CC-Link Instruction Manual Third Edition ACON-C/CG PCON-C/CG/CA/CFA SCON-CA
CC-Link Please Read Before Use Thank you for purchasing our product. This Instruction Manual describes all necessary information to operate this product safely such as the operation procedure, structure and maintenance procedure. Before operation, read this manual carefully and fully understand it to operate this product safely. The enclosed CD/DVD in this product package includes the Instruction Manual for this product.
CC-Link Note : For the function stated below, refer to Instruction Manual. Instruction Manual/Overview CC-Link Instruction Manual 1 For X-SEL, TT, ASEL, PSEL, SSEL, SCON-C, RCS-C and E-Con, see this manual. Manual No.
CC-Link Table of Contents 1. Overview ······································································································································ 9 2. Interface Specifications·············································································································· 10 3. ACON-C/CG, PCON-C/CG ·········································································································11 3.
CC-Link 4.7.5 Full Direct Value Mode 4.7.6 Remote I/O Mode 2 (Remote Device Station: No. of Occupied Stations: One Station) ···119 4.7.7 I/O Signal Control and Functions ··················································································· 123 (Remote Device Station: No. of Occupied Stations: Four stations) ································ 108 4.
CC-Link 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.
CC-Link No. 2 Operation Description 2 Transportation 3 Storage and Preservation 4 Installation and Start Description Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
CC-Link No. 4 Operation Description Installation and Start Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
CC-Link No. 4 Operation Description 4 Installation and Start 5 Teaching Description (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
CC-Link No. Operation Description 6 Trial Operation 7 Automatic Operation Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
CC-Link No. 6 Operation Description 8 Maintenance and Inspection 9 10 Modification and Dismantle Disposal 11 Other Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ Perform the work out of the safety protection fence, if possible.
CC-Link Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Instruction Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger product is not handled correctly, will result in death or serious injury.
CC-Link 8
CC-Link 1. Overview CC-Link is an abbreviation for Control & Communication Link, and is one of the open field network standards.
CC-Link 2. Interface Specifications 2. Interface Specifications Item Specification Communications standard CC-Link Ver1.10 Communications speed [Mbps] 10 / 5 / 2.5 / 0.625 / 0.
CC-Link 3. ACON-C/CG, PCON-C/CG 3.1 Operation Modes and Functions ACON or PCON applicable to CC-Link can be operated by means of selecting one mode out of the following five operation modes. * Set the Station Data for the Master Station to “ver 1, Remote Device Station”. 3. ACON-C/CG, PCON-C/CG Operation Modes and Main Functions Main Function No.
CC-Link 2) Position/Simplified Direct Value Mode : This is the operation method with the position No. set up. Whether if setup the target position using a value directly by means of the change over of the control signal, or using the value registered on the position data, can be selected. For “Speed”, “Acceleration/Deceleration” and “Positioning Width”, use the values already registered on the position data. The settable No. of position data items is max 768 points. 3. ACON-C/CG, PCON-C/CG No.
CC-Link 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 using the numerical values. No. of Occupied Stations: Four Stations ACON or PCON applicable to CC-Link 5) Remote I/O Mode 2 3. ACON-C/CG, PCON-C/CG Target Position: 100.00mm Positioning Width: 0.10mm Speed Setup: 100.0mm/s Acceleration: 0.30G Deceleration: 0.
CC-Link 3.2 Model No. The Model Nos. of ACON and PCON applicable to CC-Link are described as follows. z ACON-C / CG-Ƒ-CC-Ƒ 3.
CC-Link 3.3 CC-Link Interface (1) Names of Each Section The names of each section related to CC-Link are described as follows. Status Indicator LED 3. ACON-C/CG, PCON-C/CG Status LED CC-Link Communication Connector PCB side : MSTBA2.5/5-G-5.08AU (PHOENIX CONTACT) Cable side : SMSTB2.5/5-ST-5.08AU (PHOENIX CONTACT) (2) Status LED Indication The board operation status and network condition are obtained with the two LEDs located in the front of the controller.
CC-Link 3.4 Operation Mode Selection (Setting) The operation mode is set using the parameters. Set the mode toggle switch on the front surface of the controller to “MANU” side and set the parameter No. 84 “FMOD: Field Bus Operation Mode” using the personal computer application software (V6,00 05 00 or later) 3. ACON-C/CG, PCON-C/CG (Refer to “3.10 CC-Link Related Parameters”).
CC-Link 3.6 Communication Speed Setting The communication speed is set using the parameters. Set the parameter No. 86 “FBRS: Filed Bus Communication Speed” using the RC personal computer application software. (Refer to “3.10 CC-Link Related Parameters”). Communication Speed 0: (Already set in system delivery) 156kbps 1 625kbps 2 2.5Mbps 3 5Mbps 4 10Mbps 3. ACON-C/CG, PCON-C/CG * Set Value Entering any value except for the ones described above will cause an “Excessive Input Value Error”.
CC-Link 3.7 Communication with the Master Station The remote device station consists of 2 words for each I/O point and 4 words for the remote I/O data register per station. Set the station data for the master station to the number of stations setup in the operation mode for each station No. 3. ACON-C/CG, PCON-C/CG 3.7.1 Each Operation Mode and Corresponding Allocated PLC Addresses The addresses allocated for each operation mode are described as follows.
CC-Link x ACON or PCON Output o PLC Input side (* “n” shows the head register address per each axis). ACON or PCON side DO and Output data register PLC side address RX n0 – nF Number of occupied stations: 1 Station Position/Simplified Direct Value Mode Number of occupied stations: 1 Station Port No.0 – 15 Occupied Area System Area System Area Remote I/O mode Full Direct Value Mode Number of occupied stations: 4 Stations Remote I/O mode 2 Number of occupied stations: 1 Station Port No.
CC-Link 3.7.2 Remote I/O Mode (Remote Device Station: No. of Occupied Stations: One Station) 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 RC personal computer application software or teaching pendant. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting.
CC-Link (1) PLC Address Composition (* “n” shows the head register address for each axis). Parameter Acon or Pcon side Acon or Pcon side No.84 DI (Port No.) 0 0 to 15 RY n0 to nF 0 to 15 RX n0 to nF System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F PLC side PLC side DI (Port No.) RWw (n+0) RWr (n+0) RWr (n+1) Occupied Area RWw (n+2) RWr (n+2) RWw (n+3) Note: The Occupied Area stations.
CC-Link (3) I/O Signal Allocation The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to instruction manual for the controller main body for more information). ACON 3. ACON-C/CG, PCON-C/CG Parameter No. 25 setting Port Classification No.
CC-Link ACON Parameter No. 25 setting Port Classification No. ACON Output 㸢PLC Input Electromagnetic valve mode 1 Electromagnetic valve mode 2 3 4 5 Signal Names Symbol Signal Names Symbol Signal Names 0 PC1 ST0 Start position 0 ST0 Start position 0 1 PC2 ST1 Start position 1 ST1 Start position 1 2 PC4 ST2 Start position 2 ST2 Start position 2 3 PC8 ST3 Start position 3 ST4 Start position 4 Command position No.
CC-Link PCON Parameter No. 25 setting 3. ACON-C/CG, PCON-C/CG Port Classification No. PLC Output㸢 PCON Input PCON Output 㸢PLC Input Symbol Positioning mode Teaching mode 256 point mode 0 1 2 Signal Names Symbol Signal Names Symbol 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 3 PC8 4 PC16 PC16 5 PC32 PC32 Command position No. PC4 PC8 Command position No. PC4 PC8 PC16 Command position No.
CC-Link PCON Parameter No. 25 setting Port Classification No. PCON Output 㸢PLC Input Electromagnetic valve mode 1 Electromagnetic valve mode 2 3 4 5 Signal Names Symbol Signal Names Symbol Signal Names 0 PC1 ST0 Start position 0 ST0 Start position 0 1 PC2 ST1 Start position 1 ST1 Start position 1 2 PC4 ST2 Start position 2 ST2 Start position 2 3 PC8 ST3 Start position 3 ST4 Start position 4 Command position No.
CC-Link 3.7.3 Position/Simplified Direct Value Mode (Remote Device Station: No. of Occupied Stations: One Station) This is the operation mode with the position No. set up. The change over of the control signals (PMOD signals), can select whether the target position is set directly using the value or the value registered on the position data is used. For the speed, acceleration/deceleration and positioning width, etc., except for the target position, the values 3.
CC-Link (2) I/O Signal Allocation for each Axis The I/O signals for each axis consists of 4 words for each I/O bit register. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator in question.
