVE (PCON PLC) Actuator operation (push motion) Push Positioning band Actuator operation (Normal positioning) *T1: Make sure “T1 t 0 ms” is satisfied by considering the scan time of the host controller.
3. PCON-CA/CFA (4) Data change during movement In the half direct mode or full direct mode, the value currently set to a given channel among the channels for target position data, acceleration/deceleration data, speed data, positioning band and push-motion current-limiting value, can be changed while the actuator is moving. After a desired data has been changed, keep the positioning command (DSTR) signal “ON” for at least tdpf.
3.10 DeviceNet Parameters Factory-set default ~ Parameters relating to DeviceNet are Nos. 84 to 87, 90 and 159. Category: C: External interface parameter No. Category Symbol Name 1 For parameter Nos. 1 to 83, refer to the operation manual for the controller. 83 84 C FMOD Fieldbus operation mode 85 C NADR Fieldbus node address 86 C FBRS Field bus baud rate 87 C NTYP Network type 90 C FMIO Fieldbus I/O format 159 C FBVS FB half direct mode speed unit 3.
3. PCON-CA/CFA z Network type (No. 87, NTYP) The network module type is specified in parameter No. 87. Do not change the default setting. z Fieldbus I/O format (No. 90, FMIO) Addresses in the PLC are assigned in units of 16 points (1 channel) based on the node address set in the controller and number of occupied channels in each operation mode. By changing the setting of parameter No.
(Example ii) Set value = “1” z indicates ON, while O indicates OFF. PCON Input register Hexa decimal data 3.
(Example iii) Set value = “2” PCON Input register 3. PCON-CA/CFA Hexa decimal data Output channel Hexa decimal data PCON Output register Hexa decimal data Input channel Hexa decimal data 152 z indicates ON, while O indicates OFF.
z indicates ON, while O indicates OFF. (Example iv) Set value = “3” PCON Input register Hexa decimal data 3. PCON-CA/CFA Output channel Hexa decimal data PCON Output register Hexa decimal data Input channel Hexa decimal data z FB Half Direct Mode Speed Unit (No.159 FBVS) Determines the unit of measure when operating the unit in Half Direct Mode. Parameter No. 159 Setting Value Speed Setting Unit 0 (Set in delivery) 1 1mm/sec 0.
3. PCON-CA/CFA 3.11 Troubleshooting z Alarm messages, causes and remedial actions If an alarm occurs, a corresponding simple alarm code will be indicated by the completed position number (four bits of PM1 to PM8) in the remote I/O mode and remote I/O mode 2. In the position/simple direct mode, this simple alarm code is output to the (n+2) channel. In the half direct mode and full direct mode, this simple alarm code is output to the (n+6) channel.
3.12 CE Mark If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately. 3.
4. 4.1 SCON-CA Operation Modes and Functions SCON-CA controllers supporting DeviceNet can be operated in a desired operation mode selected from the following nine modes. 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.
[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 channels: 16CH 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 Push 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 push 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 channels: 8CH 1 / ' == : ) >7 / 4.
4.2 Model Numbers The model numbers of SCON-CA controller supporting DeviceNet are indicated as follows, respectively: 4.
4.3 Interface Specifications Item Communication protocol Communication specification Communication power supply Consumption current of communication power supply Number of occupied nodes Connector 4. SCON-CA Baud rate Communication cable length Specification DeviceNet 2.
4.4 DeviceNet Interface 4.4.1 Name of Each Part The name of each part relating to DeviceNet is shown. 4. SCON-CA Monitor LEDs Red White DeviceNet communication connector Light blue PCB side : MSTBA2.5/5-G-5.08AU Black 162 (PHOENIX CONTACT) Cable side : SMSTB2.5/5-ST-5.
4.4.2 Monitor LED Indicators The two LEDs, MS and NS, provided on the front panel of the controller are used to check the node (controller) condition and network condition. The LEDs illuminate in two colors (orange and green), and you can monitor the conditions listed in the table below based on the illumination status and color of each LED.
4.5 Selecting (Setting) the Operation Mode The operation mode is set using a parameter. Set the mode selector switch on the front panel of the controller to the MANU position, and set parameter No. 84, “FMOD: Fieldbus operation mode” using the RC PC software (V8.00.00.00 or later). (Refer to 4.10, “DeviceNet Parameters.
