Operation Manual, Fourth Edition ACON-C/CG PCON-C/CG/CA/CFA SCON-CA
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD/DVD that comes with the product contains operation manuals for IAI products.
Table of Contents Please Read Before Use ........................................................................................................................3 1. Overview ..........................................................................................................................................9 1.1 2. Interface Specifications................................................................................................................ 10 ACON-C/CG, PCON-C/CG ..........................
3. PCON-CA/CFA ..............................................................................................................................65 3.1 3.2 3.3 Operation Modes and Functions.................................................................................................. 65 Model Names ............................................................................................................................... 67 MECHATROLINK Interface .........................................................
4.6 Communication with the Master Station .................................................................................... 127 4.6.1 Operation Modes and Handling of PLC Addresses ...................................................... 127 4.6.2 Remote I/O Mode.......................................................................................................... 131 4.6.3 Position/Simple Direct Mode ......................................................................................... 136 4.6.
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 5 4 Operation Description Installation and Start Teaching Description (4) Safety Measures When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
No. 6 7 Operation Description Trial Operation Automatic Operation Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
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1. Overview Each controller is treated as an Intelligent I/O in MECHATROLINK and supports only asynchronous communication commands. * For details on MECHATROLINK, refer to the operation manual for the programmable controller (hereinafter referred to as “PLC”) in which the master unit is installed. This operating manual should be used in conjunction with the operation manual for each controller. You should also assume that any usage not specifically permitted in this operating manual is prohibited.
1. Overview 1.1 Interface Specifications Item Slave type MECHATROLINK-I MECHATROLINK-II Maximum transmission speed Minimum distance between stations Number of connectable MECHATROLINK-I stations (Slave) MECHATROLINK-II Transmission cycle MECHATROLINK-I Data length MECHATROLINK-II Station address Baud rate Cable Connector 10 Controller-side Specification Intelligent I/O 4 Mbps 10 Mbps 50 m 0.5 m 15 stations 30 stations (A repeater is required for 17 or more stations.
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2. ACON-C/CG, PCON-C/CG [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. Target position: 100.00 mm + Position No.
2.2 Model Names The model names of ACON and PCON controller supporting MECHATROLINK are indicated as follows, respectively: 2.
2.3 MECHATROLINK Interface 2.3.1 Name of Each Part 2. ACON-C/CG, PCON-C/CG The name of each part relating to MECHATROLINK is shown. Status indicator LEDs Status LEDs MECHATROLINK communication connector (Dual-system) Pin No.
2.3.2 Monitor LED Indications The operation condition of the communication board, as well as the network condition, can be checked using the two LEDs provided on the front side of the board. LED STATUS 1 STATUS 0 Color Green ٤ CONNECT received (Connected to the master) Red ٤ Communication error detected The board is not connected to the master unit. Green ٤ The board is operating properly. Red ٤ A communication hardware error was detected when the board was not yet ready.
2.4 Example of Wiring 2.4.1 Wiring Diagram 2. ACON-C/CG, PCON-C/CG An example of wiring is as follows.
2.5 Setting 2.5.1 Operation Mode Selection 2. ACON-C/CG, PCON-C/CG Set a desired operation mode using a parameter. Set the mode selector switch on the front side of the controller to the MANU position, and then set parameter No. 84, “FMOD: Fieldbus operation mode” using the RC PC software (V7.00.08.00 or later). (Refer to 2.9, “MECHATROLINK Parameters.
2.6 Communication with the Master Station 2.6.1 Operation Modes and Handling of PLC Addresses 2. ACON-C/CG, PCON-C/CG The address assignments under each operation mode are shown below.
2.6.2 Remote I/O Mode Setting of parameter No. 25 0 1 Operation mode Positioning mode Teaching mode 2 3 4 256-point mode 512-point mode Solenoid valve mode 1 5 Solenoid valve mode 2 I/O specification 64 positioning points, 2 zone outputs 64 positioning points, 1 zone output Positioning and jog operations are supported. The current position can be written under a specified position number.
(1) PLC address configuration (When the DATA_RWA command is in use) 2. ACON-C/CG, PCON-C/CG Parameter No. 84 ACON/PCON DI (port number) PLC output address [Bytes] 5 (Lower byte) 0 0 to 15 6 (Upper byte) (Note) Pay attention to use of duplicate node 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.) Category 6 PLC output o ACON input 7 8 9 10 11 12 13 ACON output o PLC input Setting of parameter No. 25 Teaching mode 1 Symbol Signal name PC1 PC2 PC4 Command position number PC8 PC16 PC32 Teaching mode MODE command Cannot be used.
2. ACON-C/CG, PCON-C/CG ACON 512-point mode 3 Category Port No. Symbol Signal name 0 PC1 1 PC2 2 PC4 3 PC8 Command position 4 PC16 number 5 PC32 6 PC64 PLC output 7 PC128 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 0 1 2 ACON output o PLC input 3 4 5 6 7 8 9 10 11 12 13 14 15 Setting of parameter No.
PCON 6 PLC output o PCON input 7 8 9 10 11 12 13 PCON output o PLC input 14 15 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 256-point mode 2 Symbol Signal name PC1 PC2 PC4 PC8 Command position PC16 number PC32 2. ACON-C/CG, PCON-C/CG Category Setting of parameter No. 25 Teaching mode 1 Symbol Signal name PC1 PC2 PC4 Command position number PC8 PC16 PC32 Teaching mode MODE command Cannot be used.