CC-Link PLC Input Address (* “n” shows the head register address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Target (Slave Word) RWr (n+1) Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link (3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description PLC Output 3.9 (1) b15 BKRL Brake Forcible Release: Brake Release with “ON”. 3.7.7 (18) b14 RMOD Operation Mode: “OFF” for “AUTO” Mode, “ON” for “MANU” mode 3.7.7 (19) b13 b12 b11 b10 b9 Control Signal 3.9 (1) 3. ACON-C/CG, PCON-C/CG 32-bit Signed Integer Set the target position on the absolute coordinates. The unit is 0.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description Details Current Position: 32-bit Signed Integer The unit is 0.01mm. Current Position 32bits (Example) Read Value: 000003FFH = 1023 (decimal system) = 10.23mm 3.9 (1) 3. ACON-C/CG, PCON-C/CG When the value is read in hexadecimal notation, the negative figure is expressed as a compliment of 2.
CC-Link 3.7.4 Half Direct Value Mode (Remote Device Station: No. of Occupied Stations: Two Stations) This is the operation mode with the target position, positioning width, speed, acceleration/deceleration and pressing current value set up in the PLC. Set the each value in I/O data register. 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.
CC-Link (2) I/O Signal Allocation for each Axis The I/O signals for each axis consists of 8 words for each I/O bit register. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator in question.
CC-Link PLC Output Address (* “n” shows the head register address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Target Position RWw (n+1) b15 Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link PLC Input Address (* “n” shows the head register address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Current (Slave Word) RWr (n+1) Current Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link (3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description Details 32-bit Signed Integer Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. 32bits Position Data (Example) When it is “+25.41mm”, set it as “2541”. 3. ACON-C/CG, PCON-C/CG Target 3.9 (2) If the value larger than the value (0.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description Details 16-bit Integer Set the current limit in pressing operation. Pressing Current 16bits Limit Data The settable range is between 0 (0%) and 255 (100%). 3.9 (2) (Refer to the catalog or instruction manual for the actuator). Value 3. ACON-C/CG, PCON-C/CG The actual settable range varies depending on each actuator.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol 32bits Data Command 32bits Current Data Current Speed 32bits Data Alarm code 16bits Data b15 b14 Description 32-bit Integer with a Symbol The unit is 0.01mm. (Example) Read Value: 000003FFH = 1023 (decimal system) = 10.23mm * When it is read in hexadecimal notation, input the negative value using a compliment of 2. 32-bit Integer It shows the current value in the current command.
CC-Link 3. ACON-C/CG, PCON-C/CG 3.7.5 Full Direct Value Mode (Remote Device Station: No. of Occupied Stations: Four stations) 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 data register. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
CC-Link (2) I/O Signal Allocation for each Axis The I/O signals for each axis consists of 16 words for each I/O bit register. z The control signals1, control signals2 and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator in question.
CC-Link PLC Output Address (* “n” shows the head register address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Target Position RWw (n+1) b15 Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link Address (* “n” shows the head register address per each axis). one word = 16 bits RWw (n+8) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Zone Value “-” (Slave Word) Zone Value “-” (Host Word) When the zone value “-” is shown using the negative figure, it is expressed using the complement of 2.
CC-Link PLC Input Address (* “n” shows the head register address per each axis).
CC-Link (3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Symbol Positioning 32bits Width Data 32bits Data Zone Value “+” 32bits Zone Data Value “-” PLC Output 32bits Data Speed Functions 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.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Bit Symbol 16bits Acceleration Data Pressing Current 16bits Data Limit Value Load 16bits Current Data Threshold 3. ACON-C/CG, PCON-C/CG Details 16-bit Integer Set the acceleration and deceleration in the movement. The unit is 0.01G and the settable range is from1 to 300. (Example) When it is 0.30G, set it as “30”. When the movement command is issued with the value of “0” or bigger than the max.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit b7 Symbol PCON Address Functions Details Unavailable Unavailable b6 b4 Control b3 INC signal 1 Incremental Command “OFF” for Absolute Position Command, “ON” for Relative Position Command 3.7.7 (24) Pressing Direction Setup: b2 DIR “OFF” for the direction reducing the positioning width from the target position, “ON” for the direction adding the 3.7.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Signal name Description Details 32-bit Signed Integer The unit is 0.01mm. Current 32bits Position Data (Example) Read Value: 000003FFH = 1023 (decimal system) = 10.23mm 3.9 (3) * When the value is read in hexadecimal notation, the negative figure 3. ACON-C/CG, PCON-C/CG is expressed as a compliment of 2.
CC-Link 3.7.6 Remote I/O Mode 2 (Remote Device Station: No. of Occupied Stations: One Station) 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 RC personal computer application software or teaching pendant. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting.
CC-Link (1) PLC Address Composition (* “n” shows the head register address for each axis). Parameter Acon or Pcon side Acon or Pcon side No.84 DI and Input register 4 Port No. 0 to 15 RY n0 to nF Port No. 0 to 15 RX n0 to nF System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F PLC side RWw (n+1) RWw (n+2) The Occupied Area stations.
CC-Link PLC Input (* “n” shows the head register address per each axis). F E D C B A 9 14 13 12 11 10 9 RX (n+0) one word = 16 bits 15 Address 8 7 6 5 4 3 2 1 0 4 3 2 1 0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b3 b2 b1 b0 Port No.
CC-Link (3) I/O Signal Allocation Refer to “3.7.2 Remote I/O Mode (3) I/O Signal Allocation” for each PIO pattern signal allocation. The signal allocation for the Command Current and Current Position, is shown in the following table. Signal Type Bit Symbol Description Details The unit is 0.01mm. PLC Input 3. ACON-C/CG, PCON-C/CG 32-bit Signed Integer Current 32bits Position Data (Example) Read Value: 000003FFH = 1023 (decimal system) = 10.
CC-Link 3.7.7 I/O Signal Control and Functions * “ON” expresses the bit signal of “1” and “OFF” expresses the bit signal of “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 instruction manual for the controller main body. (1) Controller Ready (PWR) PLC Input Signal 3.
CC-Link (5) Servo ON Command (SON) Operation Ready (SV) PLC Output Signal PLC Input Signal 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 CC-Link Interface”) on the front surface of the controller illuminates in green. The “SV” signal is synchronized with this LED. Function: 3. ACON-C/CG, PCON-C/CG Using the “SON” signal, the turning ON/OFF of the controller is available.
CC-Link (6) Homing (HOME) PLC Output Signal Homing Completion (HEND) PLC Input Signal Under Homing Operation (GHMS) PLC Input Signal When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the homing operation is performed automatically. During the homing operation, the “GHMS” signal is turned “ON”. turned “ON”, it can not be turned “OFF” until the power is turned “OFF” or the “HOME” signal is input again.
CC-Link (7) Positioning Start (CSTR): Used in Position/Simplified Direct Value 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 3.
CC-Link (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 width and the pressing is completed. Timing for turning ON the Positioning Completion Signal Speed Target Position 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.
CC-Link (12) Zone 1 (ZONE 1) PLC Input Signal Zone 2 (ZONE 2) PLC Input Signal Position Zone (PZONE) PLC Input Signal These signals are turned ON when the current position of the actuator is within the set area and turned OFF when the current position is out of the set area. 3. ACON-C/CG, PCON-C/CG 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 1 “+” Side” and No. 2 “Zone 1 “-” Side”.
CC-Link (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. In the case of the “+” command, the movement direction is to the opposite of the home and in the case of the “-” command, the movement direction is to the home. The jog operation is available when the Jog/Inching Change-Over Signal (JISL) is turned “OFF”.
CC-Link (14) Jog Speed/Inching Distance Change-Over (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: 3. ACON-C/CG, PCON-C/CG JVEL Signal Jog Operation : JISL = OFF OFF Parameter No. 26 “Jog Speed” ON Parameter No. 47 “Jog Speed 2” Inching Operation: JISL = ON Parameter No. 26 “Jog Speed” Parameter No.
CC-Link (16) Teaching Mode Command (MODE) Teaching Mode Signal (MODES) PLC Output Signal 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.
CC-Link (19) Operation Mode (RMOD) PLC Output Signal PLC Input Signal Operation Mode Status (RMDS) 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 3. ACON-C/CG, PCON-C/CG described as follows.
CC-Link (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 width or set using the PLC's positioning width register, but it was not pushed against the work, this signal is turned “ON”. (Refer to Item (2) Operation in Half Direct Value Mode in “3.9 Operation” for the setting timing for this signal).
CC-Link (26) Load Output Judgment (LOAD) PLC Input Signal PCON Dedicated Function This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be know whether if the set load threshold is reached during the pressing operation. The load threshold and inspected width range are set using the PLC's register. When the command torque (motor current) exceeds the threshold within the inspected width range, this signal is turned 3.
CC-Link (27) Torque Level (TRQS) PLC Input Signal PCON Dedicated Function This signal is available only in the pressing operation. When the motor current reaches the load threshold during the pressing operation (moving up to the positioning width), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”. The speed available for the pressing varies depends on the motor and leads, it is required to adjust the 3.