4.7 Communicating with the Master Station 4.7.1 Operation Modes and Corresponding PLC I/O Areas The channel assignments in each mode are shown below. x PLC output o SCON-CA input (* n indicates the node address of each axis.
x PLC output o SCON-CA input side (* n indicates the node address of each axis.) SCON-CA DI and input data register PLC output area (channel) n n+1 4.
x SCON-CA output o PLC input side (* n indicates the node address of each axis.
x SCON-CA output o PLC input side (* n indicates the node address of each axis.) SCON-CA DO and input data register PLC output area (channel) 4.
4.7.2 Remote I/O Mode (Number of Occupied Channel: 1) In this mode, the actuator is operated by specifying position numbers just like when PIOs (24-V I/Os) are used. Set desired position data using the RC PC software or teaching pendant. The number of positions to which the actuator can be operated varies according to the setting of parameter No. 25, “PIO pattern.” The I/O specification of each PIO pattern is shown below. (For details, refer to the operation manual for the controller.
(1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. SCON-CA DI PLC output channel 84 (port number) 0 0~15 n+0 (Note) Exercise caution to avoid node address duplication. SCON-CA DO (port number) 0~15 PLC input channel n+0 4. SCON-CA (2) I/O signal assignments for each axis The I/O signals of each axis consist of one input word (channel) and one output word (channel) in the I/O areas. z Each channel is controlled by ON/OFF bit signals.
(3) I/O signal assignments The signals assigned to the controller’s I/O ports vary depending on the setting of parameter No. 25. (For details, refer to the operation manual for the controller.
512-point mode 3 4. SCON-CA Category PLC output o SCON-CA input SCON-CA output o PLC input Port No. 0 1 2 3 4 5 6 7 8 Symbol PC1 PC2 PC4 PC8 PC16 PC32 PC64 PC128 PC256 Setting of Parameter No.
Setting of Parameter No. 25 Force control mode 1 Force control mode 2 6 7 Category SCON-CA output o PLC input Symbol PC1 PC2 PC4 PC8 PC16 - 8 CLBR 9 BKRL 10 11 12 13 14 15 0 1 2 3 4 5 RMOD HOME *STP CSTR RES SON PM1 PM2 PM4 PM8 PM16 TRQS 6 LOAD 7 CEND 8 PZONE ZONE1 9 RMDS 10 HEND 11 PEND 12 13 14 15 SV *EMGS *ALM *BALM Signal name Command position number Not available.
4.7.3 Position/Simple Direct Mode (Number of Occupied Channels: 4) 4. SCON-CA In this mode, the actuator is operated by specifying position numbers. You can switch the control signal (PMOD) to select whether to specify the target position directly and numerically or by using a value registered in the position data table. Data other than the target position, such as speed, acceleration/deceleration and positioning band, are set using values in the position table stored in the controller.
(2) I/O signal assignments for each axis PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Specified position number Control signal 175 4. SCON-CA The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas.
PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 4. SCON-CA Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement.
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Symbol Target position 32-bit data - Specified position number 16-bit data PC1 ~ PC512 b15 BKRL b14 RMOD b13 b12 - b11 PMOD b10 MODE b9 PWRT b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 SON b3 b2 RES STP b1 HOME b0 CSTR Control signal Description Details 32-bit signed integer. Specify the target position as a position in the absolute coordinate system.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Bits Symbol Current position 32 bits - Completed position number (simple alarm code) 16 bits PM 1 ~ PM512 b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 PZONE b10 MODES b9 WEND b8 RMDS b7 BALM b6 - b5 PSFL b4 b3 SV ALM b2 MOVE b1 HEND b0 PEND PLC input 4. SCON-CA Signal type Status signal 178 Description 32-bit signed integer indicating the current position.
4.7.4 Half Direct Mode (Number of Occupied Channels: 8) (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. 84 SCON-CA input register Target position Positioning band PLC output channel n+0 n+1 n+2 n+3 n+4 Speed Acceleration/ n+5 deceleration Push-motion n+6 current-limiting value Control signal n+7 (Note) Exercise caution to avoid node address duplication.
4. SCON-CA (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas. z Control signals and status signals are ON/OFF bit signals. z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) 4. SCON-CA Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement.
PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 4. SCON-CA Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word) Command current (upper word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is indicated by a 2’s complement.
