Operation Manual, Fourth Edition ACON-C/CG PCON-C/CG/CA/CFA SCON-C A IAI America Inc.
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD/DVD that comes with the product contains operation manuals for IAI products.
Table of Contents Safety Guide .............................................................................................................................................................1 Handling Precautions................................................................................................................................................8 1. Overview................................................................................................................................................
3.7 3.8 3.9 I/O Signal Timings................................................................................................................................. 141 Operation............................................................................................................................................... 142 EtherCAT® Related Parameters........................................................................................................... 150 4. SCON-CA .....................................
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 Symbol Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
Handling Precautions 1. 8 Registration Table Function Omron’s Master Unit includes the “Registration Table function” that adds only the slaves that are registered in advance to the network. However, this function is only available in the remote I/O mode. * It is not available in remote I/O modes 2 or 3.
1. Overview Each controller is treated as an I/O device on EtherCAT(R). * (Note 1) For further information on EtherCAT(R), refer to the Operation Manuals for the master unit and the programmable controller (PLC) to be mounted. (Note 2) EtherCAT(R) Distribution Clock is not supported and, thus, synchronization control is not available. (Note 3) Connections using products other than Omron’s EtherCAT(R) master are not verified. Connection with any other master unit needs to be verified by each customer.
1. Overview 1.1 EtherCAT(R) Specifications Item Specification Communication standards IEC61158Type12 Physical layer 100BASE-TX (IEEE802.3) Slave type Automatically set to the same value as the baud rate set in the master Refer to EtherCAT(R) specifications (Distance between nodes: 100 m max.
2. ACON-C/CG, PCON-C/CG 2.1 Operation Modes and Functions Operation Modes and Main Functions Remote I/O Mode Position/ Simplified Direct Value Mode Half Direct Value Mode Full Direct Value Mode Remote I/O Mode 2 Number of occupied bytes 2 8 16 32 12 Position Data Setup Operation x {(*1) { { x Velocity and Acceleration Direct Setup x x { { x Pressing Operation { { { { { Current Position Read x { { { { Current Speed Read x x { { x Operation with the Position No.
2. ACON-C/CG, PCON-C/CG [2] Position / Simplified Direct Value Mode: This is the operation mode with the position No. set up. Whether the target position is set directly by means of the changeover of the control signal, or the value registered on the position data is used can be selected. For “Speed”, “Acceleration/Deceleration” and “Positioning Band”, use the values already registered on the position data. The settable No. of position data items is max 768 points.
[4] Full Direct Value Mode: This is the operation method with all the values (“Target Position”, “Speed”, “Acceleration/Deceleration”, etc.) related to the position control set up directly by using the numerical values. Number of occupied bytes: 32 bytes 2. ACON-C/CG, PCON-C/CG Target Position : 100.00mm Positioning Band ; 0.10mm Speed Setup ; 100.0mm/s Acceleration : 0.30G Deceleration : 0.30G Pressing Current Value : 50% Load Current Threshold : 0 Zone + : 50.00mm Zone - : 30.
2.2 Model Numbers The Model numbers of ACON and PCON applicable to EtherCAT(R) are described as follows. 2.
2.3 2.3.1 EtherCAT(R) Interface Names of the Parts 2. ACON-C/CG, PCON-C/CG The names of each section related to EtherCAT(R) are described as follows.
2.3.2 Monitor LED indications 2. ACON-C/CG, PCON-C/CG The slave condition (each controller), as well as network condition, can be checked using the three LEDs, RUN, ERR and Link/Activity, provided on the front panel of the controller. The description of each is explained in the following table.
2.4 Wiring Example 2.4.1 Connection Diagram 2. ACON-C/CG, PCON-C/CG PLC (EtherCAT (R) Master Unit) Ethernet cable* OUT connector Ethernet cable* OUT connector IN connector Ethernet cable* IN connector IN connector ACON㧛PCON Other slaves ACON㧛PCON * Ethernet cable: Straight cable of category 5e or above, 100 m max (Aluminum tape and braided double-shielded cable are recommended.) (Note) Terminal processing is not required. 2.4.
2. ACON-C/CG, PCON-C/CG 2.5 Setting Using the teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the controller to “MANU” side. The versions of teaching tool compatible with EtherCAT(R) are as follows: x RC PC-compatible software :V8.01.01.00 or later x CON-T/TG :V1.10 (Planned) x CON-PT/PD/PG :V1.20 (Planned) x RCM-E/P :V2.20 (Planned) 2.5.1 Operation Mode Selecting Set parameter No. 84 “FMOD: Field Bus Operation Mode.” [Refer to 2.
2.6 Communicating with the Master Station 2.6.1 Operation Modes and Corresponding PLC I/O Areas x PLC Output o ACON/PCON input (* “n” shows the node address of each axis.
x ACON/PCON outputoPLC Input Side (* “n” shows the node address of each axis.) 2.
2.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) Value set in parameter No. 25 0 Positioning mode 1 Teaching mode 2 3 256-point mode 512-point mode 4 Electromagnetic valve mode 1 5 Electromagnetic valve mode 2 Operation Mode 2. ACON-C/CG, PCON-C/CG This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using compatible teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting.
2. ACON-C/CG, PCON-C/CG (1) PLC channel configuration (* “n” shows the node address of each axis.) Parameter No.84 0 ACON/PCON side DI (Port No.) 0 to 15 PLC side output address (bytes) n+0, n+1 ACON/PCON side DO (Port No.) 0 to 15 PLC side input address (bytes) n+0, n+1 (Note) Be careful of using duplicated node addresses. (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (1 word = 2 bytes) and one output word in the I/O areas.
(3) I/O signal assignment The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to Operation Manual for the controller main body for more information.) ACON Category PLC Output ACON Input Signal Name Symbol 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 PC4 Signal Name 256-point mode 2 Port No. Command position No. Symbol Command position No.
ACON 2. ACON-C/CG, PCON-C/CG 512-point mode 3 Category PLC Output ACON Input ACON Output PLC Input Port No. Symbol 0 1 Signal Name Parameter No.
PCON Parameter No. 25 setting Teaching mode 1 Positioning mode 0 PLC Output PCON Input Port No. Symbol 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 3 PC8 PC8 PC8 4 PC16 PC16 PC16 5 PC32 PC32 PC32 6 - MODE Teaching Mode Command PC64 7 - 8 - 9 BKRL 10 Command position No. Unavailable Symbol PC4 Signal Name Command position No. Symbol Signal Name PC4 Command position No.
PCON 2. ACON-C/CG, PCON-C/CG 512-point mode 3 Category PLC Output PCON Input PCON Output PLC Input Port No. Symbol 0 1 Signal Name Parameter No.
2.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8) ROBO cylinder function Home-return operation Positioning operation Speed and acceleration / deceleration setting Pitch feed (inching) Pressing Operation Speed change during the movement Operation at different acceleration and deceleration Pause {:Direct control U:Indirect control x:Disable { { Remarks U U U These items must be set in the position data table.
2. ACON-C/CG, PCON-C/CG (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of four input words (4 words = 8 bytes) and four output words in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2 words (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
PLC input Address (* “n” shows the node address of each axis.) word(1CH) = 2 bytes 11word = 16=16 bits bits 2. ACON-C/CG, PCON-C/CG n+0, n+1 Current Position Current Position (lowerword) word) (lower n+2, n+3 Current Position Current Position (upper word) (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Completed Completed Position No. Position No.
(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) 2. ACON-C/CG, PCON-C/CG Signal Type Bit Target Position 32-bit data Specified position number 16-bit data b15 b14 PLC Output b13 b12 b11 b10 b9 Control signal b8 b7 b6 b5 b4 b3 30 Symbol Contents 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit 32-bit Completed Position No. (Simple alarm code) 16-bit b15 PLC Input b14 Status code Contents Current Position: 32-bit signed Integer. The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal)=10.23mm * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
2.6.4 Half Direct Value Mode (Number of Occupied Bytes: 16) 2. ACON-C/CG, PCON-C/CG This is the operation mode with the target position, positioning band, speed, acceleration/deceleration and pressing current value set up in the PLC. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
(2) I/O Signal Allocation for each Axis Set Value 127 Push-motion current-limiting value z The command current is expressed using 2-word (32 bits) binary data (Unit: 1mA). z The current speed is expressed using 2-word (32 bits) binary data (Unit: 0.01mm/sec). z The alarm code is expressed using 1-word (16 bits) binary data. 33 2. ACON-C/CG, PCON-C/CG The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas.
2. ACON-C/CG, PCON-C/CG PLC output Address (* “n” shows the node address of each axis.) 1 word (1CH) 16 bits 1 word = 2 =bytes =16 bits n+0, n+1 Target Position (lower word) n+2, n+3 Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
PLC input Address (* “n” shows the node address of each axis.) word (1CH) = 2 bytes 11 word = 16=16 bitsbits n+0, n+1 2. ACON-C/CG, PCON-C/CG Current Position (lower word) n+2, n+3 Current Position (upper word) When the Current Position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) PLC Output 2. ACON-C/CG, PCON-C/CG Signal Type 36 Bit Symbol Target Position 32-bit data - Positioning Band 32-bit data - Velocity 16-bit data - Acceleration/ Deceleration 16-bit data - Contents 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type 16-bit data b15 b14 b13 PLC Output b12 Symbol Contents 16-bit integer Specify the current-limiting value to be used during push-motion operation. The allowable specification range is 0 (0%) to 255 (100%). The actual settable range varies depending on each actuator.(Refer to the catalog or Operation Manual for the actuator.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit Symbol Current Position 32-bit data - Command Current 32-bit data - Current Speed 32-bit data - Alarm Code 16-bit data - b15 EMGS b14 PWR PLC Input 2. ACON-C/CG, PCON-C/CG Signal Type Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal) =10.