CC-Link (28) Stop Control Mode (SMOD) PLC Output Signal PCON Dedicated Function One of the pulse motor general characteristics is that that the holding current in the stop mode is larger than that for the AC servo-motor. Because of this, when the stop time is longer at the standby position, the measure to reduce the power consumption at the stop mode is taken as one of the energy saving measures. SMOD = ON: Full Servo Control System is used in the standby condition. 3.
CC-Link (29) Acceleration/Deceleration Mode (MOD1, MOD0) PLC Output Signal ACON Dedicated Function This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command. MOD0 OFF OFF Trapezoid Pattern Pattern Name OFF ON S-shaped Motion ON OFF First-Order Lag Filter ON ON Unavailable Remarks Set in delivery 3.
CC-Link (30) Stop Mode Selection (ASO1, ASO0) PLC Output Signal 3. ACON-C/CG, PCON-C/CG Select the stop mode for the duration before the movement to the next position after a positioning is completed. If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption. Refer to the instruction manual for the controller for more information.
CC-Link 3.8 I/O Signal Timing 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. For the Master Station to Remote I/O Station Transmission Delay Time (Yt) and the Remote I/O Station to Master Station Transmission Delay Time (Xt), refer to the instruction manuals for the CC-Link Master Unit and mounted PLC.
CC-Link 3.9 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 instruction manual for the controller main body. (For the current position and current speed in the Remote I/O Mode, read from the PLC's register from time to 3. ACON-C/CG, PCON-C/CG time.
CC-Link Target Position Data Set Value 3. ACON-C/CG, PCON-C/CG Command position No. * Positioning Start * Positioning End Current Position Moving Positioning Width Actuator Movement *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
CC-Link (2) Operation in the Half Direct Value Mode It is operated with the data set in the PLC's target position register, positioning width register, setup speed register, acceleration/deceleration register and pressing current limit setup register. z Operation Example (Pressing Operation) 1) Set the target position data in the target position register. 2) Set the positioning width data in the positioning width register. 3) Set the speed data in the speed register. 3.
CC-Link Target Position Data Set Value (PLC → ACON,PCON) Positioning Width Data Set Value (PLC → ACON,PCON) 3.
CC-Link (3) Operation in the Full Direct Value Mode It is operated with all the required data items set in the PLC's registers including the target position register and positioning width register, etc. z Operation Example (Pressing Operation) 1) Set the target position data in the target position register. 2) Set the positioning width data in the positioning width register. 3) Set the speed data in the speed register. 3.
CC-Link Target Position Data Set Value (PLC → ACON,PCON) 3.
CC-Link 3. ACON-C/CG, PCON-C/CG Pressing Setup Pressing Direction Setup * T1 Positioning Command * Positioning Completion/ Pressing and a Miss Current Position Moving Actuator Operation (Pressing) Pressing Positioning Width Actuator Operation (General Positioning) *T1: Considering the scanning time of the host controller, set it so that “T10ms”.
CC-Link (4) Data Change during the Movement In the Half Direct Value Mode and the Full Direct Value Mode, the change of any data set using the output data register, out of the target position data, speed data, positioning width, and current limit value during the pressing, during the movement is available. After changing the data, turn “ON” the positioning command (DSTR) for more than tdpf.
CC-Link 3.10 CC-Link Related Parameters The parameters related to CC-Link are from No. 84 to No. 90. Classification: C: External Interface Related No Classification Symbol 1 Default Value set in the Factory before Delivery Refer to instruction manual for the controller for the parameters No. 1 through No. 83. ° 3.
CC-Link z Network Type (No. 87 “NTYP”) The network module type is set for the parameter No. 87. Do not change the default value. (Example i) : In the case of the Value set to “0”: 䃂 shows ON. 䂾 shows OFF.
CC-Link (Example ii): In the case of the Value set to “1”: 3. ACON-C/CG, PCON-C/CG 䃂 shows ON. 䂾 shows OFF.
CC-Link (Example iii): In the case of the Value set to “2”: 䃂 shows ON. 䂾 shows OFF.
CC-Link (Example iv): In the case of the Value set to “3”: 3. ACON-C/CG, PCON-C/CG 䃂 shows ON. 䂾 shows OFF.
CC-Link 3.11 Troubleshooting 3.11.1 Status LED Indication With the Status LED (STATUS 0/1) on the front surface of the board, the CC-Link board operation status and network status can be obtained. When any trouble occurs, confirm the current status with the Status LED illumination patterns. The communication status indications changed with the Status LED illumination patterns are described as follows.
CC-Link 3.12 CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual 3. ACON-C/CG, PCON-C/CG (ME0287) that is provided separately.
CC-Link 4. PCON-CA/CFA 4.1 Operation Modes and Functions PCON-CA/CFA applicable to CC-Link can be operated by means of selecting one mode out of the following five operation modes. * Set the Station Data for the Master Station to “ver 1, Remote Device Station”. Operation Modes and Main Functions No. of Occupied Stations Position Data Setup Operation Speed/Acceleration Direct Command Pressing Operation Current Position Read Current Speed Read Position No. Setup Operation Completed Position No. Read No.
CC-Link 2) Position/Simplified Direct Value Mode : This is the operation method with the position No. set up. Whether if setup the target position using a value directly by means of the change over of the control signal, or using the value registered on the position data, can be selected. For “Speed”, “Acceleration/Deceleration” and “Positioning Width”, use the values already registered on the position data. The settable No. of position data items is max 768 points. 4. PCON-CA/CFA No.
CC-Link 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 using the numerical values. No. of Occupied Stations: Four Stations 4. PCON-CA/CFA Target Position : 100.00mm Positioning Width : 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.
CC-Link 4.2 Model No. The Model Nos. of PCON-CA/CFA applicable to CC-Link are described as follows. z PCON-CA -Ƒ-CC-Ƒ 4.
CC-Link 4.3 CC-Link Interface (1) Names of Each Section The names of each section related to CC-Link are described as follows. SV/ALM Status Indicator LED FG RUN 4. PCON-CA/CFA ERR Status LED SLD DG DB DA (2) CC-Link Communication Connector PCB side : MSTBA2.5/5-G-5.08AU (PHOENIX CONTACT) Cable side : SMSTB2.5/5-ST-5.08AU (PHOENIX CONTACT) Status LED Indication The board operation status and network condition are obtained with the two LEDs located in the front of the controller.
CC-Link 4.4 Operation Mode Selection (Setting) The operation mode is set using the parameters. Set the mode toggle switch on the front surface of the controller to “MANU” side and set the parameter No. 84 “FMOD: Field Bus Operation Mode” using the RC personal computer application software (Note). (Refer to “4.10 CC-Link Related Parameters”). Note: Refer to instruction manual of RC PC Software for the applicable version. 4.
CC-Link 4.6 Communication Speed Setting The communication speed is set using the parameters. Set the parameter No. 86 “FBRS: Filed Bus Communication Speed” using the RC personal computer application software. (Refer to “4.10 CC-Link Related Parameters”). Communication Speed 0: (Already set in system delivery) 156kbps 1 625kbps 2 2.5Mbps 3 5Mbps 4 10Mbps 4. PCON-CA/CFA * Set Value Entering any value except for the ones described above will cause an “Excessive Input Value Error”.
CC-Link 4.7 Communication with the Master Station The remote device station consists of 2 words for each I/O point and 4 words for the remote I/O data register per station. Set the station data for the master station to the number of stations setup in the operation mode for each station No. 4.7.1 Each Operation Mode and Corresponding Allocated PLC Addresses The addresses allocated for each operation mode are described as follows. 4.
CC-Link x PCON-CA/CFA Output o PLC Input side (* “n” shows the head register address per each axis). PCON-CA/CFA side DO and Output data register PLC side address RX n0 – nF Number of occupied stations: 1 Station Position/Simplified Direct Value Mode Number of occupied stations: 1 Station Port No.0 – 15 Occupied Area System Area System Area Remote I/O mode Full Direct Value Mode Number of occupied stations: 4 Stations Remote I/O mode 2 Number of occupied stations: 1 Station Port No.
CC-Link 4.7.2 Remote I/O Mode (Remote Device Station: No. of Occupied Stations: One Station) 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 RC personal computer application software or teaching pendant. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting.
CC-Link (1) PLC Address Composition (* “n” shows the head register address for each axis). Parameter PCON-CA/CFA side PCON-CA/CFA side No.84 DI (Port No.) 0 0 to 15 RY n0 to nF 0 to 15 RX n0 to nF System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F PLC side PLC side DI (Port No.) RWw (n+0) RWr (n+0) RWw (n+1) Occupied Area RWr (n+1) Occupied Area RWw (n+2) RWr (n+2) Note: The Occupied Area stations.
