PROFIBUS-DP 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 PROFIBUS-DP 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 Please Read Before Use ..........................................................................................................3 1. Overview ............................................................................................................................9 2. Specifications ...................................................................................................................10 2.1 Interface Specifications............................................................
4.8 4.9 Troubleshooting ......................................................................................................................... 155 4.8.1 Status LED Indicators ................................................................................................... 155 4.8.2 Alarm Details and Causes/Actions................................................................................ 155 CE Marking ..............................................................................................
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 PROFIBUS-DP 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 PROFIBUS-DP, 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. 2.1 Specifications Interface Specifications 3. SCON-CA/CFA The table below lists the specifications of the PROFIBUS-DP interface. Item Communication profile Communication method Number of connectable stations Communication data length Physical profile Specification PROFIBUS-DP Hybrid method 32 stations per segment Transmission distance Topology Cable *1 Master/slave method with token passing Up to 126 stations can be connected if a repeater is used.
3. 3.1 ACON-C/CG, PCON-C/CG Operation Modes and Functions ACON and PCON controllers supporting PROFIBUS-DP 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 PROFIBUS-DP communication. Number of occupied bytes: 2 bytes (1 word) ACON/PCON not supporting PROFIBUS-DP PLC Flat cable PIO connection ACON/PCON supporting PROFIBUS-DP PLC Communication cable PROFIBUS-DP 11 3.
3. SCON-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.
[4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied bytes: 32 bytes (16 words) 䎳䎯䎦䎃 3. SCON-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 Names The model names of ACON and PCON controller supporting PROFIBUS-DP are indicated as follows, respectively: 3.
3.3 PROFIBUS-DP (Slave Station) Settings (1) Name of each part The name of each part relating to PROFIBUS-DP is shown. Status indicator LEDs 3. SCON-CA/CFA Status LEDs PROFIBUS-DP communication connector (2) PROFIBUS-DP communication connector interface specifications This is a 9-pin, female D-sub connector recommended by the PROFIBUS-DP standard EN 50170. Connector Pin No.
(3) Bus terminal processing If the connector is to be connected to the network terminal node, connect the terminal resistor to the PROFIBUS-DP communication connector as shown below or use a connector with terminal resistor. z Example of connector with terminal resistor: SUBCON-PLUS-PROFIB/AX/SC (Phoenix Contact) z Connecting the terminal resistor 3.
(6) Status LED indications STATUS1 Orange Green STATUS0 Orange ڏ The board is offline from the fieldbus network. ڏ A communication error is present. × { Offline / No power supply The board is operating properly. ڏ The board is not yet ready. { A communication hardware error was detected when the board was not yet ready.
3.4 Communication with the Master Station 3.4.1 Operation Modes and Handling of PLC Addresses 3. SCON-CA/CFA The address assignments under each operation mode are shown below. x PLC output o ACON/PCON input (* n indicates the initial output address for each axis.
x ACON/PCON output o PLC input (* n indicates the initial input address for each axis.
z Reference: Example of PLC address assignment rules --- Fuji Electric The PLC address assignment rules are shown below. Bus station number Prefix Word number Bit address 3. SCON-CA/CFA Prefix Input bit address (address per bit) Input word address (address per word) Output bit address (address per bit) Output word address (address per word) Bus station number This number indicates the installation position of the PROFIBUS-DP master unit within the PLC units is indicated.
3.4.2 Remote I/O Mode (Number of Occupied Bytes: 2) The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
(1) PLC address configuration (* n indicates the initial input/output address for each axis.) 3. SCON-CA/CFA Parameter ACON/PCON DI PLC output address No. 84 (port number) 0 0 to 15 n Pay attention to use of duplicate addresses. ACON/PCON DO (port number) 0 to 15 (2) I/O signal assignments for each axis An I/O signal of each axis consists of 1 word (2 bytes) of I/O addresses. z I/O addresses are controlled by bit ON/OFF signals from the PLC.
(3) I/O signal assignments Which signals are assigned to controller I/O ports vary according to the setting of parameter No. 25. (For details, refer to the operation manual for the controller.) ACON 0 1 2 3 4 5 6 PLC output o ACON input ACON output o PLC input Positioning mode 0 Symbol Signal name PC1 PC2 PC4 Command position number PC8 PC16 PC32 PC16 PC32 - MODE Cannot be used.
3. SCON-CA/CFA ACON 512-point mode Category Port No. 3 Symbol Signal name 0 PC1 1 PC2 2 PC4 3 PC8 Command position 4 PC16 number 5 PC32 6 PC64 PLC 7 PC128 output o ACON 8 PC256 input 9 BKRL Forced brake release 10 RMOD Operation mode 11 HOME Home return 12 *STP Pause 13 CSTR Positioning start 14 RES Reset 15 SON Servo ON command ACON output o PLC input Setting of parameter No.
PCON 6 PLC output o PCON input PCON output o PLC input - Setting of parameter No. 25 Teaching mode 1 Symbol Signal name PC1 PC2 PC4 Command position number PC8 PC16 PC32 MODE Cannot be used.
3. SCON-CA/CFA PCON 512-point mode Category Port No. 3 Symbol Signal name 0 PC1 1 PC2 2 PC4 3 PC8 Command position 4 PC16 number 5 PC32 6 PC64 PLC 7 PC128 output o PCON 8 PC256 input 9 BKRL Forced brake release 10 RMOD Operation mode 11 HOME Home return 12 *STP Pause 13 CSTR Positioning start 14 RES Reset 15 SON Servo ON command PCON output o PLC input Setting of parameter No.
3.4.3 Position/Simple Direct Mode (Number of Occupied Bytes: 8) {: Direct control ': Indirect control x: Invalid ROBO Cylinder function Home return operation Positioning operation Speed & acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Operation at different acceleration and deceleration Pause { Zone signal output ' PIO pattern selection x Remarks { ' ' ' ' Position data must be set ' { Zones are set using parameters.
3. SCON-CA/CFA (2) I/O signal assignments for each axis An I/O signal of each axis consists of 4 words (8 bytes) of I/O addresses. z Control signals and status signals are bit ON/OFF signals. z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator.
PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits 3. SCON-CA/CFA Current position (upper word) Current position (lower word) If the current position is a negative value, it is expressed 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 applicable bit is “0.”) Bit 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 b3 b2 SON RES STP b1 HOME b0 CSTR PLC output 3. SCON-CA/CFA Signal type Control signal 30 Description 32-bit signed integer.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Symbol Current position 32 bit - Completed position number (simple alarm code) 16 bit PM1 ~ PM512 b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 PZONE b10 MODES b9 WEND b8 RMDS b7 b6 - b5 PSFL b4 b3 b2 SV ALM MOVE b1 HEND b0 PEND Status signal Description 32-bit signed integer indicating the current position. The unit is 0.01 mm.
3.4.4 Half Direct Mode (Number of Occupied Bytes: 16) 3. SCON-CA/CFA In this mode, the actuator is operated by specifying the target position, positioning band, speed, acceleration/deceleration and push current directly as values from the PLC. Set each value in an applicable I/O address. If the zone function is used, set parameter Nos. 1, 2, 23 and/or 24. The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
(2) I/O signal assignments for each axis Set value Push-current limiting value z The command current is a 2-word (32-bit) binary data (unit: 1 mA). z The current position is a 2-word (32-bit) binary data (unit: 0.01 mm/sec). Positive value: The actuator is moving in the direction opposite home. / Negative value: The actuator is moving in the direction of home. z The alarm code is a 1-word (16-bit) binary data. 33 3. SCON-CA/CFA An I/O signal of each axis consists of 8 words (16 bytes) of I/O addresses.
PLC output address (* n indicates the initial output address for each axis.) 1 word = 2 bytes = 16 bits 3. SCON-CA/CFA Target position (upper word) Target position (lower word) If the target position is a negative value, it is expressed by a 2’s complement.
PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits Current position (upper word) 3. SCON-CA/CFA Current position (lower word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (upper word) Command current (lower word) Current speed (upper word) Current speed (lower word) If the current speed is a negative value, it is expressed 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 applicable bit is “0.”) 3. SCON-CA/CFA Signal type PLC output Target position Positioning band Speed Acceleration/ deceleration 36 Bit 32-bit data 32-bit data 16-bit data 16-bit data Symbol Description Details - 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Control signal Symbol 16-bit data - b15 BKRL b14 RMOD b13 DIR b12 PUSH b11 b10 b9 - b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 b3 b2 SON RES STP b1 HOME b0 DSTR Description 16-bit integer. Specify the current-limiting value during push-motion operation. The specified range is 0 (0%) to 255 (100%). The actual specifiable range varies with each actuator.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Bit Symbol 32-bit data - Command current 32-bit data - 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 b2 SV ALM MOVE b1 HEND b0 PEND PLC input 3.
3.4.5 Full Direct Mode (Number of Occupied Bytes: 32) In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, etc.) directly as values from the PLC. Set each value in an I/O address. The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
3. SCON-CA/CFA (2) I/O signal assignments for each axis An I/O signal of each axis consists of 16 words (32 bytes) of I/O addresses. z Control signals 1 and 2 and status signals are bit ON/OFF signals. z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator.
PLC output address (* n indicates the initial output address for each axis.) 1 word = 2 bytes = 16 bits 3. SCON-CA/CFA Target position (upper word) Target position (lower word) If the target position is a negative value, it is expressed by a 2’s complement. Positioning band (upper word) Positioning band (lower word) Speed (upper word) Speed (lower word) Zone boundary+ (upper word) Zone boundary+ (lower word) If the zone boundary+ is a negative value, it is expressed by a 2’s complement.
PLC output address (* n indicates the initial output address for each axis.) 1 word = 2 bytes = 16 bits 3. SCON-CA/CFA Zone boundary- (upper word) Zone boundary- (lower word) If the zone boundary- is a negative value, it is expressed by a 2’s complement.
PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits Current position (upper word) 3. SCON-CA/CFA Current position (lower word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (upper word) Command current (lower word) Current speed (upper word) Current speed (lower word) If the current speed is a negative value, it is expressed by a 2’s complement. Alarm code Cannot be used.
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Bit Symbol Target position 32-bit data - Positioning band 32-bit data - Speed 32-bit data - Zone boundary+ / 32-bit data Zone boundary- - PLC output 3. SCON-CA/CFA Address 44 Function 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address Acceleration Bit Symbol 16-bit data 16-bit data - Load current threshold 16-bit data - b15 b14 b13 b12 b11 - PCON ACON Push-current limiting value PLC output - b9 SMOD ASO1 Control signal 1 b8 ASO0 b3 3.6 (3) 3.6 (3) Cannot be used. - Cannot be used. - Standstill control mode: When the signal is ON, servo control is 3.4.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address Bit Symbol b2 DIR b1 PUSH b0 - b15 BKRL b14 RMOD b13 b12 b11 b10 b9 - b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 b3 b2 SON RES STP b1 HOME b0 DSTR PLC output 3.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.
3. SCON-CA/CFA 3.4.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) 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.
(1) PLC address configuration (* n indicates the initial input/output address for each axis.) Parameter No. 84 ACON/PCON DI and input register Port number 0 to 15 PLC output address ACON/PCON DO and output register Port number 0 to 15 Occupied area n+0 n+1 n+2 n+3 n+4 n+5 3. SCON-CA/CFA n+0 n+1 n+2 Current position 4 Occupied area n+3 n+4 Command current n+5 (Note) The [occupied area] cannot be used for any other purpose. Also pay attention to use of duplicate addresses.
PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits 3. SCON-CA/CFA Controller output port number Cannot be used. Current position (upper word) Current position (lower word) If the current position is a negative value, it is expressed by a 2’s complement.
(3) I/O signal assignments For the signal assignments in each PIO pattern, refer to (3), “I/O signal assignments” under 7.4.2, “Remote I/O Mode.” The signal assignments for command-current and current-position read functions are shown below. Signal type Symbol 32-bit data - Command current 32-bit data - PLC input Current position Description 32-bit signed integer indicating the current position. The unit is 0.01 mm. (Example) Reading: 000003FFH = 1023 (decimal) = 10.
3.4.7 I/O Signal Controls and Functions 3. SCON-CA/CFA * ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.” The following specifies the controls and functions of I/O signals used in the position/simple direct mode, half direct mode and full direct mode. For the I/O signals in the remote I/O mode and remote I/O mode 2, refer to the operation manual for the controller.
(5) Servo ON command (SON) Ready (SV) PLC output signal PLC input signal 53 3. SCON-CA/CFA When the SON signal is turned ON, the servo turns ON. When the servo turns ON, the status indicator LED (refer to (6) in 3.3) on the front side of the controller illuminates in green. The SV signal is synchronized with this LED. Function The controller servo can be turned ON/OFF using the SON signal. The controller servo remains ON to enable operation while the SV signal is ON.
(6) Home return (HOME) PLC output signal Home return complete (HEND) PLC input signal 3. SCON-CA/CFA Home return in progress (GHMS) PLC input signal When the HOME signal is turned ON, the 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. When the home return is completed, the HEND signal turns ON while the GHMS signal turns OFF.
(7) Positioning start (CSTR): Used in the position/simple direct mode PLC output signal This command is processed at the leading (ON) edge of the signal, upon which the actuator moves to the position set by the target position corresponding to the specified position or the PLC’s target position. Whether to use the target position corresponding to the specified position number or PLC’s target position is determined by the control signal b11 (position/simple direct switching (PMOD) signal).
(10) Positioning complete signal (PEND) PLC input signal This signal turns ON when the actuator has moved to the target position and entered the positioning band or completed the push motion. Timing at which the positioning complete signal turns ON 3. SCON-CA/CFA Speed Target position Travel Time Positioning band When the servo turns from OFF to ON, positioning is performed based on the current position being the target position.
(12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE 2) PLC input signal Position zone (PZONE) PLC input signal Zone signal + direction Actuator operation Home Zone setting- Zone setting+ 57 3. SCON-CA/CFA Each signal turns ON when the current actuator position is inside the specified range, and turns OFF when the actuator is outside the range. [1] Zones 1, 2 A desired zone is set using user parameters. The ZONE1 signal is set using parameter Nos. 1, “Zone boundary 1+” and 2, “Zone boundary 1-.
(13) +Jog (JOG+) PLC output signal -Jog (JOG-) PLC output signal 3. SCON-CA/CFA These signals are used as starting commands for jog operation or inching operation. A + command starts the applicable operation in the direction opposite home, while a – command starts the applicable operation in the direction of home. [1] Jog operation Jog operation can be performed when the jog/inching switching (JISL) signal is OFF. While JOG+ is ON, the actuator moves in the direction opposite home.
(14) Jog speed/inching distance switching (JVEL) PLC output signal This signal switches between the parameter that specifies the jog speed to be used when the jog mode is selected, and one that specifies the inching distance to be used when the inching mode is selected. The relationships of applicable parameters are shown below. JVEL signal Jog operation: JISL = OFF Parameter No. 26, “Jog speed” ON Parameter No.
(16) Teaching mode command (MODE) 3. SCON-CA/CFA Teaching mode signal PLC output signal (MODES) PLC input signal When the MODE signal is turned ON, the normal operation mode switches to the teaching mode. When the mode switches to teaching, the controller of each axis turns ON the MODES signal. The PLC should perform teaching operation after confirming that the MODES signal has turned ON.
(19) Operation mode (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal A different operation mode is selected as follows based on the RMOD signal and the MODE switch on the front side of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal. RMOD signal and mode switch combinations, and corresponding operation modes, are shown below. 3.
(23) Missed load during push-motion operation (PSFL) PLC input signal 3. SCON-CA/CFA This signal turns ON when the actuator has not contacted the load after having travelled the distance set by the positioning band in the controller’s position table or PLC’s positioning band (refer to 3.4.1) during push-motion operation. (For the setting timing of this signal, refer to (2), “Operation in the half direct mode” under 3.6, “Operation.
(26) Load output judgment (LOAD) PLC input signal Dedicated PCON function This signal turns ON here due to the command torque exceeding the threshold inside the torque certification range. Speed The positioning complete signal turns ON here upon judgment of completion of push-motion operation following the actuator’s contact with the load. Certification band Travel Positioning band (maximum push distance) Target position x Set the push speed using parameter No. 34, “Push speed.