2.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32) ROBO cylinder function Home-return operation Positioning operation Speed and acceleration / deceleration setting Pitch feed (inching) Pressing Operation Speed change during the movement Operation at different acceleration and deceleration Pause Zone signal output PIO pattern selection (1) 2. ACON-C/CG, PCON-C/CG This is the operation mode with all the values (target position, speed, etc.) set up directly using values from PLC.
(2) I/O Signal Allocation for each Axis 2. ACON-C/CG, PCON-C/CG The I/O signals of each axis consist of one input word (16 words = 32 bytes) and one output word in the I/O areas. z Control signals 1 and 2 and status signals are ON/OFF bit signals. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
PLC output address (* “n” shows the node address of each axis.) 1 word = 2(1CH) bytes ==16 1 word 16 bits bits n+0, n+1 2. ACON-C/CG, PCON-C/CG Target Position (lower word) n+2, n+3 Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
Address (* “n” shows the node address of each axis.) 1 word 16 bits 1 word = 2(1CH) bytes==16 bits n+16, n+17 (lower word) n+18, +n+19 Zone boundary – (upper word) When the zone boundary is shown using the negative figure, it is expressed using the complement of 2. n+20, n+21 Acceleration n+22, n+23 Deceleration n+24, n+25 Pressing Current Limit Value n+26, n+27 Load current threshold ( *3) ( *2 ) ASO0 Control Signal 1 ASO1 n+28, n+29 ( *1 ) 2.
PLC input Address (* “n” shows the node address of each axis.) 1 word (1CH)=16 = 16bits bits 1 word = 2 bytes n+0, n+1 2. ACON-C/CG, PCON-C/CG Current Position (lower word) n+2, n+3 Current Position (upper word) n+4, n+5 When the current position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) 44 Bit Symbol Target Position 32-bit data - Positioning Band 32-bit data - Velocity 32-bit data - Zone boundary+ /Zone boundary– 32-bit data - PLC Output 2. ACON-C/CG, PCON-C/CG Signal Type Contents 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is–999999 to +999999.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Acceleration Symbol 16-bit data - 16-bit data - Pressing Current Limit Value 16-bit data - Load current threshold 16-bit data - Function Details 16-bit integer Specify the acceleration and deceleration at which to move the actuator. The unit is 0.01G and settable range is 1 to 300. (Example) When it is “0.30G”, set it as “30”.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Bit b7 Symbol PCON - 2. ACON-C/CG, PCON-C/CG b6 b5 b4 - Function Unavailable - Unavailable - b3 INC b2 DIR b1 PUSH b0 - Incremental Command: Absolute position commands are issued when this signal is OFF, and incremental position commands are issued when the signal is ON.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Contents Details - Command Current 32-bit data - Current Speed 32-bit data - Alarm Code 16-bit data - b15 EMGS b14 PWR Controller ready : This signal turns ON when the controller becomes ready. 2.6.7 (1) b13 ZONE2 Zone 2:“ON” for the current position within the zone set range 2.6.
2. ACON-C/CG, PCON-C/CG 2.6.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using the teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available. The features of each PIO pattern are shown below.
(1) PLC address configuration (* “n” shows the node address of each axis.) Parameter No.84 Port No.0 to 15 4 Occupied area ACON/PCON side DO and output register Port No.0 to 15 Occupied area Current Position Command Current PLC side input address (bytes) n, n+1 n+2, n+3 n+4, n+5 n+6, n+7 n+8, n+9 n+10, n+11 (Note) The areas denoted by Occupied area cannot be used for any other purpose. Also, exercise caution to avoid node address duplication.
PLC input Address (* “n” shows the node address of each axis.) 2. ACON-C/CG, PCON-C/CG 11word = 16=16 bits bits word(1CH) = 2 bytes n+0, n+1 Controller output port number n+2, n+3 Unavailable n+4, n+5 Current Position (lower word) n+6, n+7 Current Position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 2.6.2 (3). PLC Input 51 2. ACON-C/CG, PCON-C/CG The signal allocation for the Command Current and Current Position, is shown in the following table. Signal Type Bit Symbol Contents Details 32-bit signed integer indicating the current position The setting unit is 0.01mm. Current (Example) Reading:000003FFH=1023 (decimal) 32-bit data =10.
2. ACON-C/CG, PCON-C/CG 2.6.7 I/O Signal Controls and Function * ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the Position/Simplified Direct Value Mode, Half Direct Value Mode and Full Direct Value Mode, are described as follows. For the I/O signals for the Remote I/O Mode and Remote I/O Mode 2, refer to the Operation Manual for the controller main body.
(5) Servo ON Command (SON) PLC output signal Operation preparation end (SV) PLC input signal 53 2. ACON-C/CG, PCON-C/CG When the SON signal is turned ON, the servo will turn ON. When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON, the Status Indicator LED (Refer to 2.3, "EtherCAT(R) Interface”) on the front surface of the controller illuminates in green. The “SV” signal is synchronized with this LED.
(6) Home return (HOME) PLC output signal Home return completion (HEND) PLC input signal Under Home return Operation (GHMS) PLC input signal 2. ACON-C/CG, PCON-C/CG When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the home return operation is performed automatically. During the home return operation, the “GHMS” signal is turned “ON”. When the “HEND” signal is turned “ON”, turn “OFF” the “HOME” signal.
(7) Positioning Start (CSTR):Used in the position/simple direct mode PLC output signal When this signal is issued in the condition where the home return operation has not performed at all after the power injection (HEND signal OFF), the positioning to the target position is performed after the home return operation is performed automatically. Turn “OFF” this signal after confirming that the Positioning Completion Signal (HEND) signal has been turned “OFF”.
(10) Positioning completion signal (PEND) PLC input signal 2. ACON-C/CG, PCON-C/CG This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed. Timing at which the position complete signal turns ON Target Position Velocity Travel Time Positioning Width When the servo-motor is turned ON from OFF condition, the positioning is performed with the position set as the target position.
(12) Zone 1 (ZONE1) Zone 2 (ZONE2) Position zone (PZONE) PLC input signal PLC input signal PLC input signal [1] Zone 1, Zone 2 The zone is set using the user parameters. The Zone 1 Signal is set using the parameter No. 1 “Zone Boundary 1 “+” Side” and No. 2 “Zone Boundary 1 “–“ Side”. The Zone 2 Signal is set using the parameter No. 23 “Zone Boundary 2 “+” Side” and No. 24 “Zone Boundary 2 “–“ Side”. The Zone 1 Signal and Zone 2 Signal become effective when the home return operation is completed.
(13) +Jog (JOG+) –Jog (JOG–) PLC output signal PLC output signal 2. ACON-C/CG, PCON-C/CG This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home. [1] Jog operation Jog operation can be performed when the jog/inch switching (JISL) signal is OFF.
(14) Jog-speed/inch-distance switching (JVEL) PLC output signal This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. The relationship is as follows. Jog operation: JISL=OFF OFF Parameter No. 26, “Jog speed” ON Parameter No. 47, “Jog speed 2” (15) Job/inch switching (JISL) Inch operation: JISL=ON Parameter No. 26, “Jog speed” Parameter No. 48, “Inch distance” Parameter No.
2. ACON-C/CG, PCON-C/CG (16) Teaching Mode Command (MODE) PLC output signal Teaching mode Signal (MODES) PLC input signal When the MODE signal is turned “ON”, the normal operation mode is changed to the teaching mode. When the mode for the controllers for each actuator is changed to the teaching mode, the MODES signal is turned ON. After confirming that the MODES signal is turned “ON” on the PLC side, start the teaching operation.
(19) Operating mode selector (RMOD) PLC output signal Operation Mode Status (RMDS) PLC input signal Controller MODE Controller MODE Switch = AUTO Switch = MANU RMOD signal = OFF AUTO mode MANU mode (AUTO mode is specified) (RMDS=OFF) (RMDS=ON) RMOD signal = ON MANU mode MANU mode (MANU mode is specified) (RMDS=ON) (RMDS=ON) (Note) In MANU mode, the startup of the operation from PLC is not available.
2. ACON-C/CG, PCON-C/CG (23) Pressing and a Miss (PSFL) PLC input signal In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning band or set using the PLC's positioning band register, but it was not pushed against the work part, this signal is turned “ON”. (Refer to Item (2) Operation in Half Direct Value Mode in “2.
(26) Load output judgment (LOAD) PLC input signal Dedicated PCON function Position where this signal is turned ON when the command torque exceeds the threshold within the torque inspected width range Velocity 2. ACON-C/CG, PCON-C/CG This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be know whether if the set load threshold is reached during the pressing operation.
(27) Torque level (TRQS) PLC input signal Dedicated PCON function 2. ACON-C/CG, PCON-C/CG This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning band), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”.
(28) Stopping control mode (SMOD) PLC output signal Dedicated PCON function x Full-servo control mode By means of servo control of the pulse motor, the holding current can be reduced. The reduction level varies depending on the actuator type or load conditions. However, generally, the holding current will be 1/2 to 1/4. The actual holding current can be confirmed in the current monitor window in the PC software.