CC-Link (3) I/O Signal Allocation The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to instruction manual for the controller main body for more information) Parameter No. 25 setting 4. PCON-CA/CFA Port Classification No.
CC-Link Parameter No. 25 setting Port Classification No. PCON -CA/CFA Output 㸢PLC Input Electromagnetic valve mode 1 Electromagnetic valve mode 2 3 4 5 Signal Names Symbol Signal Names Symbol Signal Names 0 PC1 ST0 Start position 0 ST0 Start position 0 1 PC2 ST1 Start position 1 ST1 Start position 1 2 PC4 ST2 Start position 2 ST2 Start position 2 3 PC8 ST3 Start position 3 ST4 Start position 4 Command position No.
CC-Link 4.7.3 Position/Simplified Direct Value Mode (Remote Device Station: No. of Occupied Stations: One Station) This is the operation mode with the position No. set up. The change over of the control signals (PMOD signals), can select whether the target position is set directly using the value or the value registered on the position data is used. For the speed, acceleration/deceleration and positioning width, etc.
CC-Link (2) I/O Signal Allocation for each Axis The I/O signals for each axis consists of 4 words for each I/O bit register. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator in question.
CC-Link PLC Input Address (* “n” shows the head register address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Target Position RWr (n+1) Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link (3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description PLC Output 4.9 (1) b15 BKRL Brake Forcible Release: Brake Release with “ON”. 4.7.7 (18) b14 RMOD Operation Mode: “OFF” for “AUTO” Mode, “ON” for “MANU” mode 4.7.7 (19) b13 b12 b11 b10 b9 Control Signal 4.9 (1) 4. PCON-CA/CFA 32-bit Signed Integer Set the target position on the absolute coordinates. The unit is 0.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description Details Current Position: 32-bit Signed Integer The unit is 0.01mm. Current Position 32bits (Example) Read Value: 000003FFH = 1023 (decimal system) = 10.23mm 4.9 (1) When the value is read in hexadecimal notation, the negative figure is expressed as a compliment of 2. 4.
CC-Link 4.7.4 Half Direct Value Mode (Remote Device Station: No. of Occupied Stations: Two Stations) This is the operation mode with the target position, positioning width, speed, acceleration/deceleration and pressing current value set up in the PLC. Set the each value in I/O data register. 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.
CC-Link (2) I/O Signal Allocation for each Axis The I/O signals for each axis consists of 8 words for each I/O bit register. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator in question.
CC-Link PLC Output Address (* “n” shows the head register address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Target Position (Slave Word) Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link PLC Input Address (* “n” shows the head register address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Current Position RWr (n+1) Current Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link (3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description Details 32-bit Signed Integer Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. Target 32bits Position Data (Example) When it is “+25.41mm”, set it as “2541”. 4.9 (2) 4. PCON-CA/CFA If the value larger than the value (0.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description Details 16-bit Integer Set the current limit in pressing operation. Pressing Current 16bits Limit Data The settable range is between 0 (0%) and 255 (100%). The actual settable range varies depending on each actuator. 4.9 (2) (Refer to the catalog or instruction manual for the actuator). Value When the movement command is set with the value bigger than 4.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Current Position Bit Symbol Command 32bits Current Data 32bits Data Alarm code 16bits Data PLC Input Current Speed b15 b14 EMGS Emergency Stop: “ON” for Emergency Stop Status PWR Controller Ready: “ON” for Ready Details 4.9 (2) 4.9 (2) 4.9 (2) 4.9 (2) 4.7.7 (2) 4.7.7 (1) b13 ZONE2 Zone 2: “ON” for the current position within the zone set range 4.7.
CC-Link 4. PCON-CA/CFA 4.7.5 Full Direct Value Mode (Remote Device Station: No. of Occupied Stations: Four stations) 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 data register. The robot cylinder's effective main functions that can be controlled using this mode, are as shown in the following table.
CC-Link (2) I/O Signal Allocation for each Axis The I/O signals for each axis consists of 16 words for each I/O bit register. z The control signals1, control signals2 and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator in question.
CC-Link PLC Output Address (* “n” shows the head register address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Target Position RWw (n+1) b15 Target Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link Address (* “n” shows the head register address per each axis). one word = 16 bits RWw (n+8) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Zone Value “-” (Slave Word) RWw (n+9) b15 “-” (Host Word) When the zone value “-” is shown using the negative figure, it is expressed using the complement of 2.
CC-Link PLC Input Address (* “n” shows the head register address per each axis).
CC-Link Address (* “n” shows the head register address per each axis).
CC-Link (3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Symbol 32bits Data Positioning 32bits Width Data 32bits Data Zone Value “+” 32bits Zone Data Value “-” PLC Output 4. PCON-CA/CFA Target Position Bit Speed 114 Functions 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”.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Bit 16bits Acceleration Data Symbol Pressing Current 16bits Data Limit Value Load 16bits Current Data Threshold 16-bit Integer Set the acceleration and deceleration in the movement. The unit is 0.01G and the settable range is from1 to 300. (Example) When it is 0.30G, set it as “30”. When the movement command is issued with the value of “0” or bigger than the max.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Bit Symbol Functions Details Pressing Direction Setup: b2 DIR Control the target position, “ON” for the direction adding the 4.7.7 (22) positioning width from the target position signal 1 4.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Current 32bits Position Data Current Data PLC Input Current 32bits Speed Data Alarm Code 16bits Data Total 32bits moving Data count Total 32bits moving distance Data b15 b14 b13 b12 b11 b10 b9 b8 b7 Status b6 Signal 1 b5 b4 b3 b2 b1 b0 Description 32-bit Signed Integer The unit is 0.01mm. (Example) Read Value: 000003FFH = 1023 (decimal system) = 10.
CC-Link PLC Input 4.
CC-Link 4.7.6 Remote I/O Mode 2 (Remote Device Station: No. of Occupied Stations: One Station) 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 RC personal computer application software or teaching pendant. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting.
CC-Link (1) PLC Address Composition (* “n” shows the head register address for each axis). Parameter PCON-CA/CFA side PCON-CA/CFA side No.84 DI and Input register 4 Port No. 0 to 15 RY n0 to nF Port No. 0 to 15 RX n0 to nF System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F PLC side RWw (n+0) The Occupied Area stations.
CC-Link PLC Input (* “n” shows the head register address per each axis). F E D C B A 9 14 13 12 11 10 9 RX (n+0) one word = 16 bits 15 Address 8 7 6 5 4 3 2 1 0 5 4 3 2 1 0 6 7 Output 8 Controller b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b3 b2 b1 b0 Port No.
CC-Link (3) I/O Signal Allocation Refer to “4.7.2 Remote I/O Mode (3) I/O Signal Allocation” for each PIO pattern signal allocation. The signal allocation for the Command Current and Current Position, is shown in the following table. Signal Type Bit Symbol Description Details 32-bit Signed Integer PLC Input 4. PCON-CA/CFA The unit is 0.01mm. Current 32bits Position Data (Example) Read Value: 000003FFH = 1023 (decimal system) = 10.
CC-Link 4.7.7 I/O Signal Control and Functions * “ON” expresses the bit signal of “1” and “OFF” expresses the bit signal of “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 instruction manual for the controller main body.
CC-Link (5) Servo ON Command (SON) Operation Ready (SV) PLC Output Signal PLC Input Signal 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 CC-Link Interface”) on the front surface of the controller illuminates in green. The “SV” signal is synchronized with this LED. Function: Using the “SON” signal, the turning ON/OFF of the controller is available.
CC-Link (6) Homing (HOME) PLC Output Signal Homing Completion (HEND) PLC Input Signal Under Homing Operation (GHMS) PLC Input Signal When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the homing operation is performed automatically. During the homing operation, the “GHMS” signal is turned “ON”. When the “HEND” signal is turned “ON”, turn “OFF” the “HOME” signal.
CC-Link (7) Positioning Start (CSTR): Used in Position/Simplified Direct Value 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.
CC-Link (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 width and the pressing is completed. Timing for turning ON the Positioning Completion Signal Speed Target Position 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.
CC-Link (12) Zone 1 (ZONE 1) PLC Input Signal Zone 2 (ZONE 2) PLC Input Signal Position Zone (PZONE) PLC Input Signal These signals are turned ON when the current position of the actuator is within the set area and turned OFF when the current position is out of the set area. 1) Zone 1, Zone 2 The zone is set using the user parameters. 4. PCON-CA/CFA The Zone 1 Signal is set using the parameter No. 1 “Zone 1 “+” Side” and No. 2 “Zone 1 “-” Side”. The Zone 2 Signal is set using the parameter No.