2. ACON-C/CG, PCON-C/CG PCON 512-point mode 3 Category Port No. Symbol Signal name 0 PC1 1 PC2 2 PC4 3 PC8 Command position 4 PC16 number 5 PC32 6 PC64 PLC output 7 PC128 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 0 1 2 PCON output o PLC input 3 4 5 6 7 8 9 10 11 12 13 14 15 Setting of parameter No.
2.6.3 Position/Simple Direct Mode {: Direct control U: 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 Remarks { { U U U U U Position data must be set { Zone signal output U PIO pattern selection x Zones are set using parameters.
2. ACON-C/CG, PCON-C/CG (2) I/O signal assignments for each axis An I/O signal of each axis consists of 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 4 bytes (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 Bytes Upper byte Lower byte 2 bytes = 16 bits 2. ACON-C/CG, PCON-C/CG Current position (lower word) Current position (upper word) If the current position is a negative value, it is 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 to 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 2. ACON-C/CG, PCON-C/CG Signal type Control signal 28 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 to 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.
2. ACON-C/CG, PCON-C/CG 2.6.4 Half Direct Mode (Cannot be used in the 17-byte mode) 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 127 Push-current limiting value z The command current is 4 bytes (32-bit) binary data (unit: 1 mA). z The current position is 4 bytes (32-bit) binary data (unit: 0.01 mm/sec). z The alarm code is 2 bytes (16-bit) binary data. 31 2. ACON-C/CG, PCON-C/CG An I/O signal of each axis consists of 16 bytes of I/O addresses. z Control signals and status signals are bit ON/OFF signals.
PLC output address Bytes Lower byte Upper byte 2. ACON-C/CG, PCON-C/CG 2 bytes = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is expressed by a 2’s complement.
PLC input address Bytes Upper byte Lower byte 2 bytes = 16 bits 2. ACON-C/CG, PCON-C/CG Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (lower word) Command current (upper word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is 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.”) 2. ACON-C/CG, PCON-C/CG Signal type PLC output Target position Positioning band Speed Acceleration/ deceleration 34 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 PLC output 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%).
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) 2.
2.6.5 Remote I/O Mode 2 The key functions that are available on ROBO Cylinders controllable in this mode are shown in the table below.
2. ACON-C/CG, PCON-C/CG (1) PLC address configuration Parameter No. 84 4 ACON/PCON DI and input register Port number 0 to 15 PLC output address [Bytes] 5 (Lower byte) 6 (Upper byte) ACON/PCON DO and output register Port number 0 to 15 Current position 7 to 16 Command current (Note) Pay attention to use of duplicate node addresses. (2) I/O signal assignments for each axis An I/O signal of each axis consists of 12 bytes of I/O addresses.
PLC input address Bytes Lower byte Upper byte 2 bytes = 16 bits 2. ACON-C/CG, PCON-C/CG 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 The signal assignments for command-current and current-position read functions are shown below. Signal type Current position Bit Symbol 32-bit data - PLC input 2. ACON-C/CG, PCON-C/CG For the signal assignments in each PIO pattern, refer to (3), “I/O signal assignments” under 2.6.2, “Remote I/O Mode.” Command current 32-bit data 40 - Description 32-bit signed integer indicating the current position. The unit is 0.01 mm.
2.6.6 I/O Signal Controls and Functions (1) Controller ready (PWR) PLC input signal This signal turns ON when the controller has become ready to perform control after the power was turned on. Function This signal turns ON when the controller has been initialized successfully following a power on and become ready to perform control, regardless of the alarm condition, servo condition, etc. The PWR signal turns ON as long as the controller is ready to perform control, even when an alarm is present.
(5) Servo ON command (SON) 2. ACON-C/CG, PCON-C/CG 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 2.3 MECHATROLINK Interface) 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 (PLCoACON, PCON) GHMS (ACON, PCONoPLC) HEND (ACON, PCONoPLC) PEND (ACON, PCONoPLC) MOVE (ACON, 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
2. ACON-C/CG, PCON-C/CG (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 address.
(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. Speed 2. ACON-C/CG, PCON-C/CG Timing at which the positioning complete signal turns ON 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.
2. ACON-C/CG, PCON-C/CG (12) Zone 1 (ZONE1) PLC input signal Zone 2 (ZONE2) PLC input signal Position zone (PZONE) PLC input signal Each signal turns ON when the current 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 [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. When the signal turns OFF, the actuator will decelerate to a stop. While JOG- is ON, the actuator moves in the direction of home. When the signal turns OFF, the actuator will decelerate to a stop.
2. ACON-C/CG, PCON-C/CG (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 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 address specified by the PLC.
(19) Operation mode (RMOD) 2. ACON-C/CG, PCON-C/CG Operation mode status (RMDS) PLC output signal 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.
(23) Missed load during push-motion operation (PSFL) PLC input signal (24) Incremental specification (INC) PLC output signal When a move command is issued while this signal is ON, the actuator will move by the value entered as the PLC’s target position address with reference to the current position. (Incremental moves) If this signal is OFF, the actuator will move to the value of the PLC’s target position address.
2.7 I/O Signal Timings 2. ACON-C/CG, PCON-C/CG 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.
2.8 Operation (1) Operation in the position/simple direct mode Operate the actuator by writing the position data to the PLC’s target position, while specifying the speed, acceleration/deceleration, positioning band, push-current limiting value, etc., in the position table. z Example of operation (normal positioning operation) (Preparation) Set all position data other than the target position (speed, acceleration/deceleration, positioning band, etc.) in the position table.