(29) Acceleration/deceleration mode (MOD1䇮MOD0) PLC output signal Dedicated ACON function 2. ACON-C/CG, PCON-C/CG This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command.
First-Order Lag Filter This describes much gentle acceleration/deceleration curve than that for the linear acceleration/deceleration (trapezoid pattern). Use it when it is not desired to give any slight vibration to the work part in acceleration/deceleration operation. Velocity Time * The first-order lag degree set using the parameter No. 55 “Position Command Primary Filter Time Constant”. The minimum input unit is 0.1msec and setting range is from “0.0” to “100.0”.
(30) Stop Mode Selection (ASO1, ASO0) PLC Output Signal 2. ACON-C/CG, PCON-C/CG Select the stop mode for the duration before the movement to the next position after a positioning is completed. If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption. Refer to the 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.
2.7 I/O Signal Timings When any of the control signal is turned ON to perform the operation of the robot cylinder using the PLC's sequence program, the response (status) is returned to the PLC. The maximum response time is expressed using the following formula. 2. ACON-C/CG, PCON-C/CG Maximum response time (msec)㧩Yt+xt+3+ command processing time (operation time, etc.
2. ACON-C/CG, PCON-C/CG 2.8 Operation The timings for the basic operation examples in the Position/Simplified Direct Value Mode, Half Direct Value Mode and Full Direct Value Mode, are described. For the Remote I/O Mode and Remote I/O Mode 2, refer to the Operation Manual for the controller main body. (In remote I/O mode 2, read the current position and current speed from the respective byte of the PLC, as deemed appropriate.
[1] Set value of target position data 2. ACON-C/CG, PCON-C/CG [2] Specified position number *T1 Positioning Start [3] [4] *tdpf [5] Positioning completion [7] Current Position [6] Moving Positioning Width Actuator movement *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
(2) Operation in the half direction mode 2. ACON-C/CG, PCON-C/CG It is operated with the data set in the PLC's target position register, positioning band register, setup speed register, acceleration/deceleration register and pressing current limit setup register. z Example of operation (Pressing Operation) [1] Set the target position data in the target position register. [2] Set the positioning band data in the positioning band register. [3] Set the speed data to the speed resister.
[1] Set value of target position data [2] 2.
(3) Operation in the full direct mode 2. ACON-C/CG, PCON-C/CG The actuator is operated by specifying all conditions required for positioning such as the target position resister and positioning band resister of the PLC. z Example of operation (Pressing Operation) [1] Set the target position data in the target position register. [2] Set the positioning band data in the positioning band register. [3] Set the speed data to the speed resister.
[1] Set value of target position data 2.
[9] 2. ACON-C/CG, PCON-C/CG Push-motion specification [10] Push direction specification *T1 [17] Positioning command [11] *tdpf [12] [13] Positioning completion / Pressing and a Miss [16] Current Position [15] [14] Moving Actuator operation (Pressing) Pressing Positioning Width Actuator operation (Normal positioning) *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
(4) Data change during movement Set value of speed or acceleration/ deceleration [1] [2] [3] Velocity n3 Velocity n2 Actuator speed twcsON Yt㧗xt㧗3(msec) twcsOFF Yt㧗xt㧗3(msec) *Yt㧗xt tpdf Yt㧗xt㧗3(msec) Caution 1. When the speed has not been set or it is set to “0”, the actuator is not moved, but an alarm is not issued. 2. When the speed setting is changed to “0” during the movement, the actuator is decelerated and stopped, but an alarm is not issued. 3.
2.9 EtherCAT(R) Related Parameters Parameters relating to EtherCAT(R) are No. 84 to No. 87 and No. 90. 2. ACON-C/CG, PCON-C/CG Category: C :External interface parameter No. Category Symbol 1 Default Value set in the Factory before Delivery Refer to Operation Manual for the controller for the parameters No. 1 through No. 83.
z Network type (No.87 NTYP) The network module type is set for the parameter No. 87. Do not change the default value. Value set in parameter No. 90 2. ACON-C/CG, PCON-C/CG z Field I/O format (No.90 FMIO) Addresses in the PLC are assigned in units of 16 points (2 bytes) based on the node address set in the controller and the occupied bytes in each operation mode. By changing the setting of parameter No.
(Example ii) Set value = “1” 2. ACON-C/CG, PCON-C/CG Input resister Hexadecimal data Output CH Hexadecimal data Output resister Hexadecimal data Input CH Hexadecimal data 80 indicates ON, while indicates OFF.
(Example iii) Set value = “2” indicates ON, while indicates OFF. 2.
(Example iv) Set value = “3” 2. ACON-C/CG, PCON-C/CG Input resister Hexadecimal data Output CH Hexadecimal data Output resister Hexadecimal data Input CH Hexadecimal data 82 indicates ON, while indicates OFF.
3. PCON-CA/CFA 3.1 Operation Modes and Functions PCON-CA/CFA applicable to EtherCAT(R) can be operated by means of selecting one mode out of the following five operation modes.
3. SCON-CA/CFA [2] Position / Simplified Direct Value Mode: This is the operation mode with the position No. set up. Whether the target position is set directly by means of the changeover of the control signal, or the value registered on the position data is used can be selected. For “Speed”, “Acceleration/Deceleration” and “Positioning Band”, use the values already registered on the position data. The settable No. of position data items is max 768 points.
[4] Full Direct Value Mode: This is the operation method with all the values (“Target Position”, “Speed”, “Acceleration/Deceleration”, etc.) related to the position control set up directly by using the numerical values. Number of occupied bytes: 32 bytes PCON-CA/CFA applicable to EtherCAT(R) 3. SCON-CA/CFA Target Position : 100.00mm Positioning Band ; 0.10mm Speed Setup ; 100.0mm/s Acceleration : 0.30G Deceleration : 0.30G Pressing Current Value : 50% Load Current Threshold : 0 Zone + : 50.
3.2 Model Numbers The Model numbers of PCON-CA/CFA applicable to EtherCAT(R) are described as follows. 3.
3.3 3.3.1 EtherCAT(R) Interface Names of the Parts The names of each section related to EtherCAT(R) are described as follows. 3.
3.3.2 Monitor LED indications The slave condition (each controller), as well as network condition, can be checked using the three LEDs, RUN, ERR and Link/Activity, provided on the front panel of the controller. The description of each is explained in the following table. { : Illuminating, X : OFF, ڏ: Flashing 3.
3.4 Wiring Example 3.4.1 Connection Diagram PLC (EtherCAT (R) Master Unit) 3. SCON-CA/CFA Ethernet cable* OUT connector Ethernet cable* OUT connector IN connector Ethernet cable* IN connector IN connector PCON-CA/CFA Other slaves PCON-C/CG * Ethernet cable: Straight cable of category 5e or above, 100 m max (Aluminum tape and braided double-shielded cable are recommended.) (Note) Terminal processing is not required. 3.4.
3.5 Setting Using the teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the controller to “MANU” side. Refer to the instruction manual for each teaching tool for the applicable version of the teaching tool that can be applied to EtherCAT. 3. SCON-CA/CFA 3.5.1 Operation Mode Selecting Set parameter No. 84 “FMOD: Field Bus Operation Mode.” [Refer to 3.9 EtherCAT(R) Related Parameters.] * 3.5.
3.6 Communicating with the Master Station 3.6.1 Operation Modes and Corresponding PLC I/O Areas The channels allocated for each operation mode are described as follows.
x PCON-CA/CFA outputoPLC Input Side (* “n” shows the node address of each axis.) DO on the PCON-CA/CFA side and Output Data Register 3.
3.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using compatible teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. The I/O specifications for the PIO pattern are described as follows.(Refer to Operation Manual for the controller main body for more information.
(1) PLC channel configuration (* “n” shows the node address of each axis.) Parameter No.84 0 PCON-CA/CFA side DI (Port No.) 0 to 15 PLC side output address (bytes) n+0, n+1 PCON-CA/CFA side DO (Port No.) 0 to 15 PLC side input address (bytes) n+0, n+1 3. SCON-CA/CFA (Note) Be careful of using duplicated node addresses. (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input word (1 word = 2 bytes) and one output word in the I/O areas.
(3) I/O signal assignment The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to Operation Manual for the controller main body for more information.) Parameter No. 25 setting Teaching mode 1 Positioning mode 0 Category Port No. Symbol 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 3 PC8 PC8 PC8 4 PC16 PC16 PC16 5 PC32 PC32 PC32 6 - MODE Teaching Mode Command PC64 7 - 8 - 9 BKRL 10 Unavailable PC4 Signal Name Command position No.
512-point mode 3 3. SCON-CA/CFA Category PLC Output PCONCA/CFA Input PCONCA/CFA Output PLC Input Port No. Symbol 0 Signal Name Parameter No.
3.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8) ROBO cylinder function Home-return operation Positioning operation Speed and acceleration / deceleration setting Pitch feed (inching) Pressing Operation Speed change during the movement Operation at different acceleration and deceleration Pause {:Direct control U:Indirect control x:Disable { { Remarks U U U These items must be set in the position data table.
3. SCON-CA/CFA (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of four input words (4 words = 8 bytes) and four output words in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2 words (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
PLC input Address (* “n” shows the node address of each axis.) word(1CH) = 2 bytes 11word = 16=16 bits bits n+0, n+1 3. SCON-CA/CFA Current Position Current Position (lowerword) word) (lower n+2, n+3 Current Position Current Position (upper word) (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Completed Completed Position No. Position No.