CC-Link (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. In the case of the “+” command, the movement direction is to the opposite of the home and in the case of the “-” command, the movement direction is to the home. 1) Jog Operation The jog operation is available when the Jog/Inching Change-Over Signal (JISL) is turned “OFF”. is turned “OFF”, the actuator is decelerated and stopped.
CC-Link (14) Jog Speed/Inching Distance Change-Over (JVEL) PLC Output Signal This change-over signal is used for the parameters specifying the jog speed when the jog operation is selected or the inching distance when the inching operation is selected. The relationship is as follows: 4. PCON-CA/CFA JVEL Signal Jog Operation : JISL = OFF OFF Parameter No. 26 “Jog Speed” ON Parameter No. 47 “Jog Speed 2” Inching Operation: JISL = ON Parameter No. 26 “Jog Speed” Parameter No.
CC-Link (16) Teaching Mode Command (MODE) Teaching Mode Signal (MODES) PLC Output Signal 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.
CC-Link (19) Operation Mode (RMOD) PLC Output Signal PLC Input Signal Operation Mode Status (RMDS) 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 4. PCON-CA/CFA described as follows.
CC-Link (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 width or set using the PLC's positioning width register, but it was not pushed against the work, this signal is turned “ON”. (Refer to Item (2) Operation in Half Direct Value Mode in “4.9 Operation” for the setting timing for this signal).
CC-Link (26) Load Output Judgment (LOAD) PLC Input Signal This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be know whether if the set load threshold is reached during the pressing operation. The load threshold and inspected width range are set using the PLC's register. When the command torque (motor current) exceeds the threshold within the inspected width range, this signal is turned “ON”.
CC-Link (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 width), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”. The speed available for the pressing varies depends on the motor and leads, it is required to adjust the parameters.
CC-Link (28) Stop 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 4.
CC-Link (29) Acceleration/Deceleration Mode (MOD1, MOD0) PLC Output Signal This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command. MOD1 MOD0 OFF OFF Trapezoid Pattern Pattern Name OFF ON S-shaped Motion ON OFF First-Order Lag Filter ON ON Unavailable Remarks Set in delivery 4.
CC-Link (30) Stop Mode Selection (ASO1, ASO0) PLC Output Signal 4. PCON-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 instruction manual for the controller for more information. ASO1 ASO0 OFF OFF OFF ON ON OFF ON ON Function Disabled Set in delvery Automatic Servo OFF Method Parameter No.
CC-Link 4.8 I/O Signal Timing 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. Max. Response Time (msec) = Yt + Xt + 2 + Command Processing Time (Operation Time, etc.
CC-Link 4.9 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 instruction manual for the controller main body. (For the current position and current speed in the Remote I/O Mode, read from the PLC's register from time to time.) (1) Operation in the Position/Simplified Direct Value Mode 4.
CC-Link n1 n2 n3 Command Position No. (PLC → PCON) p1 n2 n3 4. PCON-CA/CFA Target Position Data Set Value (PLC → PCON) * T1 Psitioning Start CSTR (PLC → PCON) * tdpf Positioning End PEND (PCON→ PLC) Current Position (PCON → PLC) n1 n2 Moving MOVE (PCON→ PLC) Positioning Width Actuator Operation (Normal Positioning) *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
CC-Link (2) Operation in the Half Direct Value Mode It is operated with the data set in the PLC's target position register, positioning width register, setup speed register, acceleration/deceleration register and pressing current limit setup register. z Operation Example (Pressing Operation) 1) Set the target position data in the target position register. 2) Set the positioning width data in the positioning width register. 3) Set the speed data in the speed register.
CC-Link Target Position Data Set Value (PLC → PCON) Positioning Width Data Set Value (PLC → PCON) 4.
CC-Link (3) Operation in the Full Direct Value Mode It is operated with all the required data items set in the PLC's registers including the target position register and positioning width register, etc. z Operation Example (Pressing Operation) 1) Set the target position data in the target position register. 2) Set the positioning width data in the positioning width register. 3) Set the speed data in the speed register.
CC-Link Target Position Data Set Value (PLC → PCON) 4.
CC-Link 4. PCON-CA/CFA Pressing Setup PUSH (PLC → PCON) Pressing Direction Setup DIR (PLC → PCON) Positioning Command DSTR (PLC → PCON) * T1 * Positioning Completion/ Pressing and a Miss PEND/PSFL (PCON → PLC) Current Position (PCON → PLC) Moving MOVE (PCON → PLC) Actuator Operation (Pressing) Pressing Positioning Width Actuator Operation (General Positioning) *T1: Considering the scanning time of the host controller, set it so that “T10ms”.
CC-Link (4) Data Change during the Movement In the Half Direct Value Mode and the Full Direct Value Mode, the change of any data set using the output data register, out of the target position data, speed data, positioning width, and current limit value during the pressing, during the movement is available. After changing the data, turn “ON” the positioning command (DSTR) for more than tdpf.
CC-Link 4.10 CC-Link Related Parameters The parameters related to CC-Link are from No. 84 to No. 86, No. 90 and No. 159. Classification: C: External Interface Related No Classification Symbol 1 Default Value set in the Factory before Delivery Refer to instruction manual for the controller for the parameters No. 1 through No. 83. ° 83 4.
CC-Link z Network Type (No. 87 “NTYP”) The network module type is set for the parameter No. 87. Do not change the default value. (Example i) : In the case of the Value set to “0”: 䃂 shows ON. 䂾 shows OFF.
CC-Link (Example ii): In the case of the Value set to “1”: 䃂 shows ON. 䂾 shows OFF. PCON Input register 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E ON/OFF 䂾 䂾 䃂 䃂 䂾 4.
CC-Link (Example iii): In the case of the Value set to “2”: 䃂 shows ON. 䂾 shows OFF.
CC-Link (Example iv): In the case of the Value set to “3”: 䃂 shows ON. 䂾 shows OFF. PCON Input register 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E ON/OFF 䃂 䃂 䂾 䂾 䃂 4.
CC-Link 4.11 Troubleshooting 4.11.1 Status LED Indication With the Status LED (STATUS 0/1) on the front surface of the board, the CC-Link board operation status and network status can be obtained. When any trouble occurs, confirm the current status with the Status LED illumination patterns. The communication status indications changed with the Status LED illumination patterns are described as follows.
CC-Link 4.12 CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual 4. PCON-CA/CFA (ME0287) that is provided separately.
CC-Link 5. SCON-CA 5.1 Operation Modes and Functions SCON-CA applicable to CC-Link can be operated by means of selecting one mode out of the following nine operation modes. * Set the Station Data for the Master Station to “ver.1, Remote Device Station”.
CC-Link 1) Remote I/O Mode: This is the operation method using CC-Link, instead of PIO (24V I/O). No. of Occupied Stations: One Station SCON-CA not applicable to CC-Link SCON-CA applicable to CC-Link Communications cable Flat cable 5. SCON-CA In the case of the connection using PIO In the case of the connection using CC-Link Caution : There is no compatibility with Remote I/O Mode on SCON-C.
CC-Link 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 using the numerical values. No. of Occupied Stations: Four Stations 5. SCON-CA Target Position : 100.00mm Positioning Width : 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.
CC-Link 7) Half Direct Value Mode 2: This is the operation method with the “Speed”, “Acceleration/Deceleration”, “Pressing Current Value” set up directly using the numerical values, in addition to the “Target Position”. This mode can read loadcell data instead of reading the command current in 3). Also, this mode complies with the force control function. No. of Occupied Stations: Two Stations 5. SCON-CA Target Position : 100.00mm Positioning Width : 0.10mm Speed Setup : 100.
CC-Link 5.2 Model No. The model of SCON-CA which complies with CC-Link is shown as stated below: 䃂 SCON-CA-Ƒ-CC-Ƒ 5.
CC-Link 5.3 CC-Link Interface (1) Names of Each Section The names of each section related to CC-Link are described as follows. 1 STATUS Status LED 5. SCON-CA 0 FG SLD CC-Link Communication Connector DG PCB side : MSTBA2.5/5-G-5.08AU (PHOENIX CONTACT) Cable side : SMSTB2.5/5-ST-5.08AU (PHOENIX CONTACT) DB DA (2) Status LED Indication The board operation status and network condition are obtained with the two LEDs located in the front of the controller.
CC-Link 5.4 Operation Mode Selection (Setting) The operation mode is set using the parameters. Set the mode toggle switch on the front surface of the controller to “MANU” side and set the parameter No. 84 “FMOD: Field Bus Operation Mode” using the personal computer application software (V8.00.00.00 or later) (Refer to “5.10 CC-Link Related Parameters”).