(27) Torque level (TRQS) PLC input signal Dedicated PCON function 3. SCON-CA/CFA This signal is valid only during push-motion operation. This signal turns ON when the motor current has reached the load threshold during push-motion operation (while the actuator is moving inside the positioning band). Since the current is monitored by level, when the current changes the ON/OFF status of this signal will also change. The speeds that can be used for push-motion operation vary depending on the motor and lead.
(28) Standstill control mode (SMOD) PLC output signal Dedicated PCON function One general characteristic of pulse motors is that their holding current in a standstill state is greater than that of AC servo motors. Accordingly, a means to reduce power consumption in a standstill state is provided as an energy-saving measure to address situations where the actuator remains standstill for a long period at a standby position.
(29) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal Dedicated ACON function This signal is used to select a desired acceleration/deceleration pattern characteristic. Select one characteristic before issuing an actuator move command. 3. SCON-CA/CFA MOD1 OFF OFF ON ON MOD0 OFF ON OFF ON Pattern name Trapezoid pattern S-motion Primary delay filter Cannot be used.
(30) Stop Mode Selection (ASO1, ASO0) PLC Output Signal Select the stop mode for the duration before the movement to the next position after a positioning is completed. If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption. Refer to the operation manual for the controller for more information. ASO0 OFF OFF ON ON OFF ON ON Function Disabled Automatic Servo OFF Method Parameter No. 36 is valid for T Automatic Servo OFF Method Parameter No.
3.5 I/O Signal Timings 3. SCON-CA/CFA 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.
3.6 Operation Next, timings in the position/simple direct mode, half direct mode and full direct mode are explained using examples of basic operations. For 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 PLC as deemed necessary.
[1] Set value of target position data 3. SCON-CA/CFA [2] Specified position number Positioning start [3] [4] [5] Positioning 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) Operation in the half direct mode z Example of operation (normal positioning operation) In normal positioning operation, the signal in [6] is set to OFF. When the remaining travel falls within the positioning band set by the position data table, the PEND signal turns ON as long as the DSTR signal is OFF. (*) Refer to 3.4.1. 71 3.
[1] Set value of target position data [2] 3.
(3) Operation in the full direct mode z Example of operation (normal positioning operation) In normal positioning operation, the signal in [9] is set to OFF. When the remaining travel falls within the positioning band set by the position data table, the PEND signal turns ON as long as the DSTR signal is OFF. (*) Refer to 3.4.1. 73 3. SCON-CA/CFA Operate the actuator by specifying from the PLC all conditions required for positioning, such as the PLC’s target position and positioning band.
[1] Set value of target position data 3.
[9] Push specification [10] 3. SCON-CA/CFA 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 3. SCON-CA/CFA In the half direct mode 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.
3.7 PROFIBUS-DP Parameters Factory default ~ The parameters relating to PROFIBUS-DP are parameter 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 Fieldbus baud rate 87 C NYTP Network type 90 C FMIO Fieldbus I/O format 3. SCON-CA/CFA 0 1 0 3 0 z Fieldbus operation mode (No.
3. SCON-CA/CFA z Network type (No. 87 NTYP) Specify the network module in parameter No. 87. Do not change the default value. z Fieldbus I/O format (No. 90 FMIO) PLC addresses are assigned in units of 16 points (units of words) based on the I/O addresses set to the controller and number of occupied addresses in each mode. By changing the setting of parameter No. 90, data of up to 2 words can be swapped in units of bytes before transmission within the range of communication with the PLC’s I/O addresses.
(Example ii) Set value = “1” z indicates ON, while O indicates OFF. ACON/ PCON input register Hexadecimal data 3.
(Example iii) Set value = “2” ACON/ PCON input register 3. SCON-CA/CFA Hexadecimal data PLC: Output Hexadecimal data ACON/ PCON output register Hexadecimal data PLC: Input Hexadecimal data 80 z indicates ON, while O indicates OFF.
(Example iv) Set value = “3” z indicates ON, while O indicates OFF. ACON/ PCON input register Hexadecimal data 3.
3. SCON-CA/CFA 3.8 Troubleshooting 3.8.1 Status LED Indicators The illumination patterns of status LEDs (STATUS0/1) indicate the operating condition of the PROFIBUS-DP module as well as the network condition. Should you encounter a problem, check the current conditions based on the illumination patterns of the status LEDs. The illumination patterns of status LEDs, and corresponding communication conditions, are shown below.
3.9 CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately. 3.
4. 4.1 PCON-CA/CFA Operation Modes and Functions 4. SCON-CA PCON-CA/CFA controllers supporting PROFIBUS-DP can be operated in a desired operation mode selected from the following five modes.
[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. SCON-CA [4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied bytes: 32 bytes (16 words) 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.
4.2 Model Names The model names of PCON-CA/CFA controller supporting PROFIBUS-DP are indicated as follows, respectively: z PCON-CA- -PRz PCON-CFA- -PR- 4.
4.3 PROFIBUS-DP (Slave Station) Settings (1) Name of each part The name of each part relating to PROFIBUS-DP is shown. 4. SCON-CA SV/ALM Status Indicator LEDs NS Status LED MS PROFIBUS communication connector PCB side : D-sub Connector (9-pin, female) (2) PROFIBUS-DP communication connector interface specifications This is a 9-pin, female D-sub connector recommended by the PROFIBUS-DP standard EN 50170. Connector Pin No.
(3) Bus terminal processing If the connector is to be connected to the network terminal node, connect the terminal resistor to the PROFIBUS-DP communication connector as shown below or use a connector with terminal resistor. z Example of connector with terminal resistor: SUBCON-PLUS-PROFIB/AX/SC (Phoenix Contact) z Connecting the terminal resistor Board-end female Network-end male connector connector (from counter-insertion side) 4.
(6) Status LED indications The board operating condition and network condition can be checked using the two LEDs provided on the front side of the controller. LED 4. SCON-CA STATUS1 Color Green Orange Green STATUS0 Orange Indicator condition Lit Blinking Blinking Lit Blinking Lit Description of indication (Meaning of indication) The board is online with the fieldbus network and communicating normally. The board is offline from the fieldbus network. A communication error is present.
4.4 Communication with the Master Station 4.4.1 Operation Modes and Handling of PLC Addresses The address assignments under each operation mode are shown below. x PLC output o PCON-CA/CFA input (* n indicates the initial output address for each axis.
x PCON-CA/CFA output o PLC input (* n indicates the initial input address for each axis.) PLC input address (word address) n 4.
z Reference: Example of PLC address assignment rules --- Fuji Electric The PLC address assignment rules are shown below. Bus station number Prefix Word number Bit address Prefix Input bit address (address per bit) 4. SCON-CA Input word address (address per word) Output bit address (address per bit) Output word address (address per word) Bus station number This number indicates the installation position of the PROFIBUS-DP master unit within the PLC units is indicated.
4. SCON-CA 4.4.2 Remote I/O Mode (Number of Occupied Bytes: 2) 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 address configuration (* n indicates the initial input/output address for each axis.) Parameter PCON-CA/CFA DI PLC output address No. 84 (port number) 0 0 to 15 n Pay attention to use of duplicate addresses. PCON-CA/CFA DO (port number) 0 to 15 PLC input address n (2) I/O signal assignments for each axis PLC output address 4. SCON-CA An I/O signal of each axis consists of 1 word (2 bytes) of I/O addresses. z I/O addresses are controlled by bit ON/OFF signals from the PLC.
(3) I/O signal assignments 4. SCON-CA Which signals are assigned to controller I/O ports vary according to the setting of parameter No. 25. (For details, refer to the operation manual for the controller.) Positioning mode Category Port No. 0 Symbol Signal name 0 PC1 1 PC2 2 PC4 Command position number 3 PC8 4 PC16 5 PC32 PLC output o PCON -CA/CFA input PCON -CA/CFA output o PLC input 6 - PC16 PC32 MODE Cannot be used.
PCON -CA/CFA output o PLC input Setting of parameter No. 25 Solenoid valve mode 1 4 Symbol Signal name ST0 Start position 0 ST1 Start position 1 ST2 Start position 2 ST3 Start position 3 ST4 Start position 4 ST5 Start position 5 ST6 Start position 6 Cannot be used. BKRL Forced brake release RMOD Operation mode HOME Home return *STP Pause Cannot be used. RES Reset SON Servo ON command Solenoid valve mode 2 5 Symbol Signal name ST0 Start position 0 ST1 Start position 1 ST2 Start position 2 Cannot be used.