[1] 2. ACON-C/CG, PCON-C/CG Set value of target position data [2] Specified position number Positioning start [3] [5] [4] 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 2.6.4 55 2.
[1] 2.
(3) Data change during movement [1] Set value of speed or acceleration/deceleration [2] [3] Speed n3 Speed n2 Actuator speed Caution: 1. If the speed is not yet set or set to “0,” the actuator will remain standstill and no alarm will generate. 2. If the speed is changed to “0” while the actuator is moving, the actuator will decelerate to a stop and no alarm will generate. 3.
2.9 MECHATROLINK Parameters Category: C: External interface parameter No. Category Symbol 1 Name Factory default For parameter Nos. 1 to 83, refer to the operation manual for the controller. ~ 2. ACON-C/CG, PCON-C/CG The parameters relating to MECHATROLINK are parameter Nos. 84 to 87 and 90. 83 84 C FMOD Fieldbus operation mode 0 85 C NADR Fieldbus node address 97 86 87 90 C C C FBRS NYTP FMIO Fieldbus baud rate Network type Fieldbus I/O format 2 5 3 z Fieldbus operation mode (No.
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. ACON/ PCON input register Hexadecimal data PLC: Output Hexadecimal data ACON/ PCON output register Hexadecimal data PLC: Input Hexadecimal data 59 2. ACON-C/CG, PCON-C/CG z Fieldbus I/O format (No.
2. ACON-C/CG, PCON-C/CG (Example ii) Set value = “1” ACON/ PCON input register Hexadecimal data PLC: Output Hexadecimal data ACON/ PCON output register Hexadecimal data PLC: Input Hexadecimal data 60 z indicates ON, while O indicates OFF.
(Example iii) Set value = “2” z indicates ON, while O indicates OFF. 2.
2. ACON-C/CG, PCON-C/CG (Example iv) Set value = “3” ACON/ PCON input register Hexadecimal data PLC: Output Hexadecimal data ACON/ PCON output register Hexadecimal data PLC: Input Hexadecimal data 62 z indicates ON, while O indicates OFF.
2.10 Troubleshooting 2.10.1 Alarm Details and Causes/Actions 2.10.2 Status LED Indicators The illumination patterns of status LEDs (STATUS0/1) indicate the operating condition of the MECHATROLINK module as well as the network condition. The illumination patterns of status LEDs, and corresponding communication conditions, are shown below. ٤ : Illuminating, : OFF, ڏ: Flashing LED STATUS1 STATUS0 Color Indicator condition Green ٤ Red ٤ Green ٤ The board is operating properly.
2. ACON-C/CG, PCON-C/CG 2.11 CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
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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. Target position: 100.00 mm + Position No.
3.2 Model Names The model names of PCON-CA/CFA controller supporting MECHATROLINK are indicated as follows, respectively: z PCON-CA- -MLz PCON-CFA- -ML3.
3.3 MECHATROLINK Interface 3.3.1 Name of Each Part The name of each part relating to MECHATROLINK is shown. 3. SCON-CA/CFA SV/ALM Status indicator LEDs Status 1 ֥Status LEDs Status 0 NC /DATA DATA MECHATROLINK communication connector PCB side: DUSB-ARB82-T11A-FA (DDK) SH MECHATROLINK communication connector (2 systems) Pin No. 1 2 3 4 Connector shell 3.3.
3.4 Example of Wiring 3.4.1 Wiring Diagram An example of wiring is as follows. y Example of Wiring Slave Terminator (Terminal resistor) y Example of connection Master unit Connector shell Connector shell Connector shell Connector shell Connector shell MECHATROLINK cables y JEPMC-W6002 y JEPMC-W6003 (with ferrite core) Slave Connector shell Connector shell Terminator (Terminal resistor) JEPMC-W6022 69 3.
3. SCON-CA/CFA 3.5 Setting 3.5.1 Operation Mode Selection Set a desired operation mode using a parameter. Set the mode selector switch on the front side of the controller to the MANU position, and then set parameter No. 84, “FMOD: Fieldbus operation mode” using the RC PC software (V7.00.08.00 or later). (Refer to 3.9 “MECHATROLINK Parameters.”) (Note) Refer to instruction manual of RC PC Software for the applicable version.
3.6 Communication with the Master Station 3.6.1 Operation Modes and Handling of PLC Addresses The address assignments under each operation mode are shown below.
3. SCON-CA/CFA 3.6.2 Remote I/O Mode 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.) Setting of parameter No.
(1) PLC address configuration (When the DATA_RWA command is in use) Parameter No. 84 PCON-CA/CFA DI (port number) PCON-CA/CFA DO (port number) 0 to 15 PLC input address [Bytes] 5 (Lower byte) 6 (Upper byte) 3. SCON-CA/CFA PLC output address [Bytes] 5 (Lower byte) 0 0 to 15 6 (Upper byte) (Note) Pay attention to use of duplicate node addresses. (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.
(3) I/O signal assignments 3. SCON-CA/CFA 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.) Category PLC output oPCON -CA/CFA input PCON -CA/CFA output o PLC input Setting of parameter No. 25 Teaching mode 1 Symbol Signal name PC1 PC2 PC4 Command position number PC8 PC16 PC32 Teaching mode MODE command 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.