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Symbol Target position 32-bit data - Positioning band 32-bit data - Speed 16-bit data - Acceleration/ deceleration 16-bit data - Description 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The setting unit is 0.01 mm and the allowable specification range is -999999 to 999999. (Example) To set “+25.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) PLC output 4. SCON-CA Push-motion current-limiting value Signal type Control signal 184 Bits Symbol 16-bit data - b15 BKRL b14 RMOD b13 DIR b12 PUSH b11 GSL1 b10 GSL0 b9 - b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 SON b3 b2 RES STP b1 HOME b0 DSTR Description 16-bit integer. Specify the current-limiting value to be used during push-motion operation.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol 32-bit data - Command 32-bit data current - Current speed 32-bit data - Alarm code 16-bit data - b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 b10 b9 - b8 RMDS b7 BALM b6 - b5 PSFL b4 b3 SV ALM b2 MOVE b1 HEND b0 PEND Status signal Not available.
4.7.5 Full Direct Mode (Number of Occupied Channels: 16) In this mode, the actuator is operated by specifying all values relating to positioning control (target position, speed, etc.) directly from the PLC. Set each value in the I/O area. The key ROBO Cylinder functions that can be controlled in this mode are summarized in the table below. 4.
(2) I/O signal assignments for each axis Set value Push-motion current-limiting value z Set the load current threshold. The load current threshold is a 1-word (16-bit) binary data. For the load current threshold, the PLC can handle values from 0 (0%) to 510 (200%). (Refer to the graph of push-motion current-limiting value (above graph).) z The zone boundary+ and zone boundary- are 2-word (32-bit) binary data.
PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 4. SCON-CA Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement. Positioning band (lower word) Positioning band (upper word) Speed (lower word) Speed (upper word) Zone boundary+ (lower word) Zone boundary+ (upper word) If the zone boundary is a negative value, it is indicated by a 2’s complement.
Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Zone boundary(lower word) 4. SCON-CA Zone boundary(upper word) If the zone boundary is a negative value, it is indicated by a 2’s complement.
PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 4. SCON-CA Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word) Command current (upper word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is indicated by a 2’s complement.
# Not available. 6 ! 6 Force feedback data (lower word) 6# 6" 6! 6 6 6 6 6 6 6 6 6 6% 6$ 6# 6" 6! 6 6 6 6 6 6 ! 6 6 6 6 6 6% 6$ 6# 6" 6! 6 6 6 6 6 4. SCON-CA % 6$ $ 6 6 6 6 6% 6 ! 6 Force feedback data (upper word) If the current force feedback data is a negative value, it is indicate by a 2’s complement.
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Symbol 32-bit data - Positioning 32-bit data band - PLC output 4. SCON-CA Target position Speed 192 32-bit data - Zone boundary+ 32-bit data /zone boundary- - Function 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The setting unit is 0.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Address Bits Symbol - Deceleration 16-bit data - - Load current threshold 16-bit data - b15 b14 - PLC output 16-bit data b13 Control signal 1 NTC1 b12 NTC0 b11 b10 - b9 ASO1 b8 ASO0 Not available. Vibration damping control mode selection 1 Vibration damping control mode selection 0 Details 4.9 (3) 4.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) 4.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Symbol Current speed 32-bit data - Alarm code 16-bit data - Force feedback data 32-bit data - 32-bit data - Description 32-bit signed integer indicating the current position. The setting unit is 0.01 mm. (Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm * If current positions are read as hexadecimals, negative values are indicated by 2’s complements. 32-bit integer.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) PLC input 4. SCON-CA Signal type 196 Status signal 2 Bits Symbol b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 PZONE b10 MODES b9 WEND b8 RMDS b7 BALM b6 - b5 PSFL b4 b3 b2 SV ALM MOVE b1 HEND b0 PEND Description Emergency stop: An emergency stop is being executed when the signal is ON. Controller ready: The signal turns ON when the controller becomes ready.
4.7.6 Remote I/O Mode 2 (Number of Occupied Channels: 6) In this mode, the actuator is operated by specifying position numbers, just like you do when PIOs (24-V I/Os) are used. Set position data using the RC PC software or teaching pendant. The number of available positions is determined by the setting of parameter No. 25, “PIO pattern.” 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 channel configuration (* n indicates the node address of each axis.) Parameter No. 84 4. SCON-CA 4 SCON-CA DI and input register Port number 0 to 15 PLC output channel Occupied area n+0 n+1 n+2 n+3 n+4 n+5 SCON-CA DO and output register Port number 0 to 15 Occupied area Current position Command current PLC input channel n+0 n+1 n+2 n+3 n+4 n+5 (Note) The areas denoted by “occupied area” cannot be used for any other purpose. Also exercise caution to avoid node address duplication.