(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) 3. SCON-CA/CFA Signal Type Bit Target Position 32-bit data Specified position number 16-bit data b15 b14 PLC Output b13 b12 b11 b10 b9 Control signal b8 b7 b6 b5 b4 b3 100 Symbol Contents 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.40mm”, set it as “2540”.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit 32-bit Completed Position No. (Simple alarm code) 16-bit b15 PLC Input b14 Status code Contents Current Position: 32-bit signed Integer. The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal)=10.23mm * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
3.6.4 Half Direct Value Mode (Number of Occupied Bytes: 16) 3. SCON-CA/CFA This is the operation mode with the target position, positioning band, speed, acceleration/deceleration and pressing current value set up in the PLC. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
(2) I/O Signal Allocation for each Axis Set Value 127 Push-motion current-limiting value z The command current is expressed using 2-word (32 bits) binary data (Unit: 1mA). z The current speed is expressed using 2-word (32 bits) binary data (Unit: 0.01mm/sec). z The alarm code is expressed using 1-word (16 bits) binary data. 103 3. SCON-CA/CFA The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas.
3. SCON-CA/CFA PLC output Address (* “n” shows the node address of each axis.) 1 word (1CH) 16 bits 1 word = 2 =bytes =16 bits n+0, n+1 Target Position (lower word) n+2, n+3 Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
PLC input Address (* “n” shows the node address of each axis.) word (1CH) = 2 bytes 11 word = 16=16 bitsbits n+0, n+1 3. SCON-CA/CFA Current Position (lower word) n+2, n+3 Current Position (upper word) When the Current Position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit Symbol Target Position 32-bit data - Positioning Band 32-bit data - Velocity 16-bit data - Acceleration/ Deceleration 16-bit data - PLC Output 3. SCON-CA/CFA Signal Type 106 Contents 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type 16-bit data b15 b14 b13 PLC Output b12 Symbol Contents 16-bit integer Specify the current-limiting value to be used during push-motion operation. The allowable specification range is 0 (0%) to 255 (100%). The actual settable range varies depending on each actuator.(Refer to the catalog or Operation Manual for the actuator.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit Symbol Current Position 32-bit data - Command Current 32-bit data - Current Speed 32-bit data - Alarm Code 16-bit data - b15 EMGS b14 PWR PLC Input 3. SCON-CA/CFA Signal Type Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal) =10.
3.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32) This is the operation mode with all the values (target position, speed, etc.) set up directly using values from PLC. Set each value in the I/O area. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
(2) I/O Signal Allocation for each Axis 3. SCON-CA/CFA The I/O signals of each axis consist of one input word (16 words = 32 bytes) and one output word in the I/O areas. z Control signals 1 and 2 and status signals are ON/OFF bit signals. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
PLC output address (* “n” shows the node address of each axis.) 1 word = 2(1CH) bytes ==16 1 word 16 bits bits n+0, n+1 3. SCON-CA/CFA Target Position (lower word) n+2, n+3 Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
Address (* “n” shows the node address of each axis.) 1 word 16 bits 1 word = 2(1CH) bytes==16 bits n+16, n+17 Zone boundary – n+18, n+19 Zone boundary – (upper word) When the zone boundary is shown using the negative figure, it is expressed using the complement of 2.
PLC input Address (* “n” shows the node address of each axis.) 1 word (1CH)=16 = 16bits bits 1 word = 2 bytes n+0, n+1 Current Position (lower word) 3. SCON-CA/CFA n+2, n+3 Current Position (upper word) n+4, n+5 When the current position is shown using the negative figure, it is expressed using the complement of 2.
Address (* “n” shows the node address of each axis.
(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol - Positioning Band 32-bit data - Velocity 32-bit data - Zone boundary+ /Zone boundary– 32-bit data - PLC Output 32-bit data 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is–999999 to +999999. (Examle) When it is “+25.41mm”, set it as “2541”.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address 3. SCON-CA/CFA Acceleration Deceleration Bit Symbol 16-bit data - 16-bit data - Pressing Current Limit Value 16-bit data - Load current threshold 16-bit data - Function Details 16-bit integer Specify the acceleration and deceleration at which to move the actuator. The unit is 0.01G and settable range is 1 to 300. (Example) When it is “0.30G”, set it as “30”.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Bit Symbol DIR b1 PUSH b0 - b15 BKRL b14 RMOD Control Signal 1 Unavailable Forced brake release: When it is turned ON, the brake is released Operating mode selector: The AUTO mode is selected when this signal is OFF, and the MANU mode is selected when the signal is ON. Details 3.6.7 (22) 3.6.7 (21) 3.6.7 (18) 3.6.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) PLC Input 3. SCON-CA/CFA Signal Type Bit Symbol Current Position 32-bit data - Command Current 32-bit data - Current Speed 32-bit data - Alarm Code 16-bit data - Total moving count Total moving distance 32-bit Data 32-bit Data b15 - Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal) =10.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit Symbol Contents Details b15 EMGS Emergency stop: An emergency stop is actuated when this signal turns ON. 3.6.7 (2) b14 PWR Controller ready : This signal turns ON when the controller becomes ready. 3.6.7 (1) b13 ZONE2 Zone 2:“ON” for the current position within the zone set range 3.6.7 (12) b12 ZONE1 3.6.
3. SCON-CA/CFA 3.6.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using the teaching tools. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available. The features of each PIO pattern are shown below.
(1) PLC address configuration (* “n” shows the node address of each axis.) Parameter No.84 Port No.0 to 15 4 Occupied area PCON-CA/CFA side DO and output register Port No.0 to 15 Occupied area Current Position Command Current PLC side input address (bytes) n, n+1 n+2, n+3 n+4, n+5 n+6, n+7 n+8, n+9 n+10, n+11 (Note) The areas denoted by Occupied area cannot be used for any other purpose. Also, exercise caution to avoid node address duplication.
PLC input Address (* “n” shows the node address of each axis.) 11word = 16=16 bits bits word(1CH) = 2 bytes 3. SCON-CA/CFA n+0, n+1 Controller output port number n+2, n+3 Unavailable n+4, n+5 Current Position (lower word) n+6, n+7 Current Position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment For the signal assignments corresponding to each PIO pattern, refer to the I/O signal assignments for the remote I/O mode explained in 3.6.2 (3). PLC Input 123 3. SCON-CA/CFA The signal allocation for the Command Current and Current Position, is shown in the following table. Signal Type Bit Symbol Contents Details 32-bit signed integer indicating the current position The setting unit is 0.01mm. Current (Example) Reading:000003FFH=1023 (decimal) 32-bit data =10.
3.6.7 I/O Signal Controls and Function 3. SCON-CA/CFA * ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the Position/Simplified Direct Value Mode, Half Direct Value Mode and Full Direct Value Mode, are described as follows. For the I/O signals for the Remote I/O Mode and Remote I/O Mode 2, refer to the Operation Manual for the controller main body.
(5) Servo ON Command (SON) PLC output signal Operation preparation end (SV) PLC input signal +(' ? (' +. (' ? 125 3. SCON-CA/CFA When the SON signal is turned ON, the servo will turn ON. When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON, the Status Indicator LED (Refer to 3.3, "EtherCAT(R) Interface”) on the front surface of the controller illuminates in green. The “SV” signal is synchronized with this LED.
(6) Home return (HOME) PLC output signal Home return completion (HEND) PLC input signal Under Home return Operation (GHMS) PLC input signal 3. SCON-CA/CFA When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the home return operation is performed automatically. During the home return operation, the “GHMS” signal is turned “ON”. When the “HEND” signal is turned “ON”, turn “OFF” the “HOME” signal.
(7) Positioning Start (CSTR):Used in the position/simple direct mode PLC output signal When this signal is issued in the condition where the home return operation has not performed at all after the power injection (HEND signal OFF), the positioning to the target position is performed after the home return operation is performed automatically. Turn “OFF” this signal after confirming that the Positioning Completion Signal (HEND) signal has been turned “OFF”.
(10) Positioning completion signal (PEND) PLC input signal This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed. Timing at which the position complete signal turns ON Target Position 3. SCON-CA/CFA Velocity Travel Time Positioning Width When the servo-motor is turned ON from OFF condition, the positioning is performed with the position set as the target position.
(12) Zone 1 (ZONE1) Zone 2 (ZONE2) Position zone (PZONE) PLC input signal PLC input signal PLC input signal These signals are turned ON when the current position of the actuator is within the set area and turned OFF when the current position is out of the set area. [2] Position zone Each zone is set in the position table or using the zone boundary resister. In the case of the Position/Simplified Direct Value Mode, the PZONE signal is set using the position table.
(13) +Jog (JOG+) –Jog (JOG–) PLC output signal PLC output signal This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home. 3. SCON-CA/CFA [1] Jog operation Jog operation can be performed when the jog/inch switching (JISL) signal is OFF.
(14) Jog-speed/inch-distance switching (JVEL) PLC output signal This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. The relationship is as follows. Controller ready Jog operation: JISL=OFF Parameter No. 26, “Jog speed” ON Parameter No. 47, “Jog speed 2” (15) Job/inch switching (JISL) 3. SCON-CA/CFA OFF Inch operation: JISL=ON Parameter No. 26, “Jog speed” Parameter No.