3. SCON-CA/CFA 3.6.3 Position/Simple Direct Mode 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 PLC output address Bytes Upper byte Lower byte 2 bytes = 16 bits Target position (lower word) Target position (upper word) If the target position is a negative value, it is expressed by a 2’s complement. Specified position number Control signal 77 3. SCON-CA/CFA An I/O signal of each axis consists of 8 bytes of I/O addresses. z Control signals and status signals are bit ON/OFF signals.
PLC input address Bytes Upper byte Lower byte 3. SCON-CA/CFA 2 bytes = 16 bits 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 (* 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 to 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 to 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 3. SCON-CA/CFA Signal type Status signal 80 Description 32-bit signed integer indicating the current position.
3.6.4 Half Direct Mode (Cannot be used in the 17-byte mode) 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.
3. SCON-CA/CFA (2) I/O signal assignments for each axis An I/O signal of each axis consists of 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 4 bytes (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 Bytes Lower byte Upper byte 2 bytes = 16 bits 3. SCON-CA/CFA Target position (lower word) Target position (upper word) If the target position is a negative value, it is expressed by a 2’s complement.
PLC input address Bytes Upper byte Lower byte 2 bytes = 16 bits 3. SCON-CA/CFA Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (lower word) Command current (upper word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is 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 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 3. SCON-CA/CFA Push-current limiting value Control signal 86 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.”) Symbol Current position 32-bit data - Command current 32-bit data - Current speed 32-bit data - Alarm code 16-bit data - b15 EMGS b14 PWR b13 ZONE2 b12 ZONE1 b11 b10 b9 - b8 RMDS b7 ALML 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. SCON-CA/CFA 3.6.5 Remote I/O Mode 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.” This mode combines the functions available in the remote I/O mode and the current-position and command-current read functions.
(1) PLC address configuration Parameter No. 84 4 PCON-CA/CFA DI and input register Port number 0 to 15 PLC output address [Bytes] 5 (Lower byte) 6 (Upper byte) PCON-CA/CFA DO and output register Port number 0 to 15 Command current (Note) Pay attention to use of duplicate node addresses. (2) I/O signal assignments for each axis An I/O signal of each axis consists of 12 bytes of I/O addresses. z Addresses controlled by port numbers are controlled by bit ON/OFF signals.
PLC input address Bytes Lower byte Upper byte 3. SCON-CA/CFA 2 bytes = 16 bits 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 3.6.2 “Remote I/O Mode.” The signal assignments for command-current and current-position read functions are shown below. Signal type 32-bit data - PLC input Symbol Command current 32-bit data - Description 32-bit signed integer indicating the current position. The unit is 0.01 mm. (Example) Reading: 000003FFH = 1023 (decimal) = 10.
3.6.6 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 SON (PLC PCON) SV (PCON PLC) 93 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 3.3 MECHATROLINK Interface) 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 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 If this command is issued immediately after the power has been turned on, before home return is performed (= when the HEND signal is OFF), the actuator will automatically perform home return operation and then move to the target position. Turn this signal OFF after confirming that the positioning complete signal (PEND) has turned OFF.
(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 (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. [2] Position zone A desired zone is set using the position table or zone boundary address. In the position/simple direct mode, set the PZONE signal using the position table. (*) The PZONE signal is not available in the half direct mode.
(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. 47, “Jog speed 2” 3. SCON-CA/CFA OFF Inching operation: JISL = 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) Operation mode status (RMDS) PLC output signal 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 traveled the distance set by the positioning band address in the controller’s position table or PLC’s positioning band during push-motion operation. (For the setting timing of this signal, refer to (2), “Operation in the half direct mode” under 3.8. “Operation”.
(26) 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 Functions Disabled Automatic Servo OFF Method Parameter No. 36 is valid for T Automatic Servo OFF Method Parameter No.
3.7 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.
3.8 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 main body. (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 (PLC PCON) 3. SCON-CA/CFA [2] Specified position number (PLC PCON) Positioning start CSTR (PLC PCON) [3] [5] [4] Position complete PEND (PCON PLC) [7] Current position (PCON PLC) [6] Moving MOVE (PCON PLC) Positioning band Actuator movement *T1: Make sure “T1 t 0 ms” is satisfied by considering the scan time of the host controller.
(2) Operation in the half direct mode z Example of operation (normal positioning operation) 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 3.6.4 107 3.
[1] Set value of target position data (PLC PCON) [2] 3.
(3) Data change during movement [1] Set value of speed or acceleration/deceleration (PLC PCON) [2] [3] DSTR (PLC PCON) PEND (PCON PLC) MOVE (PCON PLC) Speed n3 Speed n2 Actuator speed Caution: 1. If the speed is not yet set or set to “0,” the actuator will remain standstill and no alarm will generate. 2. If the speed is changed to “0” while the actuator is moving, the actuator will decelerate to a stop and no alarm will generate. 3.
3.9 MECHATROLINK Parameters The parameters relating to MECHATROLINK are parameter Nos. 84 to 87 and 90. 1 Name Factory default For parameter Nos. 1 to 83, refer to the operation manual for the controller. ~ 3. SCON-CA/CFA Category: C: External interface parameter No.
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 111 3. SCON-CA/CFA z Fieldbus I/O format (No.
(Example ii) Set value = “1” 3. SCON-CA/CFA PCON input register Hexadecimal data PLC: Output Hexadecimal data PCON output register Hexadecimal data PLC: Input Hexadecimal data 112 z indicates ON, while O indicates OFF.