PLC input (* n indicates the node address of each axis.) Channel 1 word (channel) = 16 bits Controller output port number 4. SCON-CA Not available. Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement.
(3) I/O signal assignments For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 4.7.2 (3). Signal assignments under the command-current read function and current-position read function are shown below. Bits Symbol 32-bit data - Command 32-bit data current - Current position PLC input 4. SCON-CA Signal type 200 Description 32-bit signed integer indicating the current position. The setting unit is 0.01 mm.
4.7.7 Position/Simple Direct Mode 2 (Number of Occupied Channels: 4) In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of load cell values) and also by specifying position numbers. You can directly specify the target position as a numerical value by switching the control signal (PMOD signal), or use a pre-registered value in the position data.
4. SCON-CA (2) I/O signal assignments for each axis The I/O signals of each axis consist of four input words (channels) and four output words (channels) in the I/O areas. z Control signals and status signals are ON/OFF bit signals. z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) 4. SCON-CA Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement.
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Bits Symbol Target position 32-bit data - Specified position number 16-bit data PC1 ~ PC512 b15 BKRL b14 RMOD b13 b12 - b11 - b10 - PLC output 4. SCON-CA Signal type Control signal 204 b9 CLBR b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 SON b3 b2 RES STP b1 HOME b0 CSTR Description Details 32-bit signed integer.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Symbol Current position 32 bits - Completed position number (simple alarm code) 16 bits PM 1 ~ PM512 b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 PZONE/ ZONE2 b10 LOAD b9 TRQS b8 RMDS b7 BALM b6 PUSHS b5 PSFL b4 b3 SV ALM b2 MOVE b1 HEND b0 PEND Status signal Description 32-bit signed integer indicating the current position. The setting unit is 0.01 mm.
4. SCON-CA 4.7.8 Half Direct Mode (Number of Occupied Channels: 8) In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of load cell values) and also by specifying the target position, in-position band, speed, acceleration/deceleration and push current directly from the PLC as numerical values. Set each value in the I/O areas. To use the zone function, set appropriate values in parameter Nos. 1, 2, 23 and 24.
(2) I/O signal assignments for each axis Parameter No.159 setting value 0 1 Speed setting unit 1.0 mm/sec 0.1 mm/sec z The acceleration/deceleration is a 1-word (16-bit) binary data. For the acceleration/deceleration, the PLC can handle values from 1 to 300 (unit: 0.01 G). Take note, however, that the set value should not exceed the maximum acceleration or maximum deceleration supported by the applicable actuator. z The push-motion current-limiting value is a 1-word (16-bit) binary data.
PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 4. SCON-CA Target position (lower word) Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement.
PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Current position (lower word) 4. SCON-CA Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Force feedback data (lower word) Force feedback data (upper word) If the force feedback data is a negative value, it is indicated by a 2’s complement.
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Bits 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 210 Description 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The setting unit is 0.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Control signal Bits Symbol 16-bit data - b15 BKRL b14 RMOD b13 DIR b12 PUSH b11 b10 - b9 CLBR b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 SON b3 b2 RES STP b1 HOME b0 DSTR Description 16-bit integer. Specify the current-limiting value to be used during push-motion operation. The allowable specification range is 0 (0%) to 255 (100%).
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Signal type Bits Symbol 32-bit data - Command 32-bit data current - PLC input 4.
4.7.9 Remote I/O Mode 3 (Number of Occupied Channels: 6) In this mode, the actuator is operated by means of force control (push-motion operation based on feedback of load cell values) and also by specifying position numbers in the same manner you would using PIOs (24-V I/Os). Set position data using the RC PC software or other teaching tool. The number of available positions is determined by the setting of parameter No. 25, “PIO pattern.