(16) Teaching Mode Command (MODE) PLC output signal Teaching mode Signal (MODES) PLC input signal 3. SCON-CA/CFA When the MODE signal is turned “ON”, the normal operation mode is changed to the teaching mode. When the mode for the controllers for each actuator is changed to the teaching mode, the MODES signal is turned ON. After confirming that the MODES signal is turned “ON” on the PLC side, start the teaching operation.
(19) Operating mode selector (RMOD) PLC output signal Operation Mode Status (RMDS) PLC input signal Controller MODE Controller MODE Switch = AUTO Switch = MANU RMOD signal = OFF AUTO mode MANU mode (AUTO mode is specified) (RMDS=OFF) (RMDS=ON) RMOD signal = ON MANU mode MANU mode (MANU mode is specified) (RMDS=ON) (RMDS=ON) (Note) In MANU mode, the startup of the operation from PLC is not available.
(23) Pressing and a Miss (PSFL) PLC input signal 3. SCON-CA/CFA In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning band or set using the PLC's positioning band register, but it was not pushed against the work part, this signal is turned “ON”. (Refer to Item (2) Operation in Half Direct Value Mode in “3.
(26) Load output judgment (LOAD) PLC input signal Position where this signal is turned ON when the command torque exceeds the threshold within the torque inspected width range Velocity Position where the actuator is pushed against the work and the pressing completion is judged so the positioning completion signal is turned "ON" Check range Travel Positioning Width (Max. Pressing Level) Target Position x Set the pressing speed using the parameter No. 34 “Pressing Speed”.
(27) Torque level (TRQS) PLC input signal 3. SCON-CA/CFA This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning band), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”. The velocity available for the pressing varies depends on the motor and leads, it is required to adjust the parameters.
(28) Stopping control mode (SMOD) PLC output signal One of the pulse motor general characteristics is that that the holding current in the stop mode is larger than that for the AC servo-motor. Because of this, when the stop time is longer at the standby position, the measure to reduce the power consumption at the stop mode is taken as one of the energy saving measures. SMOD=ON :Full Servo Control System is used in the standby condition. SMOD=OFF: Standby condition 3.
(29) Acceleration/deceleration mode (MOD1䇮MOD0) PLC output signal 3. SCON-CA/CFA This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command.
First-Order Lag Filter This describes much gentle acceleration/deceleration curve than that for the linear acceleration/deceleration (trapezoid pattern). Use it when it is not desired to give any slight vibration to the work part in acceleration/deceleration operation. Velocity Time * The first-order lag degree set using the parameter No. 55 “Position Command Primary Filter Time Constant”. The minimum input unit is 0.1msec and setting range is from “0.0” to “100.0”.
(30) Stop Mode Selection (ASO1, ASO0) PLC Output Signal 3. SCON-CA/CFA Select the stop mode for the duration before the movement to the next position after a positioning is completed. If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption. Refer to the operation manual for the controller for more information. ASO1 OFF ASO0 OFF OFF ON ON OFF ON ON Function Disabled Automatic Servo OFF Method Parameter No.
3.7 I/O Signal Timings When any of the control signal is turned ON to perform the operation of the robot cylinder using the PLC's sequence program, the response (status) is returned to the PLC. The maximum response time is expressed using the following formula. Master Station For the master station slave transmission delay (Yt) and slave master station transmission delay (xt), refer to the Operation Manuals for the EtherCAT(R) master unit and PLC installed in the master unit.
3. SCON-CA/CFA 3.8 Operation The timings for the basic operation examples in the Position/Simplified Direct Value Mode, Half Direct Value Mode and Full Direct Value Mode, are described. For the Remote I/O Mode and Remote I/O Mode 2, refer to the operation manual for the controller main body. (In remote I/O mode 2, read the current position and current speed from the respective byte of the PLC, as deemed appropriate.
[1] Set value of target position data (PLC o PCON) [2] 3. SCON-CA/CFA Specified position number (PLC o PCON) *T1 Positioning Start [3] (PLC o PCON) [4] *tdpf [5] Positioning completion (PCON o PLC) [7] Current Position (PCON o PLC) [6] Moving (PCON o PLC) Positioning Width Actuator movement *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
(2) Operation in the half direction mode 3. SCON-CA/CFA It is operated with the data set in the PLC's target position register, positioning band register, setup speed register, acceleration/deceleration register and pressing current limit setup register. z Example of operation (Pressing Operation) [1] Set the target position data in the target position register. [2] Set the positioning band data in the positioning band register. [3] Set the speed data to the speed resister.
[1] Set value of target position data (PLC o PCON) [2] Set value of positioning band data (PLC o PCON) 3.
(3) Operation in the full direct mode 3. SCON-CA/CFA The actuator is operated by specifying all conditions required for positioning such as the target position resister and positioning band resister of the PLC. z Example of operation (Pressing Operation) [1] Set the target position data in the target position register. [2] Set the positioning band data in the positioning band register. [3] Set the speed data to the speed resister.
[1] Set value of target position data (PLC o PCON) [2] 3.
[9] Push-motion specification (PLC o PCON) 3. SCON-CA/CFA [10] Push direction specification (PLC o PCON) *T1 [17] Positioning command [11] (PLC o PCON) *tdpf [12] [13] Positioning completion / Pressing and a Miss [16] (PCON o PLC) Current Position (PCON o PLC) [15] [14] Moving (PCON o PLC) Actuator operation (Pressing) Pressing Positioning Width Actuator operation (Normal positioning) *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
(4) Data change during movement Set value of speed or acceleration/ deceleration [1] (PLC o PCON) [2] [3] (PLC o PCON) (PCON o PLC) (PCON o PLC) Velocity n3 Velocity n2 Actuator speed twcsON Yt㧗xt㧗3(msec) twcsOFF Yt㧗xt㧗3(msec) *Yt㧗xt tpdf Yt㧗xt㧗3(msec) Caution 1. When the speed has not been set or it is set to “0”, the actuator is not moved, but an alarm is not issued. 2.
3.9 EtherCAT® Related Parameters Parameters relating to EtherCAT® are No. 84 to No. 87 and No. 90. Category: C :External interface parameter 3. SCON-CA/CFA No. Category Symbol 1 Default Value set in the Factory before Delivery Refer to Operation Manual for the controller for the parameters No. 1 through No. 83.
z Field bus baud rate (No.86 FBRS) The baud rate is automatically set to the same value as the baud rate set in the master. Accordingly, you do not need to set the baud rate. z Network type (No.87 NTYP) The network module type is set for the parameter No. 87. Do not change the default value. Value set in parameter No. 90 Contents Data exchange is not performed. The data is sent directly to the PLC. (Refer to “Example i”.) The host bytes are exchanged with slave bytes in the host words and 1 slave words.
(Example ii) Set value = “1” PCON Input register Input resister 3. SCON-CA/CFA Hexadecimal data Output CH Hexadecimal data PCON Output register Output resister Hexadecimal data Input CH Hexadecimal data 152 indicates ON, while indicates OFF.
(Example iii) Set value = “2” indicates ON, while indicates OFF. PCON Input register Input resister 3.
(Example iv) Set value = “3” indicates ON, while indicates OFF. PCON Input register Input resister 3. SCON-CA/CFA Hexadecimal data Output CH Hexadecimal data PCON Output register Output resister Hexadecimal data Input CH 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 Speed Setting Unit Value 0 (Set in delivery) 1mm/sec 1 0.
4. SCON-CA 4.1 Operation Modes and Functions SCON-CA controllers supporting EtherCAT(R) can be operated in a desired operation mode selected from the following nine 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.
[4] Full direct mode: In this mode, the actuator is operated by specifying all values relating to position control (target position, speed, acceleration/deceleration, etc.) directly as values. Number of occupied bytes: 32 bytes 4. SCON-CA Target position: 100.00 mm Positioning band: 0.10 mm Speed specification: 100.0 mm/sec Acceleration: 0.30 G Deceleration: 0.30 G 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 4.
[9] 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 + (' =<<; 7:5 " 6 , * 4.
4.2 Model Numbers The model numbers of SCON-CA controller supporting EtherCAT(R) are indicated as follows, respectively: 4.
4.3 EtherCAT(R) Interface 4.3.1 Names of the Parts The names of each section related to EtherCAT(R) are described as follows. 4.
4.3.2 Monitor LED indications The slave condition (each controller), as well as network condition, can be checked using the three LEDs, RUN, ERR and Link/Activity, provided on the front panel of the controller. The description of each is explained in the following table. Display color Name 4.
4.4 Wiring Example 4.4.1 Connection Diagram PLC (EtherCAT(R) Master Unit) 4. SCON-CA Ethernet cable* OUT connector Ethernet cable* OUT connector Ethernet cable* IN connector IN connector IN connector Other slaves SCON-CA SCON-CA * Ethernet cable: Straight cable of category 5e or above, 100 m max ` (Aluminum tape and braided double-shielded cable are recommended.) (Note) Terminal processing is not required. 4.4.
4.5 Setting Using the teaching tool, set controller parameters. Set the mode toggle switch on the front panel of the controller to “MANU” side. The versions of teaching tool compatible with EtherCAT(R) are as follows: x RC PC-compatible software :V8.01.01.00 or later x CON-T/TG :V1.10 (Planned) x CON-PT/PD/PG :V1.20 (Planned) x RCM-E/P :V2.20 (Planned) Operation Mode Selecting 4. SCON-CA 4.5.1 Set parameter No. 84 “FMOD: Field Bus Operation Mode.” [Refer to 4.9 EtherCAT(R) Related Parameters.