(Example iii) Set value = “2” z indicates ON, while O indicates OFF. PCON input register 3.
z indicates ON, while O indicates OFF. (Example iv) Set value = “3” 3. SCON-CA/CFA PCON input register 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. 114 Parameter No. 159 Setting Value Speed Setting Unit 0 (Set in delivery) 1 1mm/sec 0.
3.10 Troubleshooting 3.10.1 Alarm Details and Causes/Actions 3.10.2 Status LED Indicators The illumination patterns of status LEDs (STATUS0/1) indicate the operating condition of the MECHATROLINK module as well as the network condition. The illumination patterns of status LEDs, and corresponding communication conditions, are shown below.
3.11 CE Marking 3. SCON-CA/CFA If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
4. 4.1 SCON-CA Operation Modes and Functions SCON-CA controllers supporting MECHATROLINK can be operated in a desired operation mode selected from the following eight modes.
4. SCON-CA [2] Position/simple direct mode: In this mode, the actuator is operated by specifying position numbers. You can select whether to specify the target position directly as a value, or use a value registered in the position data table, by switching a control signal. For the speed, acceleration/deceleration, positioning band, etc., values preregistered in the position data table are used. Up to 768 position data points can be set. Number of occupied bytes: 8 bytes PLC Target position: 100.
[4] Remote I/O mode 2: In this mode, the actuator is operated by MECHATROLINK instead of PIO (24 V I/O). Current position and command current function is added to the function [1]. Number of occupied bytes: 12 bytes SCON-CA not supporting SCON-CA supporting MECHATROLINK PLC MECHATROLINK PLC 4. SCON-CA Communication cable Flat cable PIO connection MECHATROLINK connection . [5] Position/simple direct mode 2: In this mode, the actuator is operated by specifying position numbers.
[6] 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 4. SCON-CA Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/sec Acceleration/deceleration: 0.
[8] Half direct mode 3: 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. In this mode, the vibration damping function is supported instead of the jog function available in mode [3]. Number of occupied bytes: 16 bytes SCON-CA supporting MECHATROLINK 4. SCON-CA Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/sec Acceleration/deceleration: 0.
4.2 Model Names The model names of SCON-CA controller supporting MECHATROLINK are indicated as follows, respectively: 4.
4.3 MECHATROLINK Interface 4.3.1 Name of Each Part The name of each part relating to MECHATROLINK is shown. 4. SCON-CA Status LEDs MECHATROLINK communication connector (Dual-system) Pin No.
4.3.2 Monitor LED Indications The operation condition of the communication board, as well as the network condition, can be checked using the two LEDs provided on the front side of the board. ٤ : Illuminating, : OFF, ڏ: Flashing 4. SCON-CA LED STATUS 1 STATUS 0 124 Color Indicator condition Green ٤ CONNECT received (Connected to the master) Red ٤ Communication error detected The board is not connected to the master unit. Green ٤ The board is operating properly.
4.4 Example of Wiring 4.4.1 Wiring Diagram An example of wiring is as follows. y Example of Wiring PLC (MECHATROLINK master unit) Slave y Example of connection Master unit Connector shell Connector shell Connector shell Connector shell Connector shell MECHATROLINK cables y JEPMC-W6002 y JEPMC-W6003 (with ferrite core) Slave Connector shell Connector shell Terminator (Terminal resistor) JEPMC-W6022 125 4.
4.5 Setting 4.5.1 Operation Mode Selection 4. SCON-CA Set a desired operation mode using a parameter. Set the mode selector switch on the front side of the controller to the MANU position, and then set parameter No. 84, “FMOD: Fieldbus operation mode” using the RC PC software (V8.00.00.00 or later). (Refer to 4.9 “MECHATROLINK Parameters.
4.6 Communication with the Master Station 4.6.1 Operation Modes and Handling of PLC Addresses The address assignments under each operation mode are shown below. x PLC output o SCON-CA input PLC output address (When the DATA_RWA command is in use) Bytes SCON-CA DI and input data resister Remote I/O mode Position/simple direct mode Half direct mode Port number 0 to 15 127 4.
x PLC output o SCON-CA input 4. SCON-CA PLC output address (When the DATA_RWA Position/simple direct command is in use) mode Bytes SCON-CA DO and output data resister Half direct mode 2 5 6 Target position Target position 7 8 9 Specified position number 10 Positioning band 11 Control signal 12 13 Speed 14 15 Acceleration/ deceleration 16 17 Push-current limiting value 18 19 Control signal 20 (Note) Pay attention to use of duplicate node addresses.
x SCON-CA output o PLC input PLC input address (When the DATA_RWA command is in use) Bytes SCON-CA DO and output data resister Remote I/O mode Position/simple direct mode Remote I/O mode 2 Port number 0 to 15 Current position Command current Current position Current speed Command current Alarm code Status signal 129 4.
x SCON-CA output o PLC input 4. SCON-CA PLC input address (When the DATA_RWA command is in use) Bytes SCON-CA DO and output data resister Position/simple direct mode 2 Half direct mode 2 5 6 Current position Current position 7 8 9 Completed position number (simple alarm ID) 10 Force feedback data 11 Status signal 12 13 14 Current speed 15 16 17 Alarm code 18 19 Status signal 20 (Note) Pay attention to use of duplicate node addresses.
4.6.2 Remote I/O Mode 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 (When the DATA_RWA command is in use) PLC output address [Bytes] 5 (Lower byte) 0 0 to 15 6 (Upper byte) (Note) Pay attention to use of duplicate node addresses. 4. SCON-CA Parameter No. 84 SCON-CA DI (port number) SCON-CA 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. y Each channel is controlled by turning ON/OFF signal of each applicable bit.