4.4.3 Position/Simple Direct Mode (Number of Occupied Bytes: 8) 4. SCON-CA In this mode, the actuator is operated by specifying position numbers. You can select whether to set the target position directly as a value or use a value registered in the position data table, by switching a control signal (PMOD signal). For all data other than the target position, such as speed, acceleration/deceleration and positioning band, values in the controller’s position table are used.
(2) I/O signal assignments for each axis An I/O signal of each axis consists of 4 words (8 bytes) of I/O addresses. z Control signals and status signals are bit ON/OFF signals. z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator.
PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits Current position (lower word) If the current position is a negative value, it is expressed by a 2’s complement. Complete position number Status signal 100 ALML 4.
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) 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 b3 b2 SON RES STP b1 HOME b0 CSTR Control signal Description 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Bit Symbol Current position 32 bit - Completed position number (simple alarm code) 16 bit PM1 ~ PM512 b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 PZONE b10 MODES b9 WEND b8 RMDS b7 ALML b6 - b5 PSFL b4 b3 b2 SV ALM MOVE b1 HEND b0 PEND PLC input 4. SCON-CA Signal type Status signal 102 Description 32-bit signed integer indicating the current position.
4.4.4 Half Direct Mode (Number of Occupied Bytes: 16) In this mode, the actuator is operated by specifying the target position, positioning band, speed, acceleration/deceleration and push current directly as values from the PLC. Set each value in an applicable I/O address. If the zone function is used, set parameter Nos. 1, 2, 23 and/or 24. The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
4. SCON-CA (2) I/O signal assignments for each axis An I/O signal of each axis consists of 8 words (16 bytes) of I/O addresses. z Control signals and status signals are bit ON/OFF signals. z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator. z Set a desired positioning band.
PLC output address (* n indicates the initial output address for each axis.) 1 word = 2 bytes = 16 bits Target position (upper word) 4. SCON-CA Target position (lower word) If the target position is a negative value, it is expressed by a 2’s complement.
PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits 4. SCON-CA Current position (upper word) Current position (lower word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (upper word) Command current (lower word) Current speed (upper word) Current speed (lower word) If the current speed is a negative value, it is expressed 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 applicable bit is “0.”) Signal type Target position 32-bit data Description Details - 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999. (Example) To set +25.41 mm, specify “2541.” If the entered value exceeds the range of soft limit parameters (within 0.
(* 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 Control signal 108 Bit Symbol 16-bit data - b15 BKRL b14 RMOD b13 DIR b12 PUSH b11 b10 b9 - b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 b3 b2 SON RES STP b1 HOME b0 DSTR Description 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.”) Signal type Bit Symbol 32-bit data - Command current 32-bit data - Current position - 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 b2 SV ALM MOVE b1 HEND b0 PEND PLC input 32-bit data Status signal Cannot be used.
4.4.5 Full Direct Mode (Number of Occupied Bytes: 32) In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, etc.) directly as values from the PLC. Set each value in an I/O address. The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below. {: Direct control x: Invalid 4.
(2) I/O signal assignments for each axis Set value Push-current limiting value z Set a desired load current threshold. The load current threshold is a 1-word (16-bit) binary data. Values from 0 (0%) to 255 (100%) can be handled by the PLC. (Refer to the graph of push-current limiting value (upper graph).) z The zone boundary+ and zone boundary- are both a 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.
PLC output address (* n indicates the initial output address for each axis.) 1 word = 2 bytes = 16 bits 4. SCON-CA Target position (upper word) Target position (lower word) If the target position is a negative value, it is expressed by a 2’s complement. Positioning band (upper word) Positioning band (lower word) Speed (upper word) Speed (lower word) Zone boundary+ (upper word) Zone boundary+ (lower word) If the zone boundary+ is a negative value, it is expressed by a 2’s complement.
PLC output address (* n indicates the initial output address for each axis.) 1 word = 2 bytes = 16 bits Zone boundary- (upper word) 4. SCON-CA Zone boundary- (lower word) If the zone boundary- is a negative value, it is expressed by a 2’s complement. Acceleration Deceleration Push-current limiting value MOD0 MOD1 ASO0 Control signal 1 ASO1 SMOD Load current threshold Control signal 2 (*1) b10 signal assignment for n+14 Symbol Controller Symbol Controller .
PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits Current position (upper word) 4. SCON-CA Current position (lower word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (upper word) Command current (lower word) Current speed (upper word) Current speed (lower word) If the current speed is a negative value, it is expressed by a 2’s complement. Alarm code 9 Cannot be used.
1 8 4 2 1 b6 b5 b4 b3 b2 b1 b0 n+14 b15 b14 b13 b12 b11 b10 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 EMGS 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 16 b7 131,072 4 32 b8 262,144 8 64 b9 5
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Bit Symbol Target position 32-bit data - Positioning band 32-bit data - Speed 32-bit data - Zone boundary+ / 32-bit data Zone boundary- - PLC output 4. SCON-CA Address 116 Function 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999. (Example) To set +25.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address Acceleration Bit 16-bit data Symbol - - Push-current limiting value 16-bit data - Load current threshold 16-bit data - b15 b14 b13 b12 b11 - b10 SMOD PLC output 16-bit data b9 ASO1 Control signal 1 b8 ASO0 b7 MOD1 b6 MOD0 b5 b4 - b3 INC 16-bit integer. Specify the acceleration and deceleration at which to move the actuator. The unit is 0.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address Bit Symbol b2 DIR b1 PUSH b0 - b15 BKRL b14 RMOD b13 b12 b11 b10 b9 - b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 b3 b2 SON RES STP b1 HOME b0 DSTR PLC output 4.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Bit Symbol 32 bit data - Command current 32-bit data - Current speed 32-bit data - Alarm code 16-bit data - 32bits data - 32bits data - Total moving count Total moving distance Details 4.6 (3) 4.6 (3) 4.6 (3) 4.
PLC input 4. SCON-CA Signal type 120 Bit Symbol b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 PZONE b10 LOAD b9 TROS b8 RMDS b7 GHMS b6 PUSHS b5 PSFL b4 SV Status signal 2 b3 ALM b2 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. Zone 2: The signal is ON when the current position is inside the specified zone.
4.4.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
(1) PLC address configuration (* n indicates the initial input/output address for each axis.) 4. SCON-CA Parameter No. 84 PCON-CA/CFA DI and input register Port number 0 to 15 PLC output address PCON-CA/CFA DO and output register Port number 0 to 15 Occupied area n+0 n+1 n+2 Current position 4 Occupied area n+3 n+4 Command current n+5 (Note) The [occupied area] cannot be used for any other purpose. Also pay attention to use of duplicate addresses.
PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits Controller output port number 4. SCON-CA Cannot be used. Current position (upper word) Current position (lower word) If the current position is a negative value, it is expressed by a 2’s complement.
(3) I/O signal assignments For the signal assignments in each PIO pattern, refer to (3), “I/O signal assignments” under 4.4.2, “Remote I/O Mode.” The signal assignments for command-current and current-position read functions are shown below. Signal type Bit Symbol 32-bit data - Command current 32-bit data - PLC input 4. SCON-CA Current position 124 Description 32-bit signed integer indicating the current position. The unit is 0.01 mm. (Example) Reading: 000003FFH = 1023 (decimal) = 10.
4.4.7 I/O Signal Controls and Functions * ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.” The following specifies the controls and functions of I/O signals used in the position/simple direct mode, half direct mode and full direct mode. For the I/O signals in the remote I/O mode and remote I/O mode 2, refer to the operation manual for the controller.
(5) Servo ON command (SON) 4. SCON-CA Ready (SV) PLC output signal PLC input signal When the SON signal is turned ON, the servo turns ON. When the servo turns ON, the status indicator LED (refer to (6) in 4.3) on the front side of the controller illuminates in green. The SV signal is synchronized with this LED. Function The controller servo can be turned ON/OFF using the SON signal. The controller servo remains ON to enable operation while the SV signal is ON.