4.6 Communicating with the Master Station 4.6.1 Operation Modes and Corresponding PLC I/O Areas The channels allocated for each operation mode are described as follows. x PLC Output o SCON-CA input (* “n” shows the node address of each axis.
x PLC output o SCON-CA Input Side (* “n” shows the node address of each axis.) DO on the SCON-CA side and Output Data Register 4.
x SCON-CA output o PLC input (* “n” shows the node address of each axis.
x SCON-CA outputoPLC Input Side (* “n” shows the node address of each axis.) DO on the SCON-CA side and Output Data Register PLC input area (bytes) 4.
4.6.2 Remote I/O Mode (Number of Occupied Bytes: 2) This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using the teaching tools such as PC software. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. The I/O specifications for the PIO pattern are described as follows.(Refer to Operation Manual for the controller main body for more information.
(1) PLC address configuration (* “n” shows the node address of each axis.) Parameter No.84 0 SCON-CA side DI(Port No.) 0 to 15 PLC side output address (bytes) n+0, n+1 SCON-CA side DO(Port No.) 0 to 15 PLC side input address (bytes) n+0, n+1 (Note) Be careful of using duplicated node addresses. 4. SCON-CA (2) I/O Signal Allocation for each Axis The I/O signals of each axis consist of one input (1 word=2 bytes) and one output word (channel) in the I/O areas.
(3) I/O signal assignment The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to Operation Manual for the controller main body for more information.) Parameter No. 25 setting Teaching mode 1 Positioning mode 0 Category Port No. Symbol 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 3 PC8 PC8 PC8 4 PC16 PC16 PC16 5 PC32 PC32 6 - MODE Teaching Mode Command PC64 JISL Jog/inching selector PC128 JOG+ +Jog - 7 - 8 - Command position No.
512-point mode 3 4. SCON-CA Category PLC Output SCON-CA Input SCON-CA Output PLC Input Port No. Symbol 0 1 Signal Name Parameter No.
Category 8 9 10 11 12 13 14 15 0 1 2 3 4 5 SCON-CA Output PLC Input 6 7 8 9 10 11 12 13 14 15 4. SCON-CA PLC Output SCON-CA Input Port No. 0 1 2 3 4 5 6 7 Setting of parameter No. 25 Force control mode 1 Force control mode 2 6 7 Symbol Signal name Symbol Signal name PC1 ST0 Start position 0 PC2 ST1 Start position 1 Command position PC4 ST2 Start position 2 number PC8 ST3 Start position 3 PC16 ST4 Start position 4 Cannot be used. Cannot be used.
4.6.3 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8) 4. SCON-CA This is the operation mode with the position No. set up. Whether the target position is set directly the control signals (PMOD signals), or the value registered on the position data is used can be selected. For the speed, acceleration/deceleration and positioning band, etc., except for the target position, the values in the position table within the controller are used.
(2) I/O Signal Allocation for each Axis PLC output Address (* “n” shows the node address of each axis.) 1 word = 2 bytes =16 bits 1 word (1CH) = 16 bits n+0, n+1 Target Target Position Position word) (lower word) n+2, n+3 Target Position Position Target (upper word) (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Specified Specified position position number number n+6, n+7 Control Signal Control Signal 175 4.
PLC input Address (* “n” shows the node address of each axis.) 1 word = 2 bytes =16 (1CH) = 16 bitsbits n+0, n+1 4. SCON-CA Current Current Position Position (lowerword) word) (lower n+2, n+3 Current Current Position Position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Completed Completed PositionNo. No.
(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Details b14 RMOD b13 b12 - Specified position number 16-bit data b11 b10 b9 b8 b7 b6 b5 b4 b3 Operating mode selector: The AUTO mode is selected when this 4.6.11 (19) signal is OFF, and the MANU mode is selected when the signal is ON.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) 4. SCON-CA Signal Type Bit Current Position 32-bit Completed Position No. (Simple alarm code) 16-bit b15 PLC Input b14 Status code Contents Details Current Position: 32-bit signed Integer. The setting unit is 0.01mm. (Example) 4.8 (1) Reading:000003FFH=1023 (decimal)=10.23mm * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
4.6.4 Half Direct Value Mode (Number of Occupied Bytes: 16) This is the operation mode with the target position, positioning band, speed, acceleration/deceleration and pressing current value set up in the PLC. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table. ROBO cylinder function Remark 4.
(2) I/O Signal Allocation for each Axis 4. SCON-CA The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
PLC output Address (* “n” shows the node address of each axis.) 1 word 16bits bits 1 word = 2(1CH) bytes = =16 n+0, n+1 Target Position (lower word) n+2, n+3 4. SCON-CA Target Position (upper word) n+4, n+5 When the target position is shown using the negative figure, it is expressed using the complement of 2.
PLC input Address (* “n” shows the node address of each axis.) 11 word = 16 =16 bits bits word(1CH) = 2 bytes n+0, n+1 4. SCON-CA Current Position (lower word) n+2, n+3 Current Position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol - Positioning Band 32-bit data - Velocity 16-bit data - Acceleration/ Deceleration 16-bit data - PLC Output 32-bit data 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”. If the value larger than the value (0.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type 4. SCON-CA Pressing Current Limit Value Bit 16-bit data b15 b14 b13 b12 PLC Output b11 b10 Control Signal Contents 16-bit integer Specify the current-limiting value to be used during push-motion operation. The allowable specification range is 0 (0%) to 255 (100%). The actual settable range varies depending on each actuator.(Refer to the catalog or Operation Manual for the actuator.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Contents Details b13 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal) =10.23mm When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2. 32-bit integer The electrical current presently specified by a command is indicated. The setting unit is mA.
4.6.5 Full Direct Value Mode (Number of Occupied Bytes: 32) This is the operation mode with all the values (target position, speed, etc.) set up directly using values from PLC. Set each value in the I/O area. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table. ROBO cylinder function 4.
(2) I/O Signal Allocation for each Axis Set Value Push-motion current-limiting value z Set the load current threshold. The load current threshold is expressed using 1-word (16 bits) binary data. The figures from 0 (0%) to 510 (200%) can be set in PLC. (Refer to the graph of push-motion current-limiting value (above graph).) z Zone Boundary “+” and Zone Boundary “–“ are expressed using 2-word (32 bits) binary data. The figures from -999999 to +999999 can be set in PLC.
PLC output Address (* “n” shows the node address of each axis.) 1 word = 2 bytes 1 word (1CH)=16 = 16bits bits n+0, n+1 4. SCON-CA Target Position (lower word) n+2, n+3 Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
Address (* “n” shows the node address of each axis.) 11 word = 16 bits word(1CH) = 2 bytes =16 bits n+16 n+17 Zone boundary – (lower word) n+18, n+19 Zone boundary – 4. SCON-CA (upper word) When the zone boundary is shown using the negative figure, it is expressed using the complement of 2.
PLC input Channel (* “n” shows the node address of each axis.) 1 word (1CH) 16 bits 1 word = 2 =bytes =16 bits n+0, n+1 Current Position (lower word) 4. SCON-CA n+2, n+3 Current Position (upper word) n+4, n+5 When the current position is shown using the negative figure, it is expressed using the complement of 2.
: : 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 4. SCON-CA Force feedback data (upper word) 1 Force feedback data (lower word) 1 1 1 1 1 1 1 : : If the force feedback data is a negative value, it is expressed by a 2’s complement.
(3) I/O signal assignment (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol 32-bit data - Positioning Band 32-bit data - Velocity 32-bit data - Zone boundary+ /Zone boundary– 32-bit data - PLC Output 4. SCON-CA Target Position 192 Contents 32-bit signed integer indicating the current position Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is–999999 to +999999. (Examle) When it is “+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 - Function Deceleration 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 b8 ASO0 b7 MOD1 b6 MOD0 b5 GSL1 b4 GSL0 PLC output b13 Control signal 1 4.
Address PLC output 4. SCON-CA Control signal 1 Control signal 2 194 Bit Symbol b3 INC 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 Function Incremental specification: Absolute position command when the signal is OFF, or incremental position command when the signal is ON.
(* 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 data - Command current 32-bit data - Current speed 32-bit data - Alarm code 16-bit data - Force feedback data 32-bit data - Total moving 32-bit data count Total moving 32-bit data distance b15 b14 b13 b12 b11 b10 b9 b8 Status signal b7 1 b6 b5 b4 b3 b2 Description 32-bit signed integer indicating the current position. The unit is 0.01 mm.
(* In the table, ON indicates that the applicable bit is “1,” while OFF indicates that the applicable bit is “0.”) PLC input 4. SCON-CA Signal type 196 Status signal 2 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 Description Emergency stop: An emergency stop is being executed when the signal is ON. Controller ready: The signal turns ON when the controller becomes ready.
4.6.6 Remote I/O Mode 2 (Number of Occupied Bytes: 12) This is the operation mode with the position No. set up as the same as using PIO (24V I/O). Set the position data using the teaching tools such as RC PC software. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available. The features of each PIO pattern are shown below.
(1) PLC address configuration (* “n” shows the node address of each axis.) Parameter No. 84 4.