CC-Link 5.6 Communication Speed Setting The communication speed is set using the parameters. Set the parameter No. 86 “FBRS: Filed Bus Communication Speed” using the RC personal computer application software. 5. SCON-CA (Refer to “5.10 CC-Link Related Parameters”). * Set Value Communication Speed 0: (Already set in system delivery) 156kbps 1 625kbps 2 2.5Mbps 3 5Mbps 4 10Mbps Entering any value except for the ones described above will cause an “Excessive Input Value Error”.
CC-Link 5.7 Communication with the Master Station The remote device station consists of 2 words for each I/O point and 4 words for the remote I/O data register per station. Set the station data for the master station to the number of stations setup in the operation mode for each station No. 5.7.1 Each Operation Mode and Corresponding Allocated PLC Addresses The addresses allocated for each operation mode are described as follows.
CC-Link x PLC Output o SCON-CA Input (* “n” shows the head register address per each axis). SCON-CA DI and Input data register PLC address RY n0 – nF Position/Simplified Direct Value Mode 2 Number of occupied stations: 1 Station Occupied Area 5.
CC-Link x SCON-CA Output o PLC Input side (* “n” shows the head register address per each axis). SCON-CA side DO and Input data register PLC address RY n0 – nF Number of occupied stations: 1 Station Position/Simplified Direct Value Mode Number of occupied stations: 1 Station Port No.0 – 15 Occupied Area System Area System Area Remote I/O mode Full Direct Value Mode Number of occupied stations: 4 Stations Number of occupied stations: 1 Station Port No.
CC-Link x SCON-CA Output o PLC Input side (* “n” shows the head register address per each axis). SCON-CA side DO and Output data register PLC address RY n0 – nF Position/Simplified Direct Value Mode 2 Number of occupied stations: 1 Station Occupied Area 5.
CC-Link 5.7.2Remote I/O Mode (Remote Device Station: No. of Occupied Stations: One Station) 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 tool such as the personal computer application software for RC. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting.
CC-Link (1) PLC Address Composition (* “n” shows the head register address for each axis). Parameter SCON-CA side SCON-CA side No.84 DI (Port No.) 0 0 to 15 RY n0 to nF 0 to 15 RX n0 to nF System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F PLC side PLC side DO (Port No.) RWw (n+0) RWr (n+0) RWw (n+1) Occupied Area RWr (n+1) Occupied Area RWw (n+2) RWr (n+2) Note: The Occupied Area stations.
CC-Link (3) I/O Signal Allocation The controller's I/O port signal varies depending on the parameter No. 25 setting. (Refer to instruction manual for the controller main body for more information). Parameter No. 25 setting Port Classification No. SCON-CA Output 㸢PLC Input Teaching mode 256point mode 0 1 2 Signal Names Symbol Signal Names Symbol 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 3 PC8 4 PC16 PC16 5 PC32 PC32 Command position No. PC4 PC8 Command position No.
CC-Link Parameter No. 25 setting 5. SCON-CA Port Classification No.
CC-Link Parameter No. 25 setting Port Classification No.
CC-Link 5.7.3 Position/Simplified Direct Value Mode (Remote Device Station: No. of Occupied Stations: One Station) This is the operation mode with the position No. set up. The change over of the control signals (PMOD signals), can select whether if the target position is set directly using the value or the value registered on the position data is used. For the speed, acceleration/deceleration and positioning width, etc.
CC-Link (2) I/O Signal Allocation for each Axis The I/O signals for each axis consists of 4 words for each I/O bit register. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator in question.
CC-Link PLC Input Address (* “n” shows the head register address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Current Position (Slave Word) RWr (n+1) Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link (3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description PLC Output 5.9 (1) b15 BKRL Brake Forcible Release: Brake Release with “ON”. 5.7.7 (18) b14 RMOD Operation Mode: “OFF” for “AUTO” Mode, “ON” for “MANU” mode 5.7.7 (19) b13 b12 b11 b10 b9 Control Signal 5.9 (1) 5. SCON-CA 32-bit Signed Integer Set the target position on the absolute coordinates. The unit is 0.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description Details Current Position: 32-bit Signed Integer The unit is 0.01mm. Current Position 32bits (Example) Read Value: 000003FFH = 1023 (decimal system) = 10.23mm 5.9 (1) When the value is read in hexadecimal notation, the negative figure is expressed as a compliment of 2. 16-bit Integer Completed It is moved to the target position and the positioning completed position No.
CC-Link 5.7.4 Half Direct Value Mode (Remote Device Station: No. of Occupied Stations: Two Stations) This is the operation mode with the target position, positioning width, speed, acceleration/deceleration and pressing current value set up in the PLC. Set the each value in I/O data register. When the zone function is used, set it using the parameter No. 1, 2, 23 and 24. The actuator's effective main functions that can be controlled using this mode, are as shown in the following table.
CC-Link (2) I/O Signal Allocation for each Axis The I/O signals for each axis consists of 8 words for each I/O bit register. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator in question.
CC-Link PLC Output Address (* “n” shows the head register address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Target Position (Slave Word) RWw (n+1) b15 Target 5. SCON-CA Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link PLC Input Address (* “n” shows the head register address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Current Position (Slave Word) RWr (n+1) Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link (3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description Details 32-bit Signed Integer Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. Target 32bits Position Data (Example) When it is “+25.41mm”, set it as “2541”. 5.9 (2) If the value larger than the value (0.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description Details 16-bit Integer Set the current limit in pressing operation. Pressing Current 16bits Limit Data The settable range is between 0 (0%) and 510 (200%). The actual settable range varies depending on each actuator. 5.9 (2) (Refer to the catalog or instruction manual for the actuator). Value When the movement command is set with the value bigger than the max.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol 32bits Data Command 32bits Current Data Current Speed 32bits Data Alarm code 16bits Data b15 b14 Description 32-bit Signed Integer The unit is 0.01mm. (Example) Read Value: 000003FFH = 1023 (decimal system) = 10.23mm * When it is read in hexadecimal notation, input the negative value using a compliment of 2. 32-bit Integer It shows the current value in the current command.
CC-Link 5. SCON-CA 5.7.5 Full Direct Value Mode (Remote Device Station: No. of Occupied Stations: Four stations) 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 data register. The actuator's effective main functions that can be controlled using this mode, are as shown in the following table.
CC-Link (2) I/O Signal Allocation for each Axis The I/O signals for each axis consists of 16 words for each I/O bit register. z The control signals1, control signals2 and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator in question.
CC-Link PLC Output Address (* “n” shows the head register address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Target Position (Slave Word) RWw (n+1) b15 (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link Address (* “n” shows the head register address per each axis). one word = 16 bits RWw (n+8) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Zone Value “-” (Slave Word) RWw (n+9) b15 Zone Value “-” When the zone value “-” is shown using the negative figure, it is expressed using the complement of 2.
CC-Link PLC Input Address (* “n” shows the head register address per each axis).
CC-Link RWr (n+7) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Unavailable RWr (n+8) Force Feedback Data (Slave Word) RWr (n+9) Feedback Data (Host Word) When the Force Feedback Data is shown using the negative figure, it is expressed using the complement of 2.
CC-Link (3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Symbol 32bits Data Positioning 32bits Width Data 32bits Data Zone Value “+” 32bits Zone Data Value “-” PLC Output 5. SCON-CA Target Position Bit Speed 190 Functions 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”.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Bit 16bits Acceleration Data Pressing Current 16bits Data Limit Value Load 16bits Current Data Threshold b15 PLC Output b14 b13 b12 b11 Control signal 1 b10 NTC1 NTC0 Details 16-bit Integer Set the acceleration and deceleration in the movement. The unit is 0.01G and the settable range is from1 to 300. (Example) When it is 0.30G, set it as “30”.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Bit Symbol Functions Servo Gain b5 GSL1 Set the parameter for servo gain switchover Parameter Set GSL1 GSL0 Selection 1 OFF OFF Parameter set 0 selected OFF ON Parameter set 1 selected ON OFF Parameter set 2 selected ON ON Parameter set 3 selected Servo Gain b4 GSL0 Parameter Set Selection 0 Control 5. SCON-CA signal 1 Details Function 5.7.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Bit Signal Name Current 32bits Position Data Command 32bits Current Data Current Speed 32bits Data Alarm code 16bits Data Force 32bits Feedback Data Data Total moving count Total moving distance Status Signal 1 Description 32-bit Signed Integer The unit is 0.01mm. (Example) Read Value: 000003FFH = 1023 (decimal system) = 10.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Signal Name b15 EMGS Description Details Emergency Stop: “ON” for Emergency Stop Status 5.7.11 (2) Controller Ready: “ON” for Ready 5.7.11 (1) b14 PWR b13 ZONE2 Zone 2: “ON” with the current position within the zone set range 5.7.11 (12) b12 ZONE1 Zone 1: “ON” with the current position within the zone set range 5.7.