(6) Home return (HOME) PLC output signal Home return complete (HEND) PLC input signal Home return in progress (GHMS) PLC input signal HOME (PLCoPCON) GHMS (PCONoPLC) HEND (PCONoPLC) PEND (PCONoPLC) MOVE (PCONoPLC) 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 immediately after the power has been turned on, before home return is performed, will caus
(7) Positioning start (CSTR): Used in the position/simple direct mode PLC output signal 4. SCON-CA This command is processed at the leading (ON) edge of the signal, upon which the actuator moves to the position set by the target position corresponding to the specified position or the PLC’s target position. Whether to use the target position corresponding to the specified position number or PLC’s target position is determined by the control signal b11 (position/simple direct switching (PMOD) signal).
(10) Positioning complete signal (PEND) PLC input signal This signal turns ON when the actuator has moved to the target position and entered the positioning band or completed the push motion. Timing at which the positioning complete signal turns ON Speed Target position Travel Positioning band When the servo turns from OFF to ON, positioning is performed based on the current position being the target position.
4. SCON-CA (12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE 2) PLC input signal Position zone (PZONE) PLC input signal Each signal turns ON when the current actuator position is inside the specified range, and turns OFF when the actuator is outside the range. [1] Zones 1, 2 A desired zone is set using user parameters. The ZONE1 signal is set using parameter Nos. 1, “Zone boundary 1+” and 2, “Zone boundary 1-.” The ZONE2 signal is set using parameter Nos.
(13) +Jog (JOG+) PLC output signal -Jog (JOG-) PLC output signal These signals are used as starting commands for jog operation or inching operation. A + command starts the applicable operation in the direction opposite home, while a – command starts the applicable operation in the direction of home. Jog operation Jog operation can be performed when the jog/inching switching (JISL) signal is OFF. While JOG+ is ON, the actuator moves in the direction opposite home.
(14) Jog speed/inching distance switching (JVEL) PLC output signal This signal switches between the parameter that specifies the jog speed to be used when the jog mode is selected, and one that specifies the inching distance to be used when the inching mode is selected. The relationships of applicable parameters are shown below. 4. SCON-CA JVEL signal Jog operation: JISL = OFF OFF Parameter No. 26, “Jog speed” ON Parameter No. 47, “Jog speed 2” Inching operation: JISL = ON Parameter No.
(16) Teaching mode command (MODE) Teaching mode signal PLC output signal (MODES) PLC input signal (17) Position data read command (PWRT) PLC output signal Position data read complete (WEND) PLC input signal The PWRT signal is valid when the teaching mode signal (MODES) is ON. Turn the PWRT signal ON (*1). This causes the current position data to be written to the Position field of the position number currently set under the position number specified by the PLC (refer to 4.4.1).
(19) Operation mode (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal 4. SCON-CA A different operation mode is selected as follows based on the RMOD signal and the MODE switch on the front side of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal. RMOD signal and mode switch combinations, and corresponding operation modes, are shown below.
(23) Missed load during push-motion operation (PSFL) PLC input signal This signal turns ON when the actuator has not contacted the load after having travelled the distance set by the positioning band in the controller’s position table or PLC’s positioning band (refer to 4.4.1) during push-motion operation. (For the setting timing of this signal, refer to (2), “Operation in the half direct mode” under 4.6, “Operation.”) (24) Incremental specification (INC) PLC output signal 4.
4. SCON-CA (26) Load output judgment (LOAD) PLC input signal This signal is valid only during push-motion operation. To use an actuator in a press-fit application, whether or not the specified load threshold has reached during the push-motion operation must be recognized. The load threshold and certification band are set by the PLC, and this signal will turn ON when the command torque (motor current) exceeds the threshold inside the certification band.
(27) Torque level (TRQS) PLC input signal This signal is valid only during push-motion operation. This signal turns ON when the motor current has reached the load threshold during push-motion operation (while the actuator is moving inside the positioning band). Since the current is monitored by level, when the current changes the ON/OFF status of this signal will also change. The speeds that can be used for push-motion operation vary depending on the motor and lead.
(28) Standstill control mode (SMOD) PLC output signal 4. SCON-CA One general characteristic of pulse motors is that their holding current in a standstill state is greater than that of AC servo motors. Accordingly, a means to reduce power consumption in a standstill state is provided as an energy-saving measure to address situations where the actuator remains standstill for a long period at a standby position.
(29) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal This signal is used to select a desired acceleration/deceleration pattern characteristic. Select one characteristic 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 Cannot be used. Remarks Factory setting 4.
(30) Stop Mode Selection (ASO1, ASO0) PLC Output Signal 4. SCON-CA Select the stop mode for the duration before the movement to the next position after a positioning is completed. If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption. Refer to the operation manual for the controller for more information. ASO1 OFF ASO0 OFF OFF ON ON OFF ON ON Function Disabled Automatic Servo OFF Method Parameter No.
4.5 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.
4.6 Operation Next, timings in the position/simple direct mode, half direct mode and full direct mode are explained using examples of basic operations. For 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 PLC as deemed necessary.) 4.
[1] Set value of target position data (PLC PCON) [2] Specified position number 4. SCON-CA (PLC PCON) Positioning start [3] (PLC PCON) [4] [5] Positioning complete (PCON PLC) [7] Current position (PCON PLC) [6] Moving (PCON PLC) Positioning band Actuator movement *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 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 (PLC PCON) [2] Set value of positioning band data (PLC PCON) 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 (PLC PCON) [2] 4.
[9] Push specification (PLC PCON) [10] 4. SCON-CA Push direction specification (PLC PCON) Positioning command [17] [11] (PLC PCON) Positioning complete/missed load during push-motion operation [12] [13] [16] (PCON PLC) Current position (PCON PLC) [14] [15] Moving (PCON PLC) 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 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.
4.7 PROFIBUS-DP Parameters Factory default 4. SCON-CA ~ The parameters relating to PROFIBUS-DP 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. PCON input register Hexadecimal data PLC: Output Hexadecimal data PCON output register Hexadecimal data PLC: Input Hexadecimal data 151 4. SCON-CA z Fieldbus I/O format (No.
(Example ii) Set value = “1” PCON input register 4. SCON-CA Hexadecimal data PLC: Output Hexadecimal data PCON output register Hexadecimal data PLC: Input Hexadecimal data 152 z indicates ON, while O indicates OFF.
(Example iii) Set value = “2” z indicates ON, while O indicates OFF. PCON input register Hexadecimal data 4.
(Example iv) Set value = “3” z indicates ON, while O indicates OFF. PCON input register 4. SCON-CA Hexadecimal data PLC: Output Hexadecimal data PCON 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 Speed Setting Unit 0 (Set in delivery) 1mm/sec 1 0.
4.8 Troubleshooting 4.8.1 Status LED Indicators 4.8.2 Alarm Details and Causes/Actions If an alarm occurs, the completed position number (four bits of PM1 to PM8) indicates a corresponding simple alarm code in the remote I/O mode or remote I/O mode 2. In the position/simple direct mode, a simple alarm code is output to input address n+2. In the half direct mode or full direct mode, an alarm code is output to input address n+6. [1] Check the alarm code using the PLC’s monitor function, etc.
4.9 CE Marking 4. SCON-CA If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
5. 5.1 SCON-CA Operation Modes and Functions SCON-CA controllers supporting PROFIBUS-DP can be operated in a desired operation mode selected from the following nine modes.
5. Flow and Commands of Basic MECHATROLINK Communication [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 bytes: 32 bytes (16 words) 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 bytes: 16 bytes (8 word) 5.
5.2 Model Names The model names of SCON-CA controller supporting PROFIBUS-DP are indicated as follows, respectively: z SCON-CA- -PR- 5.
5.3 PROFIBUS-DP (Slave Station) Settings (1) Name of each part The name of each part relating to PROFIBUS-DP is shown. 5. Flow and Commands of Basic MECHATROLINK Communication Status LEDs PROFIBUS-DP communication connector (2) PROFIBUS-DP communication connector interface specifications This is a 9-pin, female D-sub connector recommended by the PROFIBUS-DP standard EN 50170. Connector Pin No.
(3) Bus terminal processing If the connector is to be connected to the network terminal node, connect the terminal resistor to the PROFIBUS-DP communication connector as shown below or use a connector with terminal resistor. z Example of connector with terminal resistor: SUBCON-PLUS-PROFIB/AX/SC (Phoenix Contact) z Connecting the terminal resistor Board-end female Network-end male connector connector (from counter-insertion side) Network wiring Set a desired operation mode using a parameter.