(1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. 84 4. SCON-CA 7 SCON-CA DI and input register Port number 0 to 15 PLC output channel Occupied area n+0 n+1 n+2 n+3 n+4 n+5 SCON-CA DO and output register Port number 0 to 15 Occupied area Current position Force feedback data PLC input channel n+0 n+1 n+2 n+3 n+4 n+5 (Note) The areas denoted by “occupied area” cannot be used for any other purpose. Also exercise caution to avoid node address duplication.
PLC input (* n indicates the node address of each axis.) Channel 1 word (channel) = 16 bits Controller output port number 4. SCON-CA Not available. Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Force feedback data (lower word) Force feedback data (upper word) If the force feedback data is a negative value, it is indicated by a 2’s complement.
(3) I/O signal assignments For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 4.7.2 (3). Signal assignments under the command-current read function and current-position read function are shown below. Current position PLC input 4. SCON-CA Signal type 216 Force feedback data Bits Symbol 32-bit data - 32-bit data - Description 32-bit signed integer indicating the current position. The setting unit is 0.01 mm.
4.7.10 Half Direct Mode 3 (Number of Occupied Channels: 8) (1) PLC channel configuration (* n indicates the node address of each axis.) Parameter No. 84 SCON-CA input register Target position Positioning band PLC output channel n+0 n+1 n+2 n+3 n+4 Speed Acceleration/ n+5 deceleration Push-motion n+6 current-limiting value Control signal n+7 (Note) Exercise caution to avoid node address duplication.
4. SCON-CA (2) I/O signal assignments for each axis The I/O signals of each axis consist of eight input words (channels) and eight output words (channels) in the I/O areas. z Control signals and status signals are ON/OFF bit signals. z The target position and current position are 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC for these items, set position data within the soft stroke range (0 to the effective stroke) of the applicable actuator.
PLC output Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits Target position (lower word) 4. SCON-CA Target position (upper word) If the target position is a negative value, it is indicated by a 2’s complement.
PLC input Channel (* n indicates the node address of each axis.) 1 word (channel) = 16 bits 4. SCON-CA Current position (lower word) Current position (upper word) If the current position is a negative value, it is indicated by a 2’s complement. Command current (lower word) Command current (upper word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is indicated by a 2’s complement.
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the bit is “0.”) Symbol Target position 32-bit data - Positioning band 32-bit data - Speed 16-bit data - Acceleration/ deceleration 16-bit data - Description 32-bit signed integer. Specify the target position as a position in the absolute coordinate system. The setting unit is 0.01 mm and the allowable specification range is -999999 to 999999. (Example) To set “+25.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type PLC output 4. SCON-CA Push-current limiting value Bit Symbol 16-bit data - b15 BKRL b14 RMOD b13 DIR b12 PUSH b11 GSL1 b10 GSL0 b9 NTC1 b8 NTC0S b7 MOD1 b6 MOD0 b5 b4 b3 b2 SON RES STP b1 HOME b0 DSTR Details 16-bit integer. Specify the current-limiting value during push-motion operation. The specified range is 0 (0%) to 255 (100%).
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.
4.7.11 I/O Signal Controls and Functions * ON indicates that the applicable bit signal is “1,” while OFF indicates that the bit signal is “0.” How the I/O signals used in the position/simple direct mode 1, 2, half direct mode 1 to 3 and full direct mode are controlled, as well as the functions provided by these signals, are explained below. For the I/O signals used in the remote I/O mode 1 to 3, refer to the operation manual for the controller. 4.
(5) Servo ON command (SON) [PLC output signal] Ready (SV) [PLC input signal] 225 4. SCON-CA When the SON signal is turned ON, the servo will turn on. When the servo turns on, the status indicator LED (refer to 4.4, “DeviceNet Interface”) on the front panel of the controller will illuminate in green. The SV signal is synchronized with this LED. Function The controller servo can be turned on/off using the SON signal.
4. SCON-CA (6) Home return (HOME) [PLC output signal] Home return complete (HEND) [PLC input signal] Home return in progress (GHMS) [PLC input signal] When the HOME signal is turned ON, the HOME command will be processed at the leading (ON) edge of the signal and home-return operation will be performed automatically. The GHMS signal turns ON while the home return is in progress. Once the home return has completed, the HEND signal turns ON and the GHMS signal turns OFF.
(7) Positioning start (CSTR): Used in the position/simple direct mode 1,2 [PLC output signal] The CSTR command is processed at the leading (ON) edge of the signal, upon which the actuator will move to the position set by the target position corresponding to the specified position number or by the target position channel of the PLC.