CC-Link 5.7.6 Remote I/O Mode 2 (Remote Device Station: No. of Occupied Stations: One Station) 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 tool such as the personal computer application software for RC. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting.
CC-Link (1) PLC Address Composition (* “n” shows the head register address for each axis). Parameter SCON-CA side SCON-CA side No.84 DI and Input register 4 Port No. 0 to 15 RY n0 to nF Port No. 0 to 15 RX n0 to nF System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F PLC side RWw (n+0) RWw (n+2) Occupied Area RWr (n+2) RWr (n+3) stands for the area occupied by means of the setting of the number of remote device stands for the system area of the remote device station.
CC-Link PLC Input (* “n” shows the head register address per each axis). F E D C B A 9 13 12 11 10 9 RX (n+0) 14 one word = 16 bits 15 Address 8 7 6 5 4 3 2 1 0 5 4 3 2 1 0 6 7 Output 8 Controller b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b3 b2 b1 b0 Port No. Address one word = 16 bits RWr (n+0) 5.
CC-Link 5.7.7 Position/Simplified Direct Value Mode 2 (Remote Device Station: No. of Occupied Stations: One Station) This mode provides a method to utilize the force control (loadcell value feedback pressing) and also indicate the position number. The change over of the control signals (PMOD signals), can select whether if the target position is set directly using the value or the value registered on the position data is used. For the speed, acceleration/deceleration and positioning width, etc.
CC-Link (2) I/O Signal Allocation for each Axis The I/O signals for each axis consists of 4 words for each I/O bit register. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator in question.
CC-Link PLC Input Address (* “n” shows the head register address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Current Position (Slave Word) RWr (n+1) Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link (3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description PLC Output 5.9 (1) b15 BKRL Brake Forcible Release: Brake Release with “ON”. 5.7.11 (18) b14 RMOD Operation Mode: “OFF” for “AUTO” Mode, “ON” for “MANU” mode 5.7.11 (19) b13 b12 Control Signal 5.9 (1) 5. SCON-CA 32-bit Signed Integer Set the target position on the absolute coordinates. The unit is 0.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Address Bit Symbol Description Details Current Position: 32-bit Signed Integer The unit is 0.01mm. Current Position 32bits (Example) Read Value: 000003FFH = 1023 (decimal system) = 10.23mm 5.9 (1) When the value is read in hexadecimal notation, the negative figure is expressed as a compliment of 2. 16-bit Integer Completed It is moved to the target position and the positioning completed position No.
CC-Link 5.7.8 Half Direct Value Mode 2 (Remote Device Station: No. of Occupied Stations: Two Stations) This mode provides an operation method to utilize the force control (loadcell value feedback pressing) and also indicate the target position from PLC, positioning band width, speed, acceleration/deceleration speed and pressing current directly with inputting values. Set the each value in I/O area. When the zone function is used, set it using the parameter Nos. 1, 2, 23 and 24.
CC-Link (2) I/O Signal Allocation for each Axis The I/O signals for each axis consists of 8 words for each I/O area. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator in question. z Set the positioning width.
CC-Link PLC Output Address (* “n” shows the head register address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Target Position (Slave Word) RWw (n+1) b15 Target 5. SCON-CA Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link PLC Input Address (* “n” shows the head register address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Current Position (Slave Word) RWr (n+1) Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link (3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description Details 32-bit Signed Integer Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. Target 32bits Position Data (Example) When it is “+25.41mm”, set it as “2541”. 5.9 (2) If the value larger than the value (0.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description Details 16-bit Integer Set the current limit in pressing operation. Pressing Current 16bits Limit Data The settable range is between 0 (0%) and 255 (100%). The actual settable range varies depending on each actuator. 5.9 (2) (Refer to the catalog or instruction manual for the actuator). Value When the movement command is set with the value bigger than 5.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol 32bits Data Force 32bits Feedback Data Data Current Speed 32bits Data Alarm code 16bits Data b15 b14 32-bit Signed Integer The unit is 0.01mm. (Example) Read Value: 000003FFH = 1023 (decimal system) = 10.23mm * When it is read in hexadecimal notation, input the negative value using a compliment of 2. 32-bit Integer It displays the measured value for the current loadcell.
CC-Link 5.7.9 Remote I/O Mode 3 (Remote Device Station: No. of Occupied Stations: One Station) This mode provides a method to utilize the force control (loadcell value feedback pressing) and also indicate the position number as performed when PIO (24V input and output) is used. Set the position data using the teaching tool such as the personal computer application software for RC. The number of operable positions varies depending on the parameter No. 25 “PIO Pattern” setting.
CC-Link (1) PLC Address Composition (* “n” shows the head register address for each axis). Parameter SCON-CA side SCON-CA side No.84 DI and Input register 4 Port No. 0 to 15 RY n0 to nF Port No. 0 to 15 RX n0 to nF System Area RY (n+1)0 to (n+1)F System Area RX (n+1)0 to (n+1)F PLC side RWw (n+0) The Occupied Area stations.
CC-Link PLC Input (* “n” shows the head register address per each axis). Address RX (n+0) one word = 16 bits F E D C B A 9 8 7 6 5 4 3 2 1 0 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Output 15 Controller b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Port No. RWr (n+0) 5.
CC-Link (3) I/O Signal Allocation Refer to “5.7.2 Remote I/O Mode (3) I/O Signal Allocation” for each PIO pattern signal allocation. The signal allocation for the Command Current and Current Position, is shown in the following table. Signal Type Bit Symbol Description Details 32-bit Signed Integer The unit is 0.01mm. Current 32bits Position Data (Example) Read Value: 000003FFH = 1023 (decimal system) = 10.23 mm PLC Input * When the value is read in hexadecimal notation, the negative 5.
CC-Link 5.7.10 Half Direct Value Mode 3 (Remote Device Station: No. of Occupied Stations: Two Stations) This mode provides an operation method that the changes of the servo gain parameter during an operation and anti-vibration control parameter set are enabled in addition to the half-direct mode functions. Set the each value in I/O area. When the zone function is used, set it using the parameter No. 1, 2, 23 and 24.
CC-Link (2) I/O Signal Allocation for each Axis The I/O signals for each axis consists of 8 words for each I/O area. z The control signals and status signals are ON/OFF signals in units of bit. z The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. However, set the position data within the soft stroke range (0 to effective stroke length) for the actuator in question. z Set the positioning width.
CC-Link PLC Output Address (* “n” shows the head register address per each axis). one word = 16 bits RWw (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Target Position (Slave Word) RWw (n+1) b15 Position (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link PLC Input Address (* “n” shows the head register address per each axis). one word = 16 bits RWr (n+0) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Current Position (Slave Word) RWr (n+1) Current (Host Word) When the target position is shown using the negative figure, it is expressed using the complement of 2.
CC-Link (3) I/O Signal Allocation (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description Details 32-bit Signed Integer Set the target position on the absolute coordinates. The unit is 0.01mm and settable range is between –999999 to +999999. Target 32bits Position Data (Example) When it is “+25.41mm”, set it as “2541”. 5.9 (2) If the value larger than the value (0.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Bit Symbol Description Details 16-bit Integer Set the current limit in pressing operation. Pressing Current 16bits Limit Data The settable range is between 0 (0%) and 510 (200%). The actual settable range varies depending on each actuator. 5.9 (2) (Refer to the catalog or instruction manual for the actuator). Value When the movement command is set with the value bigger than the max.
CC-Link (* “ON” in the table shows the corresponding bit of “1” and “OFF” shows “0”.) Signal Type Symbol 32bits Data Command 32bits Current Data PLC Input 5. SCON-CA Current Position Bit Current Speed 32bits Data Alarm code 16bits Data b15 b14 Description 32-bit Signed Integer The unit is 0.01mm. (Example) Read Value: 000003FFH = 1023 (decimal system) = 10.23mm * When it is read in hexadecimal notation, input the negative value using a compliment of 2.
CC-Link 5.7.11 I/O Signal Control and Functions * “ON” expresses the bit signal of “1” and “OFF” expresses the bit signal of “0”. The I/O control and functions used in the Position/Simplified Direct Value Mode 1 and 2, Half Direct Value Mode 1 to 3 and Full Direct Value Mode, are described as follows. For the I/O signals for the Remote I/O Mode 1 to 3, refer to the instruction manual for the controller main body.
CC-Link (5) Servo ON Command (SON) Operation Ready (SV) PLC Output Signal PLC Input Signal 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 “5.3 CC-Link Interface”) on the front surface of the controller illuminates in green. The “SV” signal is synchronized with this LED. Function: Using the “SON” signal, the turning ON/OFF of the controller is available.