(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.
4. SCON-CA 512-point mode 3 Category Port No. 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 SCON-CA 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 SCON-CA output o PLC input Setting of parameter No.
Category SCON-CA output o PLC input 4. SCON-CA PLC output o SCON-CA 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.
4. SCON-CA 4.6.3 Position/Simple Direct Mode 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 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 4 bytes (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 Bytes Upper byte Lower byte 4. SCON-CA 2 bytes = 16 bits 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 (* 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 to 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 Details 32-bit signed integer. Specify the target position on the absolute coordinates.
(* 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 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 PLC input 4. SCON-CA Signal type Status signal 140 Description 32-bit signed integer indicating the current position.
4.6.4 Half Direct Mode (Cannot be used in the 17-byte mode) 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 Actuators 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 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 4 bytes (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 Bytes Upper byte Lower byte 2 bytes = 16 bits Target position (lower word) 4. SCON-CA Target position (upper word) If the target position is a negative value, it is expressed by a 2’s complement.
PLC input address Bytes Upper byte Lower byte 2 bytes = 16 bits 4. SCON-CA Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (lower word) Command current (upper word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is 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 146 Bit Symbol 16-bit data - b15 BKRL b14 RMOD b13 DIR b12 PUSH b11 GSL1 b10 GSL0 b9 - b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 b3 b2 SON RES STP b1 HOME b0 DSTR Description 16-bit integer. Specify the current-limiting value during push-motion operation.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) Signal type Symbol 32-bit data - Command current 32-bit data - Current position 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 Current speed Status signal Description 32-bit signed integer indicating the current position. The unit is 0.
4. SCON-CA 4.6.5 Remote I/O Mode 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.” This mode combines the functions available in the remote I/O mode and the current-position and command-current read functions.
(1) PLC address configuration (When the DATA_RWA command is in use) Parameter No. 84 4 SCON-CA DI and input register Port number 0 to 15 PLC output address [Bytes] 5 (Lower byte) 6 (Upper byte) SCON-CA DO and output register Port number 0 to 15 Command current (Note) Pay attention to use of duplicate node addresses. (2) I/O signal assignments for each axis An I/O signal of each axis consists of 12 bytes of I/O addresses. z Addresses controlled by port numbers are controlled by bit ON/OFF signals.
PLC input address Bytes Upper byte Lower byte 2 bytes = 16 bits 4. SCON-CA 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 4.6.2 “Remote I/O Mode.” The signal assignments for command-current and current-position read functions are shown below. Signal type 32-bit data - PLC input Symbol Command current 32-bit data - Description 32-bit signed integer indicating the current position. The unit is 0.01 mm. (Example) Reading: 000003FFH = 1023 (decimal) = 10.
4. SCON-CA 4.6.6 Position/Simple Direct Mode 2 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 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 4 bytes (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 Bytes Upper byte Lower byte Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Complete position number Status signal 154 PZONE/ ZONE2 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 to 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.
(* 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 to PM512 b15 EMGS b14 PWR b13 CEND Load cell calibration complete: This signal turns ON when the load cell calibration is complete. 4.6.10 (32) b12 ZONE1 Zone 1: The signal is ON when the current position is inside the specified zone. 4.6.10 (12) PLC input 4.
4.6.7 Half Direct Mode 2 (Cannot be used in the 17-byte mode) 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.
4. SCON-CA (2) I/O signal assignments for each axis An I/O signal of each axis consists of 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 4 bytes (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 Bytes Lower byte Upper byte 2 bytes = 16 bits Target position (lower word) 4. SCON-CA Target position (upper word) If the target position is a negative value, it is expressed by a 2’s complement.
PLC input address Bytes Upper byte Lower byte 2 bytes = 16 bits 4. SCON-CA Current position (lower word) Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (lower word) Command current (upper word) Current speed (lower word) Current speed (upper word) If the current 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 4. SCON-CA Push-current limiting value Control signal 162 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. Specify the current-limiting value during push-motion operation.
(* 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 b8 Status signal b7 b6 b5 b4 b3 b2 b1 b0 Description 32-bit signed integer indicating the current position. The unit is 0.01 mm. (Example) Reading: 000003FFH = 1023 (decimal) = 10.
4.6.8 Remote I/O Mode 3 In this mode, load cell data can be read instead of command current values that can be read in remote I/O mode 2. Set desired 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.” 4. SCON-CA The I/O specification of each PIO pattern is shown below. (For details, refer to the operation manual for the controller.) Setting of parameter No.
(1) PLC address configuration Parameter No. 84 SCON-CA DI and input register Port number 0 to 15 PLC output address [Bytes] 5 (Lower byte) 6 (Upper byte) Port number 0 to 15 Current position 7 to 16 Force feedback data PLC input address [Bytes] 5 (Lower byte) 6 (Upper byte) 7 8 9 (Lower byte) 10 (Upper byte) 11 (Lower byte) 12 (Upper byte) 13 (Lower byte) 14 (Upper byte) 15 (Lower byte) 16 (Upper byte) (Note) Pay attention to use of duplicate node addresses.