(10) Position complete signal (PEND) [PLC input signal] This signal turns ON after the actuator has moved to the target position and entered the positioning band or completed the push-motion operation. Timing at which the position complete signal turns ON Speed 4. SCON-CA Target position Travel Time Positioning band When the servo turns on, positioning is performed based on the current 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] Zone signal Actuator operation + direction Home Zone setting- Zone setting+ 229 4. SCON-CA Each signal turns ON when the current position of the actuator is inside the specified zone, and turns OFF when the current position is outside the zone. [1] Zone 1, zone 2 Each zone is set by user parameters. The ZONE1 signal is set by parameter No. 1, “Zone boundary 1+” and No.
(13) +Jog (JOG+) [PLC output signal] -Jog (JOG-) [PLC output signal] These signals are used as starting commands for jog operation or inch operation. 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. 4. SCON-CA [1] [2] 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 signal is used to switch between the jog speed parameter when jog operation is selected, and the inch distance parameter when inch operation is selected. 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. 47, “Jog speed 2” Parameter No.
4. SCON-CA (16) Teaching command (MODE) Teaching mode signal (MODES) [PLC output signal] [PLC input signal] When the MODE signal is turned ON, the actuator mode will switch from normal operation to teaching. Upon switching to the teaching mode, the controller of each axis will turn the MODES signal ON. Program the PLC so that teaching operation will be performed after the MODES signal turns ON.
(19) Operation mode (RMOD) [PLC output signal] Operation mode status (RMDS) [PLC input signal] The operation mode is selected as shown below based on the RMOD signal and the MODE switch on the front panel of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal. The combinations of RMOD signal and MODE switch settings and the corresponding operation modes are shown below. Controller MODE switch = MANU MANU mode (RMDS=ON) MANU mode (RMDS=ON) 4.
(23) Load missed in push motion (PSFL) [PLC input signal] This signal turns ON when the actuator has not contacted the load in push-motion operation after having moved the distance set by the “Positioning band” field in the position table stored in the controller or by the positioning band channel of the PLC. (For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 4.9, “Operation.”) 4.
(26) Load output judgment (LOAD) [PLC input signal] The LOAD signal turns ON when the command torque exceeds the threshold inside the torque check range. The position complete signal turns ON upon judgment of completion of push-motion operation after the actuator contacted the load. Speed Check range Travel Positioning band (maximum push distance) Target position x The push speed is set by parameter No. 34, “Push speed.
(27) Torque level (TRQS) [PLC input signal] This signal is effective only during push-motion operation. If the motor current reaches the load threshold during push-motion operation (= while the actuator is moving within the positioning band), the TRQS signal will turn ON. Since the level of current is monitored, the ON/OFF status of this signal will also change when the current changes. The speed at which the actuator can push the load varies depending on the motor and lead.
(28) Absolute Battery Voltage Low Warning (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] These signals are used to select the acceleration/deceleration pattern characteristics. Select a desired mode before issuing an actuator move command. 4. SCON-CA MOD1 OFF OFF ON ON MOD0 OFF ON OFF ON Pattern name Trapezoid pattern S-motion Primary delay filter Not available.
(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.
Signal input is recognized continuously for 20 ms*1 Calibration time*2 4. SCON-CA Turn the CLBR OFF after confirming that the CEND has turned ON. The CEND turns ON when the calibration has completed successfully. If the CLBR is OFF, the CEND remains OFF. *1 If the CLBR is turned OFF during this period, the signal is not recognized and therefore calibration is not performed. *2 If the CLBR is turned OFF during this period, an alarm generates.
4.8 I/O Signal Timings The maximum response time after a given control signal is turned ON to operate the ROBO Cylinder using the PLC’s sequence program, until a response (status) signal is turned, is expressed by the formula below: Maximum response time (msec) = Yt + Xt + 2 + Command processing time (operation time, etc.
4.9 Operation Next, timings in the position/simple direct mode 1, 2, half direct mode 1 to 3 and full direct mode are explained using examples of basic operations. For the remote I/O mode 1 to 3, refer to the operation manual for the controller. (In remote I/O mode 2 or 3, read the current position, command current or force feedback data from each applicable byte on the PLC side as deemed necessary.) 4.