PLC input Address (* “n” shows the node address of each axis.) word (1CH) = 2 bytes 11 word = 16=16 bitsbits n+0, n+1 Controller output port number 4. SCON-CA n+2, n+3 Unavailable n+4, n+5 Current Position (lower word) n+6, n+7 Current Position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment The signal allocation for the Command Current and Current Position, is shown in the following table. Signal Type Bit Symbol Contents Details 32-bit signed integer indicating the current position The setting unit is 0.01mm. Current (Example) Reading:000003FFH=1023 (decimal) 32-bit data =10.23mm Position * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
4.6.7 Position/Simplified Direct Value Mode (Number of Occupied Bytes: 8) {:Direct control ROBO cylinder function U:Indirect control x:Disable Home-return operation Positioning operation Speed and acceleration / deceleration setting Pitch feed (inching) Pressing Operation Speed change during the movement Operation at different acceleration and deceleration Pause Remarks { { U U U These items must be set in the position data table.
(2) I/O Signal Allocation for each Axis 4. SCON-CA The I/O signals of each axis consist of one input word (4 words = 8 bytes) and one output word in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
PLC input Address (* “n” shows the node address of each axis.) word(1CH) = 2 bytes 11word = 16=16 bits bits n+0, n+1 Current Current Position Position (lower) (lower word) 4. SCON-CA n+2, n+3 Current Position Position Current (upper) (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2. n+4, n+5 Completed Completed Position No. Position No.
(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 - b9 CLBR b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 b3 b2 SON RES STP b1 HOME b0 CSTR PLC output 4. SCON-CA Signal type Control signal 204 Description 32-bit signed integer.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Current Position 32-bit 16-bit PLC Input - Contents Current Position: 32-bit signed Integer. The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal)=10.23mm * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2. 16-bit integer It is moved to the target position and the positioning completed position No. within the positioning band is output.
4.6.8 Half Direct Value Mode (Number of Occupied Bytes: 16) 4. SCON-CA 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 I/O areas. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24.
(2) I/O Signal Allocation 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 expressed using 1-word (16 bits) binary data. The figures from 1 to 300 (Unit: 0.01G) can be set in PLC. However, set the value that does not exceed the max. acceleration/deceleration value for the actuator in question. z The pressing current limit value is expressed using 1-word (16 bits) binary data.
PLC output Address (* “n” shows the node address of each axis.) word(1CH) = 2 bytes 1 1word = 16 =16 bits bits n+0, n+1 4. SCON-CA Target Position (lower word) n+2, n+3 Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
PLC input Address (* “n” shows the node address of each axis.) = 16 bitsbits 1 word (1CH) = 2 bytes =16 n+0, n+1 Current Position (lower word) n+2, n+3 4. SCON-CA Current Position (upper word) If the current position is a negative value, it is expressed by a 2’s complement. 11word = 16 =16 bits bits Word(1CH) = 2 bytes n+4, 2 n+5 Force feedback data (lower word) n+6, 3 n+7 Force feedback data (upper word) If the force feedback data is a negative value, it is expressed by a 2’s complement.
(3) I/O signal assignment(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol 32-bit data - Positioning Band 32-bit data - Velocity 16-bit data - Acceleration/ Deceleration 16-bit data - PLC Output 4. SCON-CA Target Position 210 Contents 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Pressing Current Limit Value Bit 16-bit data b14 b13 PLC Output b12 b11 b10 Control Signal Contents 16-bit integer Specify the current-limiting value to be used during push-motion operation. The allowable specification range is 0 (0%) to 255 (100%). The actual settable range varies depending on each actuator.(Refer to the catalog or Operation Manual for the actuator.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit Symbol Current Position 32-bit data - Command Current 32-bit data - Current Speed 32-bit data - Alarm Code 16-bit data - b15 EMGS b14 PWR PLC Input 4. SCON-CA Signal Type Contents 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal) =10.
4.6.9 Remote I/O Mode 2 (Number of Occupied Bytes: 12) In this mode, force control (feedback pressing of load cell values) is used in addition to the remote I/O mode 2 function for operation. Set the position data using the teaching tools such as RC PC software. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting. This mode is the same as the remote I/O mode, but the current-position read function and command-current read function are also available.
(1) PLC address configuration (* “n” shows the node address of each axis.) Parameter No. 84 4.
PLC input Address (* “n” shows the node address of each axis.) word (1CH) = 2 bytes 11 word = 16=16 bitsbits n+0, n+1 Controller output port number 4. SCON-CA n+2, n+3 Cannot be used Unavailable n+4, n+5 Current Position (lower word) n+6, n+7 Current Position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment The signal allocation for the Command Current and Current Position, is shown in the following table. Signal Type Bit Symbol Contents 32-bit signed integer The setting unit is 0.01mm. Current (Example) Reading:000003FFH=1023 (decimal) 32-bit data =10.23mm Position * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2. 32-bit signed integer Force The setting unit is 0.01N.
4.6.10 Half Direct Value Mode 3 (Number of Occupied Bytes: 16) In this mode, the jog function in the half direct numerical mode is not available, but the vibration damping parameter set can be changed. Set each value in the I/O areas. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table. ROBO cylinder function (1) Remark 4.
(2) I/O Signal Allocation for each Axis 4. SCON-CA The I/O signals of each axis consist of one input word (8 words = 16 bytes) and one output word in the I/O areas. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC.
PLC output Address (* “n” shows the node address of each axis.) 1 word = 2 bytes =16 bits 1 word (1CH) = 16 bits n+0, n+1 Target Position (lower word) n+2, n+3 4. SCON-CA Target Position (upper word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
PLC input Address (* “n” shows the node address of each axis.) 11word 2 bytes =16bits bits word=(1CH) = 16 n+0, n+1 4. SCON-CA Current Position (lower word) n+2, n+3 Current Position (upper word) When the current position is shown using the negative figure, it is expressed using the complement of 2.
(3) I/O signal assignment(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol - Positioning Band 32-bit data - Velocity 16-bit data - Acceleration/ Deceleration 16-bit data - PLC Output 32-bit data 32-bit signed Integer. Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. (Example) When it is “+25.41mm”, set it as “2541”. If the value larger than the value (0.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal type PLC output 4. SCON-CA Push-current limiting value Bit Symbol 16-bit data - b15 BKRL b14 RMOD b13 DIR b12 PUSH b11 GSL1 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.
(* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol - Command Current 32-bit data - Current Speed 32-bit data - Alarm Code 16-bit data - b15 EMGS b14 PWR PLC Input 32-bit data 32-bit signed integer indicating the current position The setting unit is 0.01mm. (Example) Reading:000003FFH=1023 (decimal) =10.23mm * When the value is read in hexadecimal notation, the negative figure is expressed as a complement of 2.
4.6.11 * 4. SCON-CA (1) I/O Signal Controls and Function ON indicates that the applicable bit signal is “1”, while OFF indicates that the bit signal is “0”. The I/O control and functions used in the Position/Simplified Direct Value Modes 1 and 2, Half Direct Value Modes 1 to 3 and Full Direct Value Mode, are described as follows. For the I/O signals for the Remote I/O Modes 1 to 3, refer to the Operation Manual for the controller main body.
(5) Servo ON Command (SON) PLC output signal Operation preparation end (SV) PLC input signal 225 4. SCON-CA When the SON signal is turned ON, the servo will turn ON. When “SON” signal is turned “ON”, the servo-motor is turned “ON”. When the servo-motor is turned ON, the Status Indicator LED (Refer to 4.3, "EtherCAT(R) Interface”) on the front surface of the controller illuminates in green. The “SV” signal is synchronized with this LED.
(6) Home return (HOME) Home return completion (HEND) Under Home return Operation (GHMS) PLC output signal PLC input signal PLC input signal 4. SCON-CA When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the home return operation is performed automatically. During the home return operation, the “GHMS” signal is turned “ON”. When the “HEND” signal is turned “ON”, turn “OFF” the “HOME” signal.
(7) Positioning Start (CSTR):Used in the position/simple direct mode PLC output signal This signal is processed at the startup (ON edge) and the positioning is performed to the target position with the specified position No. or set using the PLC's target position register. Whether if the target position with the specified position No. is used or the setting using the PLC's target position register is used, depends on the Control Signal b11: “Position/Simplified Direct Value Change-Over (PMOD) Signal”.
(10) Positioning completion signal (PEND) PLC input signal This signal is turned “ON” when the actuator is moved to the target position and reaches the positioning band and the pressing is completed. Timing at which the position complete signal turns ON Target Position 4. SCON-CA Velocity Travel Time Positioning Width When the servo-motor is turned ON from OFF condition, the positioning is performed with the position set as the target position.
(12) Zone 1 (ZONE1) Zone 2 (ZONE2) Position zone (PZONE) PLC input signal PLC input signal PLC input signal These signals are turned ON when the current position of the actuator is within the set area and turned OFF when the current position is out of the set area. [2] Position zone Each zone is set in the position table or using the zone boundary resister. In the case of the Position/Simplified Direct Value Modes 1 and 2, the PZONE signal is set using the position table.
(13) +Jog (JOG+) –Jog (JOG–) PLC output signal PLC output signal This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a – command is issued, the actuator will operate in the direction of home. 4. SCON-CA [1] Jog operation Jog operation can be performed when the jog/inch switching (JISL) signal is OFF.
(14) Jog-speed/inch-distance switching (JVEL) PLC output signal This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. The relationship is as follows. Controller ready Jog operation: JISL=OFF Parameter No. 26, “Jog speed” ON Parameter No. 47, “Jog speed 2” (15) Job/inch switching (JISL) Parameter No. 26, “Jog speed” Parameter No. 48, “Inch distance” Parameter No.