PLC input address Bytes Lower byte Upper byte 2 bytes = 16 bits 4. SCON-CA 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. Command current (lower word) Command current (upper word) If the current force feedback data 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 4.6.2 “Remote I/O Mode.” The signal assignments for command-current and current-position read functions are shown below. Signal type 32-bit data - PLC input Symbol Force feedback 32-bit data data - Description 32-bit signed integer indicating the current position. The unit is 0.01 mm. (Example) Reading: 000003FFH = 1023 (decimal) = 10.
4.6.9 Half Direct Mode 3 (Cannot be used in the 17-byte mode) 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. 4.
(2) I/O signal assignments for each axis Parameter No.159 setting value 0 1 Speed setting unit 1.0 mm/sec 0.1 mm/sec z The acceleration/deceleration is 2 bytes (16-bit) binary data. Although values from 1 to 300 (unit: 0.01 G) can be handled by the PLC, set a value not exceeding the maximum acceleration and maximum deceleration of the applicable actuator. z The push-current limiting value is 2 bytes (16-bit) binary data.
PLC output address Bytes Upper byte Lower byte 2 bytes = 16 bits Target position (upper word) If the target position is a negative value, it is expressed by a 2’s complement. Positioning band (lower word) Positioning band (upper word) Speed Acceleration/ deceleration Control signal 170 MOD0 Push-current limiting value MOD1 4.
PLC input address Bytes Lower byte Upper byte 2 bytes = 16 bits Current position (lower word) 4. SCON-CA Current position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. Command current (lower word) Command current (upper word) Current speed (lower word) Current speed (upper word) If the current speed is a negative value, it is 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 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 - Description 32-bit signed integer indicating the current position. The unit is 0.01 mm. (Example) Reading: 000003FFH = 1023 (decimal) = 10.23 mm * If this data is read as a hexadecimal, a negative value is indicated by a 2’s complement. 32-bit integer. Command current 32-bit data - The current value of the current command is indicated.
4.6.10 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) 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 4.3 MECHATROLINK Interface) 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 (PLCoSCON-CA) GHMS (SCON-CAoPLC) HEND (SCON-CAoPLC) PEND (SCON-CAoPLC) MOVE (SCON-CA oPLC) 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, w
(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 address.
(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 4. SCON-CA 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 (ZONE2) PLC input signal Position zone (PZONE) PLC input signal 4. SCON-CA 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 address specified by the PLC.
(19) Operation mode (RMOD) Operation mode status (RMDS) PLC output signal 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. 4.
(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 traveled the distance set by the positioning band address in the controller’s position table or PLC’s positioning band during push-motion operation. (For the setting timing of this signal, refer to (2), “Operation in the half direct mode” under 4.8. “Operation”.) (24) Incremental specification (INC) PLC output signal 4.
4. SCON-CA (26) Load Output Judgment (LOAD) PLC Input signal This signal is effective only in push-motion operation. To use the LOAD signal in a press-fit application, whether the load has reached the specified threshold must be detected during push-motion operation. Set the load threshold and certification band on the PLC. When the command torque (motor current) exceeds the threshold within the certification band, this signal turns ON.
(27) Torque Level (TRQS) PLC Input Signal This signal is effective only in push-motion operation. This signal turns ON when the motor current has reached the load threshold during push-motion operation (= the actuator is moving inside the positioning band). Since the current is monitored as level, the ON/OFF status of this signal changes as the current changes.
(28) Absolute Battery Voltage Low Warning (BALM) PLC Input Signal 4. SCON-CA With an absolute system, this signal is OFF when the absolute battery voltage is normal. It remains OFF with an incremental system. This BALM signal turns ON when the absolute battery voltage drops to 3.1 V. If the controller is operated continuously and the voltage drops further to 2.5 V, the controller can no longer retain position information.
(30) Acceleration/Deceleration Mode (MOD1, MOD0) PLC Output Signals These signals are used to select acceleration/deceleration pattern characteristics. Select a desired pattern before issuing an actuator movement command. MOD1 MOD0 Pattern name Remarks OFF OFF Trapezoid pattern Factory setting OFF ON S-motion ON OFF Primary delay filter ON ON Cannot be used. 4. SCON-CA Trapezoid pattern Speed Acceleration Deceleration Time * Set the acceleration and deceleration in the "Acc." or "Dec.
(31) Standstill Mode Selection (ASO0, ASO1) PLC Output Signals 4. SCON-CA 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.
(32) Load Cell Calibration Command (CLBR) PLC Output Signal Load Cell Calibration Complete (CEND) PLC Input Signal Caution: Normal operation commands are not accepted while the CLBR signal is ON. Signal input is recognized continuously for 20 ms*1 Calibration time*2 Turn the CLBR OFF after confirming that the CEND has turned ON. The CEND turns ON when the calibration has completed successfully. If the CLBR is OFF, the CEND remains OFF.
4.7 I/O Signal Timings The maximum response time after a given control signal is turned ON to operate the Actuator using the PLC’s sequence program, until a response (status) signal is turned, is expressed by the formula below: 4. SCON-CA Maximum response time (msec) = Yt + Xt + 2 + Command processing time (operation time, etc.
4.8 Operation Next, timings in the position/simple direct mode 1, 2, half direct mode and full direct mode 1 to 3 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] 4. SCON-CA 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) 194 *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 Operate the actuator by specifying data in the target position register, positioning band register, specified speed register, acceleration/deceleration register and push-current limit specification register. z Example of operation (normal positioning operation) In normal positioning operation, the signal in [6] is set to OFF.
[1] Set value of target position data [2] Set value of positioning band data [3] 4.
(3) 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 in each address 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.