(6) Status LED indications The board operating condition and network condition can be checked using the two LEDs provided on the front side of the controller. { : Lit, × : Off, ڏ: Blinking Indicator LED Color Description of indication (Meaning of indication) condition The board is online with the fieldbus network and communicating { normally. Green STATUS1 5. Flow and Commands of Basic MECHATROLINK Communication Orange Green STATUS0 Orange ڏ The board is offline from the fieldbus network.
5.4 Communication with the Master Station 5.4.1 Operation Modes and Handling of PLC Addresses The address assignments under each operation mode are shown below. x PLC output o SCON-CA input (* n indicates the output input address for each axis.
x PLC output o SCON-CA input (* n indicates the node address for each axis.) PLC input address (word address) n n+1 5.
x SCON-CA output o PLC input (* n indicates the initial input address for each axis.
x SCON-CA output o PLC input (* n indicates the node address for each axis.) SCON-CA DO and output data resister PLC input Position/simple Half direct mode 2 Remote I/O mode 3 Half direct mode 3 address direct mode 2 (word address) Number of occupied Number of occupied Number of occupied Number of occupied n n+1 5.
z Reference: Example of PLC address assignment rules --- Fuji Electric The PLC address assignment rules are shown below. Bus station number Prefix Word number Bit address Prefix Input bit address (address per bit) Input word address (address per word) Output word address (address per word) Bus station number This number indicates the installation position of the PROFIBUS-DP master unit within the PLC units is indicated.
5.4.2 Remote I/O Mode (Number of Occupied Bytes: 2) 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.) 5.
(1) PLC address configuration (* n indicates the initial input/output address for each axis.) Parameter SCON-CA DI PLC output address No. 84 (port number) 0 0 to 15 n Pay attention to use of duplicate addresses. SCON-CA DO (port number) 0 to 15 PLC input address n (2) I/O signal assignments for each axis An I/O signal of each axis consists of 1 word (2 bytes) of I/O addresses. z I/O addresses are controlled by bit ON/OFF signals from the PLC. 5.
(3) I/O signal assignments 5. Flow and Commands of Basic MECHATROLINK Communication Which signals are assigned to controller I/O ports vary according to the setting of parameter No. 25. (For details, refer to the operation manual for the controller.) Positioning mode Category Port No. 0 Symbol Signal name 0 PC1 1 PC2 2 PC4 Command position number 3 PC8 4 PC16 5 PC32 6 PLC output o SCON-C A input SCON-C A output o PLC input - Setting of parameter No.
SCON-C A output o PLC input Setting of parameter No. 25 Solenoid valve mode 1 4 Symbol Signal name ST0 Start position 0 ST1 Start position 1 ST2 Start position 2 ST3 Start position 3 ST4 Start position 4 ST5 Start position 5 ST6 Start position 6 Cannot be used. BKRL Forced brake release RMOD Operation mode HOME Home return *STP Pause Cannot be used.
5. Flow and Commands of Basic MECHATROLINK Communication Category PLC output o SCON-C A input SCON-C A output o PLC input Setting of parameter No. 25 Force control mode 1 Force control mode 2 6 7 Port No. Symbol Signal name Symbol Signal name 0 PC1 ST0 Start position 0 1 PC2 ST1 Start position 1 Command position number 2 PC4 ST2 Start position 2 3 PC8 ST3 Start position 3 4 PC16 ST4 Start position 4 5 Cannot be used. Cannot be used.
5.4.3 Position/Simple Direct Mode (Number of Occupied Bytes: 8) In this mode, the actuator is operated by specifying position numbers. You can select whether to set the target position directly as a value or use a value registered in the position data table, by switching a control signal (PMOD signal). For all data other than the target position, such as speed, acceleration/deceleration and positioning band, values in the controller’s position table are used.
(2) I/O signal assignments for each axis An I/O signal of each axis consists of 4 words (8 bytes) of I/O addresses. z Control signals and status signals are bit ON/OFF signals. z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator.
PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits Current position (upper word) 5. Flow and Commands of Basic MECHATROLINK Communication Current position (lower word) If the current position is a negative value, it is expressed 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 applicable bit is “0.”) Bit 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 b3 b2 SON RES STP b1 HOME b0 CSTR PLC output 5.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Symbol Current position 32 bit - Completed position number (simple alarm code) 16 bit PM1 to PM512 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 Status signal Description 32-bit signed integer indicating the current position. The unit is 0.01 mm.
5.4.4 Half Direct Mode (Number of Occupied Bytes: 16) In this mode, the actuator is operated by specifying the target position, positioning band, speed, acceleration/deceleration and push current directly as values from the PLC. Set each value in an applicable I/O address. If the zone function is used, set parameter Nos. 1, 2, 23 and/or 24. The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below. {: Direct control ': Indirect control x: Invalid 5.
(2) I/O signal assignments for each axis An I/O signal of each axis consists of 8 words (16 bytes) of I/O addresses. z Control signals and status signals are bit ON/OFF signals. z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator. z Set a desired positioning band.
PLC output address (* n indicates the initial output address for each axis.) 1 word = 2 bytes = 16 bits Target position (lower word) 5. Flow and Commands of Basic MECHATROLINK Communication Target position (upper word) If the target position is a negative value, it is expressed by a 2’s complement.
PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits Current position (lower word) 5.
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Positioning band 32-bit data 32-bit data Symbol Description Details - 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999. (Example) To set +25.41 mm, specify “2541.” If the entered value exceeds the range of soft limit parameters (within 0.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol 16-bit data - b15 BKRL b14 RMOD b13 DIR b12 PUSH b11 GSL1 Description 16-bit integer. Specify the current-limiting value during push-motion operation. The specified range is 0 (0%) to 255 (100%). The actual specifiable range varies with each actuator. (Refer to the catalog or operation manual for each actuator.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Bit Symbol 32-bit data - Command current 32-bit data - 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 b2 SV ALM MOVE b1 HEND b0 PEND PLC input 5.
5.4.5 Full Direct Mode (Number of Occupied Bytes: 32) In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, etc.) directly as values from the PLC. Set each value in an I/O address. The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
5. Flow and Commands of Basic MECHATROLINK Communication (2) I/O signal assignments for each axis An I/O signal of each axis consists of 16 words (32 bytes) of I/O addresses. z Control signals 1 and 2 and status signals are bit ON/OFF signals. z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.
PLC output address (* n indicates the initial output address for each axis.) 1 word = 2 bytes = 16 bits Target position (upper word) 5. Flow and Commands of Basic MECHATROLINK Communication Target position (lower word) If the target position is a negative value, it is expressed by a 2’s complement.
PLC output address (* n indicates the initial output address for each axis.) 1 word = 2 bytes = 16 bits Zone boundary- (upper word) 5. Flow and Commands of Basic MECHATROLINK Communication Zone boundary- (lower word) If the zone boundary- is a negative value, it is expressed by a 2’s complement.
PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits Current position (upper word) Current position (lower word) 5. Flow and Commands of Basic MECHATROLINK Communication If the current position is a negative value, it is expressed by a 2’s complement. Command current (upper word) Command current (lower word) Current speed (upper word) Current speed (lower word) If the current speed is a negative value, it is expressed by a 2’s complement.
" # 7 7 7 7 7 7 7# 7 7 7 7 7 7 7# 7! 7 7 7 7 7 7 7 7" 7! 7 7 7 7 7 7 7 7" 7! 7 7 7 7 7 7 7 Force feedback data (lower word) If the force feedback data is a negative value, it is expressed by a 2’s complement. 192 ! " "" ? ? ? " ? ? 7 7 7 7 7 7 7 7 7 7 7 7 7 7 ? ? ? ? ? ? ? ' .