(16) Teaching Mode Command (MODE) PLC output signal Teaching mode Signal (MODES) PLC input signal 4. SCON-CA When the MODE signal is turned “ON”, the normal operation mode is changed to the teaching mode. When the mode for the controllers for each actuator is changed to the teaching mode, the MODES signal is turned ON. After confirming that the MODES signal is turned “ON” on the PLC side, start the teaching operation.
(19) Operating mode selector (RMOD) PLC output signal Operation Mode Status (RMDS) PLC input signal The operation mode is selected with the RMOD signal and the MODE switch located on the front surface of the controller. Also, which mode is currently set, AUTO or MANU, can be confirmed using the RMDS signal. The operation modes with the combination of the RMOD signal and the MODE switch ON/OFF are described as follows. (20) Position/simple-direct switching (PMOD) 4.
(23) Pressing and a Miss (PSFL) PLC input signal In the case that the pressing operation was performed, and the actuator moved the travel distance set in the controller position table positioning band or set using the PLC's positioning band register, but it was not pushed against the work part, this signal is turned “ON”. Refer to Item (2) Operation in Half Direct Value Modes 1 to 3 in 4.8, "Operation” for the setting timing for this signal) (24) Incremental Command (INC) PLC output signal 4.
(26) Load output judgment (LOAD) PLC input signal Position where this signal is turned ON when the command torque exceeds the threshold within the torque inspected width range Velocity Position where the actuator is pushed against the work and the pressing completion is judged so the positioning completion signal is turned "ON" Check range Travel Positioning Width (Max. Pressing Level) Target Position x Set the pressing speed using the parameter No. 34 “Pressing Speed”.
(27) Torque level (TRQS) PLC input signal This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning band), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”. The velocity available for the pressing varies depends on the motor and leads, it is required to adjust the parameters. 4.
(28) Absolute Battery Voltage Low Warning (BALM) PLC Input Signal With an absolute system, this signal is OFF when the absolute battery voltage is normal. It remains OFF with an incremental system. This BALM signal turns ON when the absolute battery voltage drops to 3.1 V. If the controller is operated continuously and the voltage drops further to 2.5 V, the controller can no longer retain position information.
(30) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal 4. SCON-CA This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command.
[5] If a large value is set, the speed will accelerate significantly at around the mid-point of the acceleration/deceleration time. Do not exceed the rated acceleration/deceleration time of the actuator. First-Order Lag Filter This describes much gentle acceleration/deceleration curve than that for the linear acceleration/deceleration (trapezoid pattern). Use it when it is not desired to give any slight vibration to the work part in acceleration/deceleration operation.
(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. ASO1 OFF ASO0 OFF OFF ON ON OFF ON ON Function Disabled Automatic servo OFF method Parameter No.
(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 *1 continuously for 20 ms 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 When any of the control signal is turned ON to perform the operation of the actuator using the PLC's sequence program, the response (status) is returned to the PLC. The maximum response time is expressed using the following formula. 4. SCON-CA Maximum response time (msec)㧩Yt+xt+3+ command processing time (operation time, etc.
4.8 Operation The timings for the basic operation examples in the Position/Simplified Direct Value Mode 1 and 2 , Half Direct Value Mode 1 to 3 and Full Direct Value Mode, are described. For the Remote I/O Mode 1 to 3, refer to the Operation Manual for the controller main body. (In remote I/O mode 2 and 3, read the current position and current speed from the respective byte of the PLC, as deemed appropriate.
[1] Set value of target position data [2] 4. SCON-CA Specified position number Positioning start [3] [4] [5] Positioning complete [7] Current position [6] Moving Positioning band Actuator movement Actuator movement (Normal positioning) Work part missed in push-motion operation Push-motion operation in progress Push Actuator moving (push) *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
(2) Operation in the half direction mode 1 to 3 z Example of operation (normal positioning operation) For the general positioning operation, set the signal in Step 6 to “OFF”. When the remaining travel distance becomes within the range of the positioning band set in the position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”. 245 4.
[1] Set value of target position data [2] Set value of positioning band data [3] 4.
(3) Operation in the full direct mode z Example of operation (normal positioning operation) For the general positioning operation, set the signal in Step 9 to “OFF”. When the remaining travel distance becomes within the range of the positioning band set in the position data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”. 247 4.
[1] Set value of target position data [2] 4.
[9] Push specification [10] Push direction specification 4. SCON-CA [17] Positioning command [11] Positioning complete/missed load during push-motion operation [12] [13] [16] Current position [15] [14] Moving Push Actuator operation (push) Positioning band Actuator operation (normal positioning operation) *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
(4) Data change during movement 4. SCON-CA In the half direct mode or full direct mode 1 to 3, the value currently set to a given resister among the resisters for target position data, acceleration/deceleration data, speed data, positioning band and push-motion current-limiting value, can be changed while the actuator is moving. After changing the data, turn “ON” the positioning command (DSTR) for more than tdpf.
4.9 EtherCAT(R) Related Parameters Parameters relating to EtherCAT(R) are Nos. 84 to 87, 90 and 159. Category: C :External interface parameter No. Category Symbol 1 Default Value set in the Factory before Delivery ~ Refer to Operation Manual for the controller for the parameters No. 1 through No. 83. C C C C C C FMOD NADR FBRS NTYP FMIO FBVS Field bus operation mode Field bus node address Field bus baud rate Network type Field I/O format FB Half Direct Mode Speed Unit 4.
z Network type (No.87 NTYP) The network module type is set for the parameter No. 87. Do not change the default value. z Field I/O format (No.90 FMIO) Addresses in the PLC are assigned in units of 16 points (2 bytes) based on the node address set in the controller and the occupied bytes in each operation mode. By changing the setting of parameter No. 90, data elements can be swapped within a boundary of two words or less in units of bytes during communication using the I/O areas of the PLC. 4.
(Example ii) Set value = “1” indicates ON, while indicates OFF. SCON Input resister Hexadecimal data 4.
(Example iii) Set value = “2” SCON Input resister 4. SCON-CA Hexadecimal data Output CH Hexadecimal data SCON Output resister Hexadecimal data Input CH Hexadecimal data 254 indicates ON, while indicates OFF.
(Example iv) Set value = “3” indicates ON, while indicates OFF. SCON Input resister Hexadecimal data 4. SCON-CA Output CH Hexadecimal data SCON Output resister Hexadecimal data Input CH 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. Troubleshooting 5. Troubleshooting z Alarm Description and Cause/Treatment [1] When an alarm is issued, the completed position No. (4 bits for PMᾀto PM8) shows the simplified alarm code in the Remote I/O Mode 1 to 3. In the position/simple direct mode 1 and 2, this simple alarm code is output to the (n+4, n+5) bytes. In the half direct mode 1 to 3 and full direct mode, this simple alarm code is output to the (n+12, n+13) bytes. 1) Confirm the alarm code using the PLC's monitor function, etc.
6. Appendix 6.1 Setup of Connection with Omron’s Master Unit The following devices and software are required to connect to an Omron master. [1] [2] [3] [4] 6.2 PLC CPU unit: (Ex) CJ1G-CPU43H EtherCAT(R) master unit (Position control unit): (Ex) NC-882 Setting software: CX-One V4.0 or later CX-Programmer V9.11 or later IAI controller designed for EtherCAT(R) Automatic Network Setup The setup procedure is as follows: Open CX-Programmer.
6. Appendix After the double-click, the following screen will appear. 258 [3] From the NCF tool menu bar, select Network, and then Automatic Network Setup. [4] Select OK to begin the automatic network setup.
A search for EtherCAT(R) slaves on the network will be executed, and the list of the slaves found will be displayed. Find the field where the node address* with the ACON, PCON or SCON-CA setting in the list displayed. Check to make sure that the format (RC-ECT-FMODx) displayed in “Detected network configuration” and “Automatic network setup result” are the same. Upon checking, select OK. * x represents the setting of parameter No. 84 Field Bus Operation Mode. [Refer to 2.5.1, 3.5.1 or 4.5.
6.3 Manual Network Setup The setup procedure is as follows: Open CX-Programmer. Double-click I/O Table/Unit setting on the project tree, and open the I/O table. [2] Double-click the field for CJ1W-NC882 position control unit (EtherCAT(R) communication type) on the CPU rack tree and launch the position control unit setting tool (hereinafter referred to as the "NCF tool"). 6.
After the double-click, the following screen will appear. In the tree view on the left-hand side of the NCF tool screen, right-click Network setting and select Add slaves. 261 6.
A list of slaves will be displayed in which five items, RC-ECT-FMOD [0 ~ 4], are registered to Controller under IAI. The ending number represents the Field Bus Operation mode setting (Note 1). Select the item ending with the same number as the current setting. Set the node address (Note 2). Set the slave name (any) and select OK. (Note 1) Parameter No.84 setting [Refer to 2.5.1, 3.5.1 or 4.5.1 Operating Mode Selecting.] (Note 2) Set this to the same value as parameter No. 85 of ACON, PCON or SCON-CA.
Select the checkboxes for “All data” and “Save to flash memory after transfer” and select OK. [7] When the transfer is completed, the following screen will appear. Select OK. [8] Lastly, a confirmation message will appear. Select OK. Check to make sure that the RUN LED of ACON, PCON or SCON-CA is lit, and ERR LED is not lit. 6. Appendix [6] This completes the automatic setup.
Change History Revision Date October 2010 November 2011 June 2012 Change History November 2012 264 Description of Revision First edition Second edition Contents changed in Safety Guide Caution notes added for when working with two or more persons “3.
Manual No.: ME0273-4B (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.