4.9 MECHATROLINK Parameters The parameters relating to MECHATROLINK are parameter Nos. 84 to 87, 90 and 159. Category: C: External interface parameter No. Category Symbol 1 Factory default For parameter Nos. 1 to 83, refer to the operation manual for the controller. ~ 4.
z Fieldbus baud rate (No. 86 FBRS) Specify the baud rate in parameter No. 86. Set value of parameter No. 86 0 1 MECHATROLINK-I 4 Mbps MECHATROLINK-II 10 Mbps MECHATROLINK-II 10 Mbps Data length 17 bytes 17 bytes 32 bytes 4.
4. SCON-CA 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 (2 bytes) including a node address set in the controller and an occupied byte in each operation 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 areas.
(Example ii) Set value = “1” z indicates ON, while O indicates OFF. SCON input register Hexadecimal data 4.
(Example iii) Set value = “2” SCON input register 4. SCON-CA Hexadecimal data PLC: Output Hexadecimal data SCON output register Hexadecimal data PLC: Input Hexadecimal data 202 z indicates ON, while O indicates OFF.
z indicates ON, while O indicates OFF. (Example iv) Set value = “3” SCON input register Hexadecimal data 4. SCON-CA 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.
4.10 Troubleshooting 4. SCON-CA 4.10.1 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 9, 10 bytes. In the half direct mode or full direct mode, an alarm code is output to input address 17, 18 bytes. [1] Check the alarm code using the PLC’s monitor function, etc.
5. 5.1 Flow and Commands of Basic MECHATROLINK Communication Basic Communication Flow The flow (example) when MECHATROLINK communication is performed on intelligent I/O is shown below. Start Send a MDS command from the PLC. [Refer to 5.2.] This step is required only when you want to check the I/O type online. 5. Flow and Commands of Basic MECHATROLINK Communication Send a DISCONNECT command from the PLC. [Refer to 5.4 [5].
5.2 MECHATROLINK Data Link Layer MDS is the only data link layer command supported under the MECHATROLINK communication specification. 5. Flow and Commands of Basic MECHATROLINK Communication MDS command The intelligent I/O slave returns the following responses. 5.3 Byte 0 1 2 3 4 : 15 16 Command MDS (04H) 0 0 0 0 0 0 0 Response S(0)(90H) ID_L(0H) ID_H(80H) 0 0 0 0 0 17 : 31 0 0 0 0 0 0 MECHATROLINK Applied Layer The command format for the MECHATROLINK applied layer is shown below. [Refer to 5.
ALARM Fields One of the following error codes is set according to the communication status. Meaning/Name Description/Cause 00H Normal communication 01H Invalid Command 02H Command Not Allowed 03H Invalid Data Command that cannot be used Command not consistent with the communication phase Data in the command is not valid. y Data outside of the setting range y Data outside of the allowable range y Data that is not supported Transition destination phase STATUS.ALM /.
5.4 Supported Commands Each controller of the MECHATROLINK communication specification supports the commands explained in [1] to [6] below. [1] NOP commands 5. Flow and Commands of Basic MECHATROLINK Communication Command Code Name NOP 00H Command with no instruction This command is to be used for network administration. When this command is sent, the current condition of the slave (ALARM field and STATUS field) is returned.
[2] ALM_RD commands Command Code Name ALM_RD 05H Alarm/warning read commands Command requesting to read the error (alarm) or warning condition. The command reads the code of the error or the warning that is currently present. Field (Signal) name Value 0 1 ALM_RD_MODE ALM_DATA [9 to 0] Description Reads the alarm or the warning that is currently present Reads the error occurrence history Reads up to ten error or warning codes that have been saved 5.
[3] ID_RD commands Command Code Name ID_RD 03H ID read command Command to read the controller ID You can select the ID information based on the DEVICE_CODE value. You can check if the process is completed by checking CMDRDY=1 in the STATUS field or requested ID data. 5. Flow and Commands of Basic MECHATROLINK Communication Field (Signal) name DEVICE_CODE Value 0H 1H 2H FH OFFSET SIZE 47 to 0 8 to 1 Description The product model name (expressed in ASCII) is returned in a response.
[4] CONNECT command Command Code Name CONNECT 0EH Command to connect to the MECHATROLINK network When this command is completed, the phase moves into phase 2 or 3 in which communication is allowed. Use this command to set the communication mode (synchronous or asynchronous communication). The connection is established between the master unit and the specified slave. You can check if the process is completed by checking CMDRDY=1 in the STATUS field.
5.
[5] DISCONNECT command Command Code Name DISCONNECT 0FH Command requesting to disconnect from the MECHATROLINK network Disengages the connection with the master unit. This command is processed first even if other commands are being processed. (The commands that were being processed are stopped.) This command can be received in any phase. You can check if the process is completed by checking CMDRDY=1 in the STATUS field. It is not required to check if the master unit has completed the process.
[6] DATA_RWA command 5. Flow and Commands of Basic MECHATROLINK Communication Command Code DATA_RWA 50H Data read/write command Updates (Transmits) the I/O data.
6. Change History Revision Date May 2009 November 2011 June 2012 First edition Second edition Contents changed in Safety Guide Caution notes added for when working with two or more persons Added Chapter 3, “SCON-CA.” Third edition Contents added and changed in Safety Guide PCON-CA/CFA added 6.
Manual No.: ME0221-4B (November 2012) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
Operation Manual, Fourth Edition ACON-C/CG PCON-C/CG/CA/CFA SCON-CA