(3) I/O signal assignments (* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) 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 on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999. (Example) To set +25.41 mm, specify “2541.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address 16-bit data Symbol - Function 16-bit data - Push-current limiting value 16-bit data - Load current threshold 16-bit data - b15 b14 - Cannot be used. NTC1 Vibration damping control mode selection 1 b12 NTC0 Vibration damping control mode selection 0 b11 b10 - Cannot be used. b9 ASO1 b13 Details 16-bit integer.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Address Symbol b2 DIR b1 PUSH b0 - b15 BKRL b14 RMOD b13 b12 b11 b10 - b9 CLBR b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 b3 b2 SON RES STP b1 HOME b0 DSTR PLC output Control signal 1 Control signal 2 Function Push direction specification: When the signal is OFF, the direction of the position obtained by subtracting the positioning band from the target position is used.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Bit Symbol 32 bit data - Command current 32-bit data - PLC input 5. Flow and Commands of Basic MECHATROLINK Communication Current position Current speed 32-bit data - Alarm code 16-bit data - Force feedback data 32-bit data - Total moving count Total moving distance Status signal 1 196 Description 32-bit signed integer indicating the current position.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Bit Symbol b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 PZONE b10 LOAD b9 TRQS b8 RMDS b7 GHMS b6 PUSHS b5 PSFL b4 b3 b2 SV ALM MOVE b1 HEND b0 PEND Status signal 2 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.
5.4.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) 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.) 5.
(1) PLC address configuration (* n indicates the initial input/output address for each axis.) Parameter No. 84 SCON-CA DI and input register Port number 0 to 15 PLC output address SCON-CA DO and output register Port number 0 to 15 Occupied area n+0 n+1 n+2 Current position 4 Occupied area n+3 n+4 Command current n+5 (Note) The [occupied area] cannot be used for any other purpose. Also pay attention to use of duplicate addresses. PLC input address n+0 n+1 n+2 n+3 n+4 n+5 5.
PLC input address Address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits 5. Flow and Commands of Basic MECHATROLINK Communication Controller output port number Cannot be used. Current position (upper word) Current position (lower word) If the current position is a negative value, it is expressed by a 2’s complement.
(3) I/O signal assignments For the signal assignments in each PIO pattern, refer to (3), “I/O signal assignments” under 5.4.2, “Remote I/O Mode.” The signal assignments for command-current and current-position read functions are shown below. Signal type Symbol 32-bit data - Command current 32-bit data - PLC input Current position Description 32-bit signed integer indicating the current position. The unit is 0.01 mm. (Example) Reading: 000003FFH = 1023 (decimal) = 10.
5.4.7 Position/Simple Direct Mode 2 (Number of Occupied Bytes: 8) 5. Flow and Commands of Basic MECHATROLINK Communication 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 select whether to specify target positions directly as numerical values by switching the control signal (PMOD signal) or to use values already registered in the position data table.
(2) I/O signal assignments for each axis An I/O signal of each axis consists of 4 words (8 bytes) of I/O addresses. z Control signals and status signals are bit ON/OFF signals. z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator.
PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits Current position (upper word) 5. Flow and Commands of Basic MECHATROLINK Communication Current position (lower word) If the current position is a negative value, it is expressed 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 applicable 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 - b9 CLBR b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 b3 b2 SON RES STP b1 HOME b0 CSTR Control signal Description Details 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Bit Symbol Current position 32 bit - Completed position number (simple alarm code) 16 bit PM1 ~ PM512 b15 EMGS b14 PWR b13 CEND Load cell calibration complete: This signal turns ON when the load cell calibration is complete. 5.4.11 (32) b12 ZONE1 Zone 1: The signal is ON when the current position is inside the specified zone. 5.4.
5.4.8 Half Direct Mode 2 (Number of Occupied Bytes: 16) 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, positioning band, speed, acceleration/deceleration and push current directly as numerical values. Set each value in the applicable I/O area. To use the zone function, set the necessary values in parameter Nos. 1, 2, 23 and 24.
(2) I/O signal assignments for each axis 5. Flow and Commands of Basic MECHATROLINK Communication An I/O signal of each axis consists of 8 words (16 bytes) of I/O addresses. z Control signals and status signals are bit ON/OFF signals. z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.
PLC output address (* n indicates the initial output address for each axis.) 1 word = 2 bytes = 16 bits Target position (upper word) 5. Flow and Commands of Basic MECHATROLINK Communication Target position (lower word) If the target position is a negative value, it is expressed by a 2’s complement.
PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits Current position (upper word) 5. Flow and Commands of Basic MECHATROLINK Communication Current position (lower word) If the current position is a negative value, it is expressed by a 2’s complement. Force feedback data (upper word) Force feedback data (lower word) If the force feedback data is a negative value, it is expressed 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 applicable bit is “0.”) Signal type Target position 32-bit data Description Details - 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999. (Example) To set +25.41 mm, specify “2541.” If the entered value exceeds the range of soft limit parameters (within 0.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type PLC output 5. Flow and Commands of Basic MECHATROLINK Communication Push-current limiting value Control signal 212 Bit 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 b3 b2 SON RES STP b1 HOME b0 DSTR Description 16-bit integer.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Symbol Current position 32-bit data - Force feedback data 32-bit data - Current speed 32-bit data - Alarm code 16-bit data - b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 b10 - b9 CEND b8 RMDS b7 BALM b6 PUSHS b5 PSFL b4 b3 b2 SV ALM MOVE b1 HEND b0 PEND Status signal Description 32-bit signed integer indicating the current position. The unit is 0.01 mm.
5.4.9 Remote I/O Mode 3 (Number of Occupied Bytes: 12) 5. Flow and Commands of Basic MECHATROLINK Communication 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 a position number just like when PIOs (24-V I/Os) are used. Set position data using the RC PC software or other teaching tool. The number of available positions varies depending on the setting of parameter No. 25, “PIO pattern.
(1) PLC address configuration (* n indicates the initial input/output address for each axis.) Parameter No. 84 SCON-CA DI and input register Port number 0 to 15 PLC output address SCON-CA DO and output register Port number 0 to 15 Occupied area n+0 n+1 n+2 Current position 4 Occupied area n+3 n+4 Force feedback data n+5 (Note) The [occupied area] cannot be used for any other purpose. Also pay attention to use of duplicate addresses. PLC input address n+0 n+1 n+2 n+3 n+4 n+5 5.
PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits Address 5. Flow and Commands of Basic MECHATROLINK Communication Controller output port number Cannot be used. Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement.
(3) I/O signal assignments For the signal assignments in each PIO pattern, refer to (3), “I/O signal assignments” under 5.4.2, “Remote I/O Mode.” The signal assignments for command-current and current-position read functions are shown below. Bit Symbol Current position 32-bit data - Force feedback data 32-bit data - Description 32-bit signed integer indicating the current position. The unit is 0.01 mm. (Example) Reading: 000003FFH = 1023 (decimal) = 10.
5.4.10 Half Direct Mode 3 (Number of Occupied Bytes: 16) In this mode, the jog function in the half direct numerical mode is not available, but the vibration damping parameter set can be changed. Set each value in the applicable I/O area. To use the zone function, set the necessary values in parameter Nos. 1, 2, 23 and 24. The key functions that are available on Actuators controllable in this mode are shown in the table below. {: Direct control ': Indirect control x: Invalid 5.
(2) I/O signal assignments for each axis An I/O signal of each axis consists of 8 words (16 bytes) of I/O addresses. z Control signals and status signals are bit ON/OFF signals. z The target position and current position are both a 2-word (32-bit) binary data. Although values from -999999 to +999999 (unit: 0.01 mm) can be handled by the PLC, set position data within the software stroke range (0 up to the effective stroke length) of the applicable actuator. z Set a desired positioning band.
PLC output address (* n indicates the initial output address for each axis.) 1 word = 2 bytes = 16 bits Target position (lower word) 5. Flow and Commands of Basic MECHATROLINK Communication Target position (upper word) If the target position is a negative value, it is expressed by a 2’s complement.
PLC input address (* n indicates the initial input address for each axis.) 1 word = 2 bytes = 16 bits Current position (upper word) 5. Flow and Commands of Basic MECHATROLINK Communication Current position (lower word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (upper word) Command current (lower word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is expressed 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 applicable bit is “0.”) Signal type Positioning band 32-bit data 32-bit data Symbol Description Details - 32-bit signed integer. Specify the target position on the absolute coordinates. The unit is 0.01 mm, while the specifiable range is -999999 to 999999. (Example) To set +25.41 mm, specify “2541.” If the entered value exceeds the range of soft limit parameters (within 0.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol 16-bit data - b15 BKRL b14 RMOD b13 DIR b12 PUSH b11 GSL1 Description Details 16-bit integer. Specify the current-limiting value during push-motion operation. The specified range is 0 (0%) to 255 (100%). The actual specifiable range varies with each actuator. (Refer to the catalog or operation manual for each actuator.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Bit Symbol 32-bit data - Command current 32-bit data - * If this data is read as a hexadecimal, a negative value is indicated by a 2’s complement. 32-bit signed integer. The current speed is indicated. Positive value: The actuator is moving in the direction opposite home. Negative value: The actuator is moving in the direction of home. The unit is 0.01 mm/sec.