[1] Set value of target position data [2] Specified position number 4. SCON-CA Positioning start [3] [4] [5] Positioning complete [7] Current position [6] Moving Positioning band Actuator movement (Normal positioning) Work part missed in push-motion operation Push-motion operation in progress Push Actuator moving (push) Missed the work part *T1: Make sure “T1 t 0 ms” is satisfied by considering the scan time of the host controller.
4. SCON-CA (2) Operation in the half direct mode 1 to 3 Operate the actuator by specifying data for the PLC’s target position, positioning band, specified speed, acceleration/deceleration and push-current limiting specification. z Example of operation (push-motion operation) [1] Set the target position data for the target positions (*) corresponding to output addresses n and n+1. [2] Set the positioning band data for the positioning bands (*) corresponding to output addresses n+2 and n+3.
[1] Set value of target position data [2] Set value of positioning band data [3] Set value of acceleration/ deceleration data 4.
4. SCON-CA (3) Operation in the full direct mode Operate the actuator by specifying from the PLC all conditions required for positioning, such as the PLC’s target position and positioning band. z Example of operation (push-motion operation) [1] Set the target position data for the target positions (*) corresponding to output addresses n and n+1. [2] Set the positioning band data for the positioning bands (*) corresponding to output addresses n+2 and n+3.
[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 Positioning command [17] [11] Positioning complete/missed load during push-motion operation [12] [13] [16] Current position [14] [15] Moving Push Actuator operation (push) Positioning band Actuator operation (normal positioning operation) *T1: Make sure “T1 t 0 ms” is satisfied by considering the scan time of the host controller.
(4) Data change during movement In the half direct mode 1 to 3 and full direct mode, the values of target position data, acceleration/deceleration data, speed data, positioning band and push-current limiting value set by the PLC can be changed while the actuator is moving. After a desired data has been changed, turn the positioning command (DSTR) signal “ON” for tdpf or longer. After the DSTR is turned “OFF,” wait for at least “twcsON + twcsOFF” before DSTR is turned “ON” again.
4.10 DeviceNet Parameters Factory default 4. SCON-CA ~ The parameters relating to DeviceNet are parameter Nos. 84 to 87, 90 and 159. Category: C: External interface parameter No. Category Symbol Name 1 For parameter Nos. 1 to 83, refer to the operation manual for the controller.
z Network type (No. 87 NTYP) Specify the network module in parameter No. 87. Do not change the default value. (Example i) Set value = “0” z indicates ON, while O indicates OFF. SCON input register Hexadecimal data PLC: Output Hexadecimal data SCON output register Hexadecimal data PLC: Input Hexadecimal data 251 4. SCON-CA z Fieldbus I/O format (No.
(Example ii) Set value = “1” SCON input register 4. SCON-CA Hexadecimal data PLC: Output Hexadecimal data SCON output register Hexadecimal data PLC: Input Hexadecimal data 252 z indicates ON, while O indicates OFF.
(Example iii) Set value = “2” z indicates ON, while O indicates OFF. SCON input register Hexadecimal data 4.
z indicates ON, while O indicates OFF. (Example iv) Set value = “3” SCON input register 4. SCON-CA Hexadecimal data PLC: Output Hexadecimal data SCON output register Hexadecimal data PLC: Input Hexadecimal data z FB Half Direct Mode Speed Unit (No.159 FBVS) Determines the unit of measure when operating the unit in Half Direct Mode. Parameter No.159 setting value 0 (Set in delivery) 1 254 Speed setting unit 1.0 mm/sec 0.
4.11 Troubleshooting Code Error name ID (*1) RES (*2) 0F2 Fieldbus module error 05 X 0F3 Fieldbus module not detected 04 X Cause/action Cause: Action: Cause: Action: A fieldbus module error has been detected. Check the parameter. The module could not be detected. Reconnect the power. If the error persists, contact IAI. (*1) ID o Simple alarm code (*2) RES o Whether or not the alarm can be reset = O: Alarm can be set / X: Alarm cannot be reset 255 4.
5. Troubleshooting If you encountered a problem concerning DeviceNet, check the operating condition using the table below and remove the cause of the problem. The monitor LEDs, MS and NS, illuminate in two colors (red and green), and you can check the condition of DeviceNet based on the illumination status and color of each LED. If an error occurred, MS or NS should change to steady or blinking red.
6.
Manual No.: ME0256-3B (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.