CC-Link (6) Homing (HOME) PLC Output Signal Homing Completion (HEND) PLC Input Signal Under Homing Operation (GHMS) PLC Input Signal When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the homing operation is performed automatically. During the homing operation, the “GHMS” signal is turned “ON”. When the “HEND” signal is turned “ON”, turn “OFF” the “HOME” signal.
CC-Link (7) Positioning Start (CSTR): Used in Position/Simplified Direct Value Mode 1 and 2 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 the target position with the specified position No.
CC-Link (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 width and the pressing is completed. Speed Timing for turning ON the Positioning Completion Signal Target Position Travel Distance Time When the servo-motor is turned ON from OFF condition, the positioning is performed with the position set as the target position.
CC-Link (12) Zone 1 (ZONE 1) PLC Input Signal Zone 2 (ZONE 2) PLC Input Signal Position Zone (PZONE) PLC Input Signal These signals are turned ON when the current position of the actuator is within the set range and turned OFF when the current position is out of the set range. 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 1 “+” Side” and No. 2 “Zone 1 “-” Side”. The Zone 2 Signal is set using the parameter No.
CC-Link (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. In the case of the “+” command, the movement direction is to the opposite of the home and in the case of the “-” command, the movement direction is to the home. 1. Jog Operation The jog operation is available when the Jog/Inching Change-Over Signal (JISL) is turned “OFF”.
CC-Link (14) Jog Speed/Inching Distance Change-Over (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: 5. SCON-CA JVEL Signal Jog Operation : JISL = OFF OFF Parameter No. 26 “Jog Speed” ON Parameter No. 47 “Jog Speed 2” Inching Operation: JISL = ON Parameter No. 26 “Jog Speed” Parameter No.
CC-Link (16) Teaching Mode Command (MODE) Teaching Mode Signal (MODES) PLC Output Signal 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.
CC-Link (19) Operation Mode (RMOD) PLC Output Signal PLC Input Signal Operation Mode Status (RMDS) 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 5. SCON-CA described as follows.
CC-Link (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 width or set using the PLC's positioning width register, but it was not pushed against the work, this signal is turned “ON”. (Refer to Item (2) Operation in Half Direct Value Mode 1 to 3 in “5.9 Operation” for the setting timing for this signal).
CC-Link (26) Load Output Judgment (LOAD) PLC Input Signal This signal is available only in the pressing operation. When this signal is used for pressing-in purpose, it should be known whether the set load threshold is reached during the pressing operation. The load threshold and inspected width range are set using the PLC's register. When the command torque (motor current) exceeds the threshold within the inspected width range, this signal is turned “ON”.
CC-Link (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 width), this signal is turned “ON”. Because the current level is monitored, when the current level is changed, this signal is turned “ON”. The speed available for the pressing varies depends on the motor and leads, it is required to adjust the parameters.
CC-Link (28) Warning for Absolute Battery Voltage Drop (BALM) PLC Input Signal The signal is OFF when the absolute battery voltage is in normal condition for the absolute type, or when the model is the incremental type. This signal is switched on when the absolute battery voltage drops down to 3.1V. If an operation is continued till it drops down to 2.5V, the controller becomes disabled to retain the position information.
CC-Link (30) Acceleration/Deceleration Mode (MOD1, MOD0) PLC Input Signal This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command. MOD1 MOD0 OFF OFF Pattern Name Trapezoid Pattern OFF ON S-shaped Motion ON OFF First-Order Lag Filter ON ON Unavailable Remarks Set in delivery Trapezoid Pattern Speed 5.
CC-Link (31) Stop Mode Selection (ASO1, ASO0) PLC Output Signal 5. SCON-CA Select the stop mode for the duration before the movement to the next position after a positioning is completed. If the duration for a stop is long, the system automatically turns the servo OFF to reduce the power consumption. Refer to the instruction manual for the controller for more information. ASO1 ASO0 OFF OFF OFF ON ON OFF ON ON Stop Mode Disabled Set in delvery Automatic Servo OFF Method Parameter No.
CC-Link Input Identification Continuously for 20ms *1 Calibration Time *2 Turn CLBR OFF after confirming CEND is ON. CLBR CEND CEND turns ON after calibration process is completed properly. If CLBR is OFF, CEND becomes always OFF. 5. SCON-CA *1 If CLBR is turn OFF in this period, the calibration process cannot be performed since it is before input identification.
CC-Link 5.8 I/O Signal Timing 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. Max. Response Time (msec) = Yt + Xt + 2 + Command Processing Time (Operation Time, etc.
CC-Link 5.9 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 instruction manual for the controller main body. (Read from the PLC register the current position, command current or force feedback data in remote I/O modes 2 and 3 on your demands.
CC-Link Target Position Data Set Value (PLC → SCON-CA) n1 n2 n3 Command Position No. (PLC → SCON-CA) p1 n2 n3 5.
CC-Link (2) Operation in the Half Direct Value Mode 1 to 3 It is operated with the data set in the PLC's target position register, positioning width register, setup speed register, acceleration/deceleration register and pressing current limit setup register. z Operation Example (Pressing Operation) 1) Set the target position data in the target position register. 2) Set the positioning width data in the positioning width register. 3) Set the speed data in the speed register.
CC-Link Target Position Data Set Value (PLC → SCON-CA) Positioning Width Data Set Value (PLC → SCON-CA) 5.
CC-Link (3) Operation in the Full Direct Value Mode It is operated with all the required data items set in the PLC's registers including the target position register and positioning width register, etc. z Operation Example (Pressing Operation) 1) Set the target position data in the target position register. 2) Set the positioning width data in the positioning width register. 3) Set the speed data in the speed register.
CC-Link Target Position Data Set Value (PLC → SCON-CA) 5.
CC-Link Pressing Setup PUSH (PLC → SCON-CA) Pressing Direction Setup DIR (PLC → SCON-CA) Positioning Command DSTR (PLC → SCON-CA) * T1 * 5. SCON-CA Positioning Completion/ Pressing and a Miss PEND/PSFL (SCON-CA → PLC) Current Position (SCON-CA → PLC) Moving MOVE (SCON-CA → PLC) Actuator Operation (Pressing) Pressing Positioning Width Actuator Operation (General Positioning) *T1: Considering the scanning time of the host controller, set it so that “T1 0ms”.
CC-Link (4) Data Change during the Movement In the Half Direct Value Mode 1 to 3 and the Full Direct Value Mode, the change of any data set using the output data register, out of the target position data, speed data, positioning width, and current limit value during the pressing, during the movement is available. After changing the data, turn “ON” the positioning command (DSTR) for more than tdpf.
CC-Link 5.10 CC-Link Related Parameters The parameters related to CC-Link are from No. 84 to No. 87, 90 and 159. Classification: C: External Interface Related No Classification Symbol 1 Name Default Value set in the Factory before Delivery Refer to instruction manual for the controller for the parameters No. 1 through No. 83.
CC-Link z Field Bus Node Address (No. 85 “NADR”) The remote station No. is set for the parameter No. 85. Setting Range: 1 to 64 (When the system is delivered it has been set to “1”). z Field Bus Communication Speed (No. 86 “FBRS”) 5. SCON-CA The communication speed is selected for the parameter No. 86. Parameter No. 86 Communication Speed Set Value 0 (Set in delivery) 156kbps 1 625kbps 2 2.5Mbps 3 5Mbps 4 10Mbps Except for the above Baud Rate Setting Error z Network Type (No.
CC-Link (Example i) : In the case of the Value set to “0”: 䃂 shows ON. 䂾 shows OFF.
CC-Link (Example ii): In the case of the Value set to “1”: 䃂 shows ON. 䂾 shows OFF. SCON Input register 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E ON/OFF 䂾 䂾 䃂 䃂 䂾 5.
CC-Link (Example iii): In the case of the Value set to “2”: 䃂 shows ON. 䂾 shows OFF.
CC-Link (Example iv): In the case of the Value set to “3”: 䃂 shows ON. 䂾 shows OFF. SCON Input register 1E 1F 1D 1C 1B 1A 19 18 17 16 15 14 13 12 11 10 F E ON/OFF 䃂 䃂 䂾 䂾 䃂 5.
CC-Link 5.11 Troubleshooting 5.11.1 Status LED Indication With the Status LED (STATUS 0/1) on the front surface of the board, the CC-Link board operation status and network status can be obtained. When any trouble occurs, confirm the current status with the Status LED illumination patterns. The communication status indications changed with the Status LED illumination patterns are described as follows.
CC-Link 6. Change History Revision Date 2011.11 Revision Description First edition Contents changed in Safety Guide Caution notes added for when working with two or more persons (ACON and PCON picked up from existing Instruction Manual and SCON-CA added to rearrange new Instruction Manual) 2012.06 Second edition Contents added and changed in Safety Guide 6. Change History PCON-CA/CFA added 2012.
Manual No.: ME0254-3B (November 2012) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