5.4.11 I/O Signal Controls and Functions * ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.” The following specifies the controls and functions of I/O signals used in the position/simple direct mode 1 and 2, half direct mode and full direct mode 1 to 3. For the I/O signals in the remote I/O mode 1 to 3, refer to the operation manual for the controller.
(5) Servo ON command (SON) Ready (SV) PLC output signal PLC input signal 5. Flow and Commands of Basic MECHATROLINK Communication When the SON signal is turned ON, the servo turns ON. When the servo turns ON, the status indicator LED (refer to (6) in 5.3) on the front side of the controller illuminates 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 1 to 3 or position/simple direct mode 1, 2 issuing a positioning command to a given position immediately after the power has been turned on, before home return is performed, will cause the actuator to automatically return home and then perform positioning, provided that thi
(7) Positioning start (CSTR): Used in the position/simple direct mode PLC output signal This command is processed at the leading (ON) edge of the signal, upon which the actuator moves to the position set by the target position corresponding to the specified position or the PLC’s target position. Whether to use the target position corresponding to the specified position number or PLC’s target position (*) is determined by the control signal b11 (position/simple direct switching (PMOD) signal).
(10) Positioning complete signal (PEND) PLC input signal This signal turns ON when the actuator has moved to the target position and entered the positioning band or completed the push motion. Timing at which the positioning complete signal turns ON Speed Target position Travel Time Positioning band Caution: If the servo turns OFF or an emergency stop is actuated while the actuator is standing still at the target position, the PEND signal turns OFF.
5. Flow and Commands of Basic MECHATROLINK Communication (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 actuator position is inside the specified range, and turns OFF when the actuator is outside the range. [1] Zones 1, 2 A desired zone is set using user parameters. The ZONE1 signal is set using parameter Nos. 1, “Zone boundary 1+” and 2, “Zone boundary 1-.
(13) +Jog (JOG+) PLC output signal -Jog (JOG-) PLC output signal These signals are used as starting commands for jog operation or inching operation. A + command starts the applicable operation in the direction opposite home, while a – command starts the applicable operation in the direction of home. Jog operation Jog operation can be performed when the jog/inching switching (JISL) signal is OFF. While JOG+ is ON, the actuator moves in the direction opposite home.
(14) Jog speed/inching distance switching (JVEL) PLC output signal This signal switches between the parameter that specifies the jog speed to be used when the jog mode is selected, and one that specifies the inching distance to be used when the inching mode is selected. The relationships of applicable parameters are shown below. 5. Flow and Commands of Basic MECHATROLINK Communication JVEL signal Jog operation: JISL = OFF OFF Parameter No. 26, “Jog speed” ON Parameter No.
(16) Teaching mode command (MODE) Teaching mode signal PLC output signal (MODES) PLC input signal When the MODE signal is turned ON, the normal operation mode switches to the teaching mode. When the mode switches to teaching, the controller of each axis turns ON the MODES signal. The PLC should perform teaching operation after confirming that the MODES signal has turned ON.
(19) Operation mode (RMOD) PLC output signal Operation mode status (RMDS) PLC input signal 5. Flow and Commands of Basic MECHATROLINK Communication A different operation mode is selected as follows based on the RMOD signal and the MODE switch on the front side of the controller. Whether the current mode is AUTO or MANU can be checked using the RMDS signal. RMOD signal and mode switch combinations, and corresponding operation modes, are shown below.
(23) Missed load during push-motion operation (PSFL) PLC input signal This signal turns ON when the actuator has not contacted the load after having travelled the distance set by the positioning band in the controller’s position table or PLC’s positioning band (refer to 5.4.1) during push-motion operation. (For the setting timing of this signal, refer to (2), “Operation in the half direct mode” under 5.6, “Operation.
(26) Load output judgment (LOAD) PLC input signal 5. Flow and Commands of Basic MECHATROLINK Communication This signal is valid only during push-motion operation. To use an actuator in a press-fit application, whether or not the specified load threshold has reached during the push-motion operation must be recognized. The load threshold and certification band are set by the PLC, and this signal will turn ON when the command torque (motor current) exceeds the threshold inside the certification band.
(27) Torque level (TRQS) PLC input signal This signal is valid only during push-motion operation. This signal turns ON when the motor current has reached the load threshold during push-motion operation (while the actuator is moving inside the positioning band). Since the current is monitored by level, when the current changes the ON/OFF status of this signal will also change. The speeds that can be used for push-motion operation vary 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.
(29) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal This signal is used to select a desired acceleration/deceleration pattern characteristic. Select one characteristic 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 Cannot be used. Remarks Factory setting 5.
(31) Standstill Mode Selection (ASO0, ASO1) PLC Output Signals 5. Flow and Commands of Basic MECHATROLINK Communication 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 Turn the CLBR OFF after confirming that the CEND has turned ON. *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.
5.5 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: 5. Flow and Commands of Basic MECHATROLINK Communication Maximum response time (msec) = Yt + Xt + 2 + Command processing time (operation time, etc.
5.6 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.
[1] Set value of target position data [2] 5. Flow and Commands of Basic MECHATROLINK Communication Specified position number 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.
(2) Operation in the half direct mode 1 to 3 z Example of operation (normal positioning operation) In normal positioning operation, the signal in [6] is set to OFF. When the remaining travel falls within the positioning band set by the position data table, the PEND signal turns ON as long as the DSTR signal is OFF. (*) Refer to 5.4.1. 245 5.
[1] Set value of target position data [2] Set value of positioning band data [3] 5.
(3) Operation in the full direct mode z Example of operation (normal positioning operation) In normal positioning operation, the signal in [9] is set to OFF. When the remaining travel falls within the positioning band set by the position data table, the PEND signal turns ON as long as the DSTR signal is OFF. (*) Refer to 5.4.1. 247 5.
[1] Set value of target position data [2] Set value of positioning band data 5.
[9] Push specification [10] Push direction specification 5. Flow and Commands of Basic MECHATROLINK Communication 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.
5.7 PROFIBUS-DP Parameters Factory default ~ The parameters relating to PROFIBUS-DP 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. 83 84 C FMOD Fieldbus operation mode 85 C NADR Fieldbus node address 86 C FBRS Fieldbus baud rate 87 C NYTP Network type 90 C FMIO Fieldbus I/O format 159 C FBVS FB Half Direct Mode Speed Unit z Fieldbus operation mode (No.
5. Flow and Commands of Basic MECHATROLINK Communication z Network type (No. 87 NTYP) Specify the network module in parameter No. 87. Do not change the default value. z Fieldbus I/O format (No. 90 FMIO) PLC addresses are assigned in units of 16 points (units of words) based on the I/O addresses set to the controller and number of occupied addresses in each mode. By changing the setting of parameter No.
(Example ii) Set value = “1” z indicates ON, while O indicates OFF. SCON input register Hexadecimal data 5.
(Example iii) Set value = “2” SCON input register 5. Flow and Commands of Basic MECHATROLINK Communication Hexadecimal data PLC: Output Hexadecimal data SCON output register Hexadecimal data PLC: Input Hexadecimal data 254 z indicates ON, while O indicates OFF.
z indicates ON, while O indicates OFF. (Example iv) Set value = “3” SCON input register Hexadecimal data 5. Flow and Commands of Basic MECHATROLINK Communication 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 Speed setting unit 1.0 mm/sec 0.
5. Flow and Commands of Basic MECHATROLINK Communication 5.8 Troubleshooting 5.8.1 Status LED Indicators The illumination patterns of status LEDs (STATUS0/1) indicate the operating condition of the PROFIBUS-DP module as well as the network condition. If a problem occurs, the current condition can be checked based on the illumination pattern of status LEDs. The illumination patterns of status LEDs, and corresponding communication conditions, are shown below.
6.
Manual No.: ME0258-3B (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.
